EP4469331B1

EP4469331B1 - Self-propelled cart for the inspection of the underbody of railway vehicles, the cart having an integrated positioning device

Info

Publication number: EP4469331B1
Application number: EP23706090.0A
Authority: EP
Inventors: Antonio Frisoli; Luca TISENI; Massimiliano SOLAZZI; Massimiliano GABARDI; Davide GARBIN; Daniele LEONARDIS; Domenico CHIARADIA; Giancarlo SANTAMATO; Paolo MASINI; Vincenzo MANNO
Original assignee: Scuola Superiore Sant'Anna; Trenitalia SpA
Current assignee: Scuola Superiore Sant'Anna; Trenitalia SpA
Priority date: 2022-01-24
Filing date: 2023-01-24
Publication date: 2025-11-05
Anticipated expiration: 2043-01-24
Also published as: IT202200001136A1; CN116848032A; CN116848032B; EP4469331A1; EP4469331C0; WO2023139568A1

Description

TECHNICAL FIELD

The present invention relates to the technical field of inspection apparatuses for the underbody of railway vehicles, and more specifically to those apparatuses provided on self-propelled carts suitable for moving along the tracks below the railway vehicle.

STATE OF THE ART

A self-propelled cart suitable for being positioned on a railway track and able to move along the track below a railway vehicle supported by the track itself is described in international application WO2020105018 A1 as well as WO2018060945A1 .
The apparatus described therein provides for a platform having a width less than the gauge between the rails supported by groups of passive wheels positioned substantially vertically and suitable for supporting the weight of the platform by resting on the rail splint plane and groups of active wheels positioned horizontally for pushing and rolling against the inner surface of the stem. The platform supports sensors and other inspection members and thus allows the inspection of the underbody of railway vehicles directly on site without the vehicles being transferred to special maintenance areas as it has extremely limited vertical dimensions and advances between the tracks leaning and centring between the tracks themselves using the internal surface of the rail stem and the rail splint plane so that the platform can move below the railway vehicle without the wheels of the vehicle itself obstructing its movement.
However, a problem related to the apparatus described in WO2020105018 A1 concerns the installation procedures on the railway track. In fact, in order to be installed the apparatus must be kept manually lifted and centred between the rails of the track until the passive to active wheels, initially retracted, are brought into contact with the rail in the working configuration. In order for the cart to advance correctly and without resistance or jamming on the rails, the contact with the rail by the groups of wheels must take place in precise positions and in a well-centred manner. However, the manual nature of the positioning operation involves possible positioning errors as well as a considerable time expense for finding the correct position.

SUMMARY OF THE INVENTION

The object of the present invention is to propose a self-propelled cart of the type suitable for moving along a railway track for inspecting the underbody of railway vehicles with functions such as to allow its quick and precise positioning in an automatic or semi-automatic way on a track.
A specific object of the present invention is to propose a self-propelled cart as indicated above comprising a device suitable for supporting the weight of the cart resting on the track when the groups of wheels of the cart are retracted and therefore not supported on the tracks.
A further specific object of the invention is to propose a self-propelled cart as indicated above comprising a device suitable for centring the cart on the track, in such a way that the wheel assemblies do not encounter obstacles during the extraction movement that brings them into operative contact with the rails, and that such operative contact takes place in the correct position.
The above aims are achieved by means of a self-propelled cart of the type suitable for moving along a railway track for inspecting the underbody of railway vehicles according to independent claim 1.
Further advantageous features of the self-propelled cart of the invention and specific embodiments are expressed in the subsequent dependent claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The characteristics of the invention will be easily understood from the following description of embodiments of the same, provided as non-limiting examples, with reference to the attached figures in which:

FIG. 1 shows a perspective view of a self-propelled cart according to the present invention in two operating configurations: a) with retracted positioning device; with extracted positioning device;
FIG. 2 shows a view analogous to that of FIG. 1 b) with the self-propelled cart of the invention positioned on a track;
FIG. 3 shows a perspective view of a right positioning mechanism and a left positioning mechanism of the self-propelled cart of FIG. 1;
FIG. 4 shows a front view of the mechanism of FIG. 3 in three different operating configurations: a) retracted configuration with minimum overall dimensions; b) intermediate transfer configuration; c) extracted configuration of support and centring on the rail.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

With reference to the figures, a self-propelled cart according to the present invention is indicated as a whole with 100, said cart comprising a substantially flat frame, 10, support and wheel movement members stably associated with said frame 10 consisting of active support means 20 and passive support means 30, and a positioning device, 5, which provides a right positioning mechanism, 40 and a left positioning mechanism, 50 arranged specularly with respect to a longitudinal axis, A, of said frame 10.
The frame 10 has a maximum transverse dimension, with reference to the direction of a respective longitudinal axis, A, and therefore to the direction of advancement of the cart 100 along a railway track, smaller than the size of the track gauge of the rails, R, that form the railway track. The frame 10 has a substantially rectangular shape and a very limited vertical dimension in relation to its two main dimensions. The frame 10 is formed by a right longitudinal bar, 11, and a left longitudinal bar, 12, which identify its right and left side, respectively, joined by two main crossbars, 13, by a front transverse connection unit, 14 and by a rear transverse connection unit, 15. The overall vertical dimension of the frame 10 is less than the height of the rail R, preferably equal to about half the height of the rail R, which in absolute terms translates into a height of less than 170 mm, preferably between 40 mm and 100 mm. As will be readily understood, the aforementioned terms right, left, longitudinal, transverse, front and rear used to identify the aforementioned components of the frame 10 are understood with reference to the normal direction of advancement of the self-propelled cart 100 with respect to a track on which it is positioned. In fact, the self-propelled cart 100 is arranged to be associated with a railway track in such a way that the frame 10 can slide along the respective rails, R, thanks to the motor work of the active support means 20 and the static support of the passive support means 30.
The active support means 20 comprise first wheels, 21, at least one per rail R, rotatable around a respective axis of rotation to roll on internal surfaces of a stem, G, of said rail R. Said first wheels 21 are constrained to the frame 10 by means of first support arms, 22, extending transversely from the frame 10 and movable transversely with respect to it between a retracted configuration of minimum transverse dimensions and an extracted operational configuration. Furthermore, at least one per rail R of said first wheels 21 is motorized so that said active support assembly 20 is a traction assembly of said self-propelled cart 100. The aforementioned first wheels have a rotation axis substantially vertical or substantially parallel to the stem G of the rail and the respective first support arms 22 are mounted with respect to the frame 10 with the interposition of elastic members, 23, which, following the transverse extraction of the first support arms 22, allow the first wheels 21 to abut on the stem G of the rail R with a certain contact pressure that produces a friction force sufficient to allow the advancement of the self-propelled cart 100 following the rotation actuation of the first wheels 21.
The passive support means 30 comprise second wheels, 32, at least one per rail R, rotatable around a respective axis of rotation to roll in a freely rotatable mode on lower splint planes, P, of said rails R. The second wheels 31 are constrained to said frame 10 by means of second support arms, 32, also extending transversely from the frame 10 and movable transversely with respect to it between a retracted configuration of minimum transversal dimensions and an extracted operational configuration. The rotation axis of the aforementioned second wheels 32 is substantially horizontal or substantially parallel to the lower splint plane P of the rail R so that the second wheels 32 are suitable to support the weight of the self-propelled cart 100.
The active support means 20 and the passive support means 30 are arranged and dimensioned to support the frame 10 below an upper rolling surface, S, of said rail R and adapted to avoid interference with fixing members of said rails R even in the presence of railway vehicles on the track.
The positioning device 5 allows the self-propelled cart 100 to remain supported by the rails R and vertically and transversely centred with respect to them during the installation operation of the self-propelled cart 100 on a track, in which the active support means 20 and the passive support means 10, which are first in a retracted configuration of minimum dimensions to allow introduction of the self-propelled cart 100 between the rails R, are brought into the extracted operative position.
Each of said right positioning mechanism 40 and left positioning mechanism 50 of the positioning device 5 is provided with at least one respective positioning arm, 41, 51, at an outer end of which at least one respective abutment element, 52, is mounted, suitable to abut the upper rolling surface S and the inner rolling surface, I, of a respective rail R. The positioning arm 41, 51 is articulated by means of a respective articulated quadrilateral kinematic to the frame 10 so as to be able to pass alternately between: a retracted rest position in which the respective abutment element 42, 52 extends transversely for a minimum amount from a respective side 11, 12 of the frame 10 and the positioning arm 41, 51 is substantially vertically contained in the dimensions of the frame 10; and an extracted working position, resulting from an upward and outward rotation of said articulated quadrilateral kinematics, in which the respective abutment element 42, 52 protrudes transversely from its side for an amount sufficient to abut said rail R, so that the simultaneous contact of the abutment elements 42, 52 of said right abutment mechanism 40 and left abutment mechanism 50 with the respective rail R achieve the vertical positioning and transverse centring of said frame 10 with respect to said track.
In more detail, each of said right positioning mechanism 40 and left positioning mechanism 50 comprises:

at least two of said positioning arms 41, 51 arranged aligned at a certain distance from each other in the longitudinal direction,
a gearmotor, 49, 59 constrained to the frame 10 in an intermediate position between said positioning arms 41, 51;
a drive shaft, 43, 53 arranged to connect the drive shaft of said gearmotor 42, 52 with a hinge axis integral to said frame 10 of the articulated quadrilateral kinematics of movement of each of said positioning arms 41, 51,

Each of said articulated quadrilateral kinematics comprises a first crank, 44, 54 and a second crank, 45, 55, each hinged to the frame 10 at a respective first end and to a positioning arm 41, 51 at the other respective end. The rotation of said first crank 44, 54 and second crank 45, 55, which are kept parallel to each other, causes the movement of said positioning arm 41, 51 which is kept with orientation parallel to the plane identified by said frame 10. The drive shaft 43, 53 is connected to the hinge axis of the first crank 44, 54 which is then rotated by the actuation of the gearmotor 49, 59.
In the embodiment described and represented in the drawings, the right positioning mechanism 40 and the left positioning mechanism 50 each have their own gearmotor 49, 59 respectively. However, as can be easily understood, embodiments of the invention may provide a single actuation for both mechanisms and different types of actuation, for example pneumatic.
The counter element 42, 52 is "L" shaped with a substantially horizontal wall, 46, suitable for abutment on the upper rolling surface S of the rail R and a substantially vertical wall, 47, suitable for abutment on the inner rolling surface I of the rail R itself.
The positioning device 5 described above finds advantageous application in the phases of association of the self-propelled cart 100 to a track and subsequent removal from the track itself. In fact, the self-propelled cart 100 is supported by the rails R through the active support means 20 and the passive support means 30 which, in order to allow the introduction of the self-propelled cart 100 into the space between the tracks, must be in a retracted configuration of minimum dimensions and must then be brought into an operative configuration in contact with the rail, keeping the self-propelled cart centred between the rails both in height and transversely. In a self-propelled cart 100 according to the present invention, once the cart 100 itself has been arranged between the rails R the positioning device 5 is operated, as illustrated in FIG. 4. The right positioning mechanism 40 and the left positioning mechanism 50, which are initially in the retracted configuration of minimal transverse and vertical dimension (FIG. 4 a)), are operated in synchronized mode so that the rotation of the respective articulated quadrilateral kinematics moves the positioning arms 41, 51 upwards and outwards with respect to the frame 10 (FIG. 4(b)). Following the rotation of the respective articulated quadrilateral kinematics, the positioning arms 41, 51 continue to move outwardly until the abutment elements 42, 52 come into contact with the upper rolling surface S and inner rolling surface I of the rail R, determining the vertical and transverse centring of the self-propelled cart 100 with respect to the track (FIG. 4 (c)). At this point the active support means 20 and the passive support means 30 are brought into the operative configuration after which the right positioning mechanism 40 and the left positioning mechanism 50 are again actuated to return the positioning arms 41, 51 to the retracted configuration of minimum dimensions in which they are substantially contained in the dimensions of the frame 10 and do not transversely hinder the advancement of the self-propelled cart 100 along the rails R.
Advantageously associated with the self-propelled cart 100 of the invention, not shown as not relevant for the purposes of understanding the inventive concept, are inspection and control means dedicated to performing, in automatic or manually guided mode, inspection and/or maintenance activities at the underbody of railway vehicles. Such inspection means may for example comprise sensors of various kinds, laser detectors, cameras, gripping or processing members, arranged directly associated with said frame 10 in a fixed position or supported by movement arms, even robotized, associated with said frame 10.
With respect to that described above by way of example, modifications and variants can certainly be provided for both the self-propelled cart as a whole and the device positioning device, in light of specific functional or application needs, while remaining within the scope of protection provided by the following claims.
Such variants and modifications can certainly be considered as equivalent solutions and therefore equally protected by the claims.

Claims

Self-propelled cart (100), of the type suitable for moving along a railway track for the inspection of the underbody of railway vehicles, said self-propelled cart comprising:
- a substantially flat frame (10) having a maximum transverse dimension, with reference to the direction of the relative longitudinal axis (A) and therefore to the direction of advancement of said self-propelled cart (100) along a railway track, smaller than the size of the gauge between the rails (R) that form said railway track,

- support and movement members on wheels stably associated with said frame (10) to support said frame (10) on said rails (R) and allow their sliding along them, said support and movement members comprising:
- active support means (20) comprising first wheels (21), at least one per rail (R), rotatably mounted on a rotation axis thereof to roll on internal surfaces of the stem (G) of said rail (R), said first wheels (21) being constrained to said frame (10) by means of first support arms (22) extending transversely from said frame (10) and transversely movable with respect to said frame (10) between a retracted configuration of minimum transverse size and an operative extracted configuration, at least one per rail (R) of said first wheels (21) being motorized,

- passive support means (30) comprising second wheels (31), at least one per rail (R), rotatably mounted on a rotation axis thereof to roll in freely rotatable mode on a rail foot upper plane (P) of said rails (R), said second wheels (31) being constrained to said frame (10) by means of second support arms (32),

said active support means (20) and passive support means (30) being arranged and sized to support said frame (10) below the upper rolling surface (S) of said rail (R) and able to avoid the interference with anchoring means for anchoring said rails (R) even in the presence of railway trains on said tracks,

said self-propelled cart (100) being characterized in that it provides an integrated positioning device (5) comprising at least a right positioning mechanism (40) and a left positioning mechanism (50), mirror-like arranged with respect to a longitudinal axis (A) of said frame (10), each of said right positioning mechanism (40) and left positioning mechanism (50) being provided with at least one positioning arm (41, 51) thereof at an external end of which at least one abutment member (52) thereof being mounted suitable to abut on the upper rolling surface (S) and on the internal rolling surface (I) of a respective rail (R), said positioning arm (41, 51) being articulated by means of an articulated quadrilateral kinematic mechanism thereof to said frame (10) so as to be able to pass alternatively: from a retracted rest position in which the abutment member (42, 52) thereof extends transversely for a minimum amount from a side of said frame (10) and said positioning arm (41, 51) is substantially contained in the vertical overall dimensions of said frame (10); to an extracted working position, obtained by means of an upward and outward rotation of said articulated quadrilateral kinematic mechanism, in which the abutment member (42, 52) thereof extends transversely from the side of the frame for an amount sufficient to go into abutment on said rail (R), so that the simultaneous contact of the abutment members (42, 52) of said right positioning mechanism (40) and left positioning mechanism (50) with the respective rail (R) carry out the vertical positioning and the transverse centering of said frame (10) with respect to said track.
Self-propelled cart (100, 100') according to claim 1 characterized in that each of said right positioning mechanism (40) and a left positioning mechanism (50) is motor driven.
Self-propelled cart (100, 100') according to the previous claim characterized in that the drive motor of said right positioning mechanism (40) and the drive motor of said left positioning mechanism (50) are synchronized.
Self-propelled cart (100, 100') according to claim 1 characterized in that each of said right positioning mechanism (40) and left positioning mechanism (50) includes:
- at least two of said positioning arms (41, 51) arranged aligned at a certain distance from each other in the longitudinal direction,

- a gearmotor (49, 59) constrained to the frame (10) in an intermediate position between said positioning arms (41, 51),

- a transmission shaft (43, 53) arranged to connect the drive shaft of said gearmotor (49, 59) with a hinge axis integral with said frame (10) of the articulated quadrilateral kinematic mechanism for moving each of said positioning arms (41, 51),
so that the movement of said articulated quadrilateral kinematic mechanisms is controlled by said gearmotor (49, 59).
Self-propelled cart (100, 100') according to the preceding claim characterized in that each of said articulated quadrilateral kinematic mechanisms comprises a first crank (44, 54) and a second crank (45, 55) each hinged to the frame ( 10) to a respective first end and to a positioning arm (41, 51) at the other end thereof, the rotation of said first crank (44, 54) and second crank (45, 55), which remain parallel to each other, causes the movement of said positioning arm (41, 51) which keeps its orientation parallel to the plane identified by said frame (10), said transmission shaft (43, 53) being connected to said first hinge axis of the first crank (44, 54) so that said first crank is rotated by the actuation of said gearmotor (49, 59).
Self-propelled cart (100, 100') according to claim 1 characterized in that said abutment member (42, 52) is L-shaped with a substantially horizontal wall (46) suitable for abutting the upper rolling surface (S) of the rail (R) and a substantially vertical wall (47) adapted to abut the internal rolling surface (I) of the rail (R).