EP4469331B1 - Chariot automoteur d'inspection du soubassement de véhicules ferroviaires, le chariot ayant un dispositif de positionnement intégré - Google Patents

Chariot automoteur d'inspection du soubassement de véhicules ferroviaires, le chariot ayant un dispositif de positionnement intégré

Info

Publication number
EP4469331B1
EP4469331B1 EP23706090.0A EP23706090A EP4469331B1 EP 4469331 B1 EP4469331 B1 EP 4469331B1 EP 23706090 A EP23706090 A EP 23706090A EP 4469331 B1 EP4469331 B1 EP 4469331B1
Authority
EP
European Patent Office
Prior art keywords
frame
self
rail
positioning mechanism
propelled cart
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP23706090.0A
Other languages
German (de)
English (en)
Other versions
EP4469331A1 (fr
EP4469331C0 (fr
Inventor
Antonio Frisoli
Luca TISENI
Massimiliano SOLAZZI
Massimiliano GABARDI
Davide GARBIN
Daniele LEONARDIS
Domenico CHIARADIA
Giancarlo SANTAMATO
Paolo MASINI
Vincenzo MANNO
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Scuola Superiore Sant'Anna
Trenitalia SpA
Original Assignee
Scuola Superiore Sant'Anna
Trenitalia SpA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Scuola Superiore Sant'Anna, Trenitalia SpA filed Critical Scuola Superiore Sant'Anna
Publication of EP4469331A1 publication Critical patent/EP4469331A1/fr
Application granted granted Critical
Publication of EP4469331C0 publication Critical patent/EP4469331C0/fr
Publication of EP4469331B1 publication Critical patent/EP4469331B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
    • B61D15/08—Railway inspection trolleys
    • B61D15/12—Railway inspection trolleys power propelled

Definitions

  • 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.
  • 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.
  • WO2020105018 A1 a problem related to the apparatus described in WO2020105018 A1 concerns the installation procedures on the railway track.
  • the apparatus 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.
  • the contact with the rail by the groups of wheels 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.
  • the manual nature of the positioning operation involves possible positioning errors as well as a considerable time expense for finding the correct position.
  • 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.
  • a self-propelled cart 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.
  • 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.
  • 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.
  • 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.
  • each of said right positioning mechanism 40 and left positioning mechanism 50 comprises:
  • 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.
  • the right positioning mechanism 40 and the left positioning mechanism 50 each have their own gearmotor 49, 59 respectively.
  • 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.
  • 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.
  • 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) ).
  • 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) ).
  • 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.
  • inspection and control means dedicated to performing, in automatic or manually guided mode, inspection and/or maintenance activities at the underbody of railway vehicles.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Claims (6)

  1. Chariot automoteur (100), du type adapté pour se déplacer le long d'une voie ferrée afin d'inspecter le dessous de caisse de véhicules ferroviaires, ledit chariot automoteur comprenant:
    - un châssis (10) sensiblement plat ayant une dimension transversale maximale, par rapport à la direction de l'axe longitudinal relatif (A) et donc à la direction d'avancement dudit chariot automoteur (100) le long d'une voie ferrée, inférieure à la taille de l'écartement entre les rails (R) qui forment ladite voie ferrée,
    - des éléments de support et de déplacement sur roues associés de manière stable audit châssis (10) pour supporter ledit châssis (10) sur lesdits rails (R) et permettre leur glissement le long de ceux-ci, lesdits éléments de support et de déplacement comprenant:
    - des moyens de support actifs (20) comprenant des premières roues (21), au moins une par rail (R), montées de manière rotative sur un axe de rotation de celles-ci pour rouler sur les surfaces internes de la tige (G) dudit rail (R), lesdites premières roues (21) étant contraintes audit châssis (10) au moyen de premiers bras de support (22) s'étendant transversalement à partir dudit châssis (10) et mobiles transversalement par rapport audit châssis (10) entre une configuration rétractée de taille transversale minimale et une configuration opérationnelle extraite, au moins une par rail (R) desdites premières roues (21) étant motorisée,
    - des moyens de support passifs (30) comprenant des secondes roues (31), au moins une par rail (R), montées de manière rotative sur un axe de rotation de celles-ci afin de rouler en mode librement rotatif sur un plan supérieur (P) desdits rails (R), lesdites secondes roues (31) étant contraintes audit châssis (10) au moyen de seconds bras de support (32),
    lesdits moyens de support actifs (20) et moyens de support passifs (30) étant agencés et dimensionnés pour supporter ledit châssis (10) sous la surface de roulement supérieure (S) dudit rail (R) et capables d'éviter l'interférence avec les moyens d'ancrage pour ancrer lesdits rails (R) même en présence de trains ferroviaires sur lesdites voies,
    ledit chariot automoteur (100) étant caractérisé en ce qu'il comprend un dispositif de positionnement intégré (5) comprenant au moins un mécanisme de positionnement droit (40) et un mécanisme de positionnement gauche (50), disposés en miroir par rapport à un axe longitudinal (A) dudit châssis (10), chacun desdits mécanismes de positionnement droit (40) et gauche (50) étant muni d'au moins un bras de positionnement (41, 51) à l'extrémité externe duquel au moins un élément de butée (52) est monté de manière à venir en butée contre la surface de roulement supérieure (S) et la surface de roulement interne (I) d'un rail respectif (R), ledit bras de positionnement (41, 51) étant articulé au moyen d'un mécanisme cinématique quadrilatéral articulé audit châssis (10) de manière à pouvoir passer alternativement: à partir d'une position de repos rétractée dans laquelle l'élément de butée (42, 52) s'étend transversalement sur une distance minimale à partir d'un côté dudit châssis (10) et ledit bras de positionnement (41, 51) est sensiblement contenu dans les dimensions verticales globales dudit châssis (10); à une position de travail déployée, obtenue au moyen d'une rotation vers le haut et vers l'extérieur dudit mécanisme cinématique quadrilatéral articulé, dans laquelle son élément de butée (42, 52) s'étend transversalement à partir du côté du châssis sur une distance suffisante pour venir en butée sur ledit rail (R), de sorte que le contact simultané des éléments de butée (42, 52) dudit mécanisme de positionnement droit (40) et dudit mécanisme de positionnement gauche (50) avec le rail respectif (R) effectue le positionnement vertical et le centrage transversal dudit châssis (10) par rapport à ladite voie.
  2. Chariot automoteur (100, 100') selon la revendication 1, caractérisé en ce que chacun desdits mécanismes de positionnement droit (40) et gauche (50) est entraîné par un moteur.
  3. Chariot automoteur (100, 100') selon la revendication précédente, caractérisé en ce que le moteur d'entraînement dudit mécanisme de positionnement droit (40) et le moteur d'entraînement dudit mécanisme de positionnement gauche (50) sont synchronisés.
  4. Chariot automoteur (100, 100') selon la revendication 1, caractérisé en ce que chacun desdits mécanismes de positionnement droit (40) et gauche (50) comprend:
    - au moins deux desdits bras de positionnement (41, 51) disposés alignés à une certaine distance l'un de l'autre dans la direction longitudinale,
    - un motoréducteur (49, 59) contraint au châssis (10) dans une position intermédiaire entre lesdits bras de positionnement (41, 51),
    - un arbre de transmission (43, 53) disposé pour relier l'arbre d'entraînement dudit motoréducteur (49, 59) à un axe d'articulation solidaire dudit châssis (10) du mécanisme cinématique quadrilatéral articulé pour déplacer chacun desdits bras de positionnement (41, 51),
    de sorte que le mouvement desdits mécanismes cinématiques quadrilatéraux articulés est commandé par ledit motoréducteur (49, 59).
  5. Chariot automoteur (100, 100') selon la revendication précédente, caractérisé en ce que chacun desdits mécanismes cinématiques quadrilatéraux articulés comprend une première manivelle (44, 54) et une deuxième manivelle (45, 55), chacune articulée au châssis (10) à une première extrémité respective et à un bras de positionnement (41, 51) à son autre extrémité, la rotation desdites première manivelle (44, 54) et deuxième manivelle (45, 55), qui restent parallèles l'une à l'autre, provoquant le mouvement dudit bras de positionnement (41, 51) qui conserve son orientation parallèle au plan identifié par ledit châssis (10), ledit arbre de transmission (43, 53) étant relié audit premier axe d'articulation de la première manivelle (44, 54) de sorte que ladite première manivelle est mise en rotation par l'actionnement dudit motoréducteur (49, 59).
  6. Chariot automoteur (100, 100') selon la revendication 1, caractérisé en ce que ledit élément de butée (42, 52) est en forme de L avec une paroi sensiblement horizontale (46) adaptée pour venir en butée contre la surface de roulement supérieure (S) du rail (R) et une paroi sensiblement verticale (47) adaptée pour venir en butée contre la surface de roulement interne (I) du rail (R).
EP23706090.0A 2022-01-24 2023-01-24 Chariot automoteur d'inspection du soubassement de véhicules ferroviaires, le chariot ayant un dispositif de positionnement intégré Active EP4469331B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102022000001136A IT202200001136A1 (it) 2022-01-24 2022-01-24 Carrello semovente per l’ispezione del sottocassa di convogli ferroviari provvisto di dispositivo di posizionamento
PCT/IB2023/050597 WO2023139568A1 (fr) 2022-01-24 2023-01-24 Chariot automoteur d'inspection du soubassement de véhicules ferroviaires, le chariot ayant un dispositif de positionnement intégré

Publications (3)

Publication Number Publication Date
EP4469331A1 EP4469331A1 (fr) 2024-12-04
EP4469331C0 EP4469331C0 (fr) 2025-11-05
EP4469331B1 true EP4469331B1 (fr) 2025-11-05

Family

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EP23706090.0A Active EP4469331B1 (fr) 2022-01-24 2023-01-24 Chariot automoteur d'inspection du soubassement de véhicules ferroviaires, le chariot ayant un dispositif de positionnement intégré

Country Status (4)

Country Link
EP (1) EP4469331B1 (fr)
CN (1) CN116848032B (fr)
IT (1) IT202200001136A1 (fr)
WO (1) WO2023139568A1 (fr)

Families Citing this family (2)

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Publication number Priority date Publication date Assignee Title
CN116985851B (zh) * 2023-09-07 2026-02-10 成都铁安科技有限责任公司 一种用于列车检测的自走设备及其避障方法
DE102023209610A1 (de) 2023-09-29 2025-04-03 Siemens Mobility GmbH Inspektionsplattform zur Inspektion von Unterflurbereichen von Schienenfahrzeugen

Family Cites Families (8)

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Publication number Priority date Publication date Assignee Title
DE102012106102B3 (de) * 2012-07-06 2013-12-19 Wilfried Scherf Anordnung zur Erfassung des Profils von Schienen in verlegten Gleisanlagen
IT201600098012A1 (it) * 2016-09-29 2018-03-29 Scuola Superiore Santanna Apparato semovente per la manutenzione su condizione del sottocassa di convogli ferroviari
FR3078159B1 (fr) * 2018-02-22 2020-03-13 Alstom Transport Technologies Procede et dispositif d'inspection de sous-chassis de vehicule ferroviaire
IT201800010541A1 (it) 2018-11-23 2020-05-23 Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna Apparato semiautomatico per la manutenzione su condizione del pantografo ferroviario
CN110217264A (zh) * 2019-06-21 2019-09-10 中国神华能源股份有限公司 车辆轮对检测装置、方法及系统
CN211391269U (zh) * 2019-12-31 2020-09-01 合肥超科电子有限公司 一种能够自动脱离轨道的巡检车
CN212556235U (zh) * 2020-07-20 2021-02-19 唐山百川智能机器股份有限公司 一种动车组车底检测系统
CN113562007B (zh) * 2021-08-18 2025-04-15 浙江省交通投资集团有限公司智慧交通研究分公司 一种可自适应过岔的轨道巡检机器人走行部以及过岔方法

Also Published As

Publication number Publication date
IT202200001136A1 (it) 2023-07-24
CN116848032A (zh) 2023-10-03
CN116848032B (zh) 2024-08-16
EP4469331A1 (fr) 2024-12-04
EP4469331C0 (fr) 2025-11-05
WO2023139568A1 (fr) 2023-07-27

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