JP5332042B2 - Track maintenance device and track maintenance system - Google Patents

Description

  The present invention relates to a track maintenance device and a track maintenance system for maintaining a track on which a guard rail is installed along a main rail.

2. Description of the Related Art In recent years, a technique has been proposed in which a card rail is provided along a main rail of a railway to prevent the vehicle from derailing or to prevent the vehicle from greatly deviating from the track even when the vehicle derails.
For example, in Patent Document 1, by rotating a rotating shaft, it is possible to easily change the position of a guard rail to a position where it is prevented from falling off along the main rail and a retracted position away from the main rail, so Techniques for improving the performance have been proposed.

JP 2009-138405 A

By the way, in the case of changing the position of the guard rail between the position for preventing the wheel removal and the retracted position (hereinafter referred to as conversion) using the technique of Patent Document 1, after removing the bolt (nut) fixing the guard rail, Needs to be lifted to rotate the rotating shaft.
Conventionally, the work of switching the guardrail has been performed manually, but there are a large number of bolted parts and the weight of the guardrail is large, which places a heavy burden on the operator.
In order to reduce the burden on the worker and improve workability, it is required to automate the work of changing the guardrail.

  This invention is made in view of this subject, Comprising: It aims at providing the track maintenance apparatus and track maintenance system which were able to improve the efficiency of track maintenance work by automating the switching work of a guardrail.

In order to solve the above problems, the present invention is configured as follows.
The track maintenance device according to the present invention (Claim 1) is a track maintenance device in a track in which guard rails that can be repositioned between a regular position and a maintenance work position are installed along the main rail, and the main rail A vehicle body traveling above; a first manipulator installed on the front side of the vehicle body; a second manipulator installed on the rear side of the vehicle body; the first manipulator and the second manipulator installed on the vehicle body; And a robot controller for changing the position of the guard rail.

In addition, the guard rail is preferably supported by a horizontal rotation shaft and rotated about the rotation shaft so that the guard rail is relocated to the normal position and the maintenance work position. ).
Further, when the robot controller changes the position of the guard rail, the guard rail is used in both the first manipulator and the second manipulator until the rotation angle of the guard rail reaches a preset first angle. And supporting one side of the first manipulator and the second manipulator until the rotation angle passes the first angle and reaches a preset second angle, and On the other hand, it is preferable to support the other side, which is the opposite side of the one side, and to support the other side by both the first manipulator and the second manipulator when the rotation angle exceeds the second angle. (Claim 3).

  In addition, it is preferable that a distal end of each of the first manipulator and the second manipulator is provided with a hand portion including a pair of support members fixed to the manipulator so as to be separated from each other.

A track maintenance system according to the present invention (Claim 5) is a track maintenance system on a track having a guard rail that is installed along a main rail and is bolted, and is a bolt work manipulator that performs installation or removal of the bolt. And a bolt processing device that travels on the main rail and the track maintenance device according to any one of claims 1 to 5.
Moreover, it is preferable that the said bolt processing apparatus performs the removal operation | work of the said bolt which fixes the said guard rail before the said guard rail is rearranged from the normal position to the position for maintenance work by the said track maintenance apparatus. (Claim 6).
Preferably, the bolt processing device performs an installation operation of the bolt for fixing the guard rail after the guard rail is rearranged from a maintenance operation position to a regular position by the track maintenance device. 7).

According to the present invention (Claims 1 and 5), the first manipulator and the second manipulator can automatically perform the guard rail arrangement changing work, and reduce the load of the maintenance work of the track including the guard rail arrangement changing work. Workability can be improved.
In addition, two manipulators provided on the vehicle running on the main rails cooperate to change the position of the guard rails, so that the load on the guard rail is shared by the two manipulators, so each manipulator uses a smaller one. In addition, it can be easily transported by the vehicle body traveling on the main rail.

  According to the present invention (Claim 2), the guard rail is pivotally supported by the fixed rotation shaft, and the guard rail is efficiently moved to the normal position and the maintenance work position by rotating about the rotation shaft. The arrangement can be changed with high accuracy.

According to the present invention (Claim 3), the guard rail 4 can be stably rotated without providing an expensive gripping mechanism or the like that can grip a heavy object such as a guard rail by the first manipulator and the second manipulator. .
That is, when the guard rail is rotated around the rotation axis, the direction (the direction around the rotation axis) that should support the weight of the guard rail is defined by the position where the center of gravity of the guard rail exceeds the rotation axis (boundary point). The opposite is true. For this reason, when only one side of the guardrail is supported, the guardrail is not supported when the boundary point is reached, and the guardrail rotates violently due to gravity.

In order to prevent this, a gripping mechanism such as a gripper capable of instructing the guard rail from both sides is required at the hand of each manipulator. According to claim 3, when the rotation angle of the guard rail reaches the first angle. Since either manipulator supports both sides of the guard rail, the guard rail can be supported even after the boundary point.
Furthermore, when the rotation angle of the guard rail reaches the second angle, the guard rail is again supported by both manipulators in a state where the boundary point is surely passed, so the load on each manipulator can be reduced.

According to the present invention (Claim 4), by providing a pair of support members, the amount of operation of the manipulator when changing the side supporting the guard rail is reduced compared to the case where there is only one support member. be able to.
The guard rail 4 can be stably rotated without providing an expensive gripping mechanism or the like that can grip a heavy object such as a guard rail by the first manipulator and the second manipulator.

According to the present invention (Claim 6), it is possible to reduce the burden on the track maintenance work and improve the workability by automating the installation or removal work of the bolt for fixing the guard rail prior to the change of the guard rail arrangement. .
According to the present invention (Claim 7), the load for the track maintenance work can be reduced and the workability can be improved by performing the bolt installation work after the guardrail is changed from the maintenance work position to the regular position. Can be planned.

The perspective view which shows typically the principal part of the track | line maintenance apparatus concerning one Embodiment of this invention. The top view which shows typically the whole structure of the track maintenance system concerning one Embodiment of this invention Typical sectional drawing for demonstrating operation | movement etc. of the track | line maintenance apparatus concerning one Embodiment of this invention The perspective view which shows typically the principal part of the bolt processing apparatus concerning one Embodiment of this invention. Typical sectional drawing for demonstrating operation | movement etc. of the volt | bolt processing apparatus concerning one Embodiment of this invention. (A), (B) is a schematic top view for demonstrating operation | movement etc. of the bolt processing apparatus concerning one Embodiment of this invention. (A)-(G) are typical sectional drawings for demonstrating operation | movement etc. of the track | line maintenance apparatus concerning one Embodiment of this invention.

(Outline configuration)
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 2, the track maintenance system 100 according to this embodiment includes a conversion work cart (corresponding to the track maintenance device of the present invention) 101 and a bolt machining cart (bolt machining device) 102. The conversion work cart 101 and the bolt processing cart 102 are both installed on the track 1 so as to be able to travel, and the conversion work cart 101 is arranged on the rear side of the bolt processing cart 102. Further, a maintenance work carriage (not shown) for maintaining the track is arranged further rearward than the conversion work carriage 101.
Here, the front side is a direction in which work progresses when performing maintenance work on the track. The rear side refers to the direction opposite to the front side.

First, the configuration of the track 1 that performs maintenance work will be described.
As shown in FIG. 2, sleepers 2 are juxtaposed on the track 1 at predetermined intervals, and a pair of rail members (main rails) 3 are installed on the sleepers 2.
Guard rails 4 are provided inside the rail members 3 along the extending direction of the rail members 3. In addition, here, between a pair of rail materials 3 (namely, the center 0 side of the track | line 1) is called inner side, and the both sides of a pair of rail material 3 are called outer side.

The guard rail 4 has a substantially L-shaped cross section, and is connected to a guard rail support mechanism 5 fixed to the sleeper 2 via a bolt nut 10 as shown in FIG. A portion extends along each rail member 3 (regular position), thereby preventing derailment of the vehicle and the like. In this embodiment, every other guardrail support mechanism 5 is installed in the sleepers 2 arranged in parallel.
The guardrail support mechanism 5 includes a rotary hinge (rotating shaft) 7 provided on a fixed member 6 fixed to the sleeper 2 and a movable member 8 that swings around the rotary hinge 7. And the guard rail 4 are bolted together.
The guard rail 4 can be repositioned into a regular position (a position indicated by a solid line in FIG. 3) and a maintenance work position (a position indicated by a broken line in FIG. 3) by swinging around the rotary hinge 7. Yes. In normal times, as shown in FIG. 5, the fixed member 6 and the movable member 8 are connected by a fixing bolt nut (bolt) 9, and the guard rail 4 is fixed at a normal position.

(Construction of conversion work cart)
As shown in FIG. 1, the conversion work cart 101 includes a vehicle body 20, a front robot (first manipulator) 21, a rear robot (second manipulator) 22, a controller (robot controller) 23, and a power supply 24. .
Further, as shown in FIG. 3, the vehicle body 20 includes a chassis 25, a pair of manipulator mounting tables 26 projecting from the front side and the rear side of the chassis 25, and four rails near the four corners of the chassis 25. It has the wheel 27 which can drive. Each wheel 27 can be driven by an electric motor (not shown), and the electric motor is controlled by the controller 23.
The electric motor that drives the wheels 27 may be configured to be controlled by a control device that is separate from the controller 23.

Each of the manipulator mounting tables 26 is attached to the center of the chassis 25 by welding or the like, and the dimension in the width direction is set smaller than that of the chassis 25.
The front robot 21 and the rear robot 22 are configured in the same manner, and the base 31 is fixed to the manipulator mounting table 26 with bolts.
The power supply 24 supplies electric power to the conversion work cart 101, and includes a battery, a generator, and the like.

The controller 23 is configured by a computer having a storage device, an electronic arithmetic device, and an input device (all of which are not shown), and is connected to the front robot 21 and the rear robot 22 so that they can communicate with each other.
The controller 23 stores operation trajectories (teaching data) of the first manipulator 21 and the second manipulator 22. In addition to the teaching data, the controller 23 stores a first angle θ1 and a second angle θ2 that are threshold values of the rotation angle from the normal position of the guardrail 4 as will be described later. The first angle θ <b> 1 and the first angle θ <b> 2 may be stored as rotational positions of servomotors described later of the first manipulator 21 and the second manipulator 22.

The 1st manipulator 21 and the 2nd manipulator 22 are constituted similarly except that the back where it is arranged is opposite in the front-rear direction. Here, only the configuration of the second manipulator 22 will be described with reference to the drawings.
As shown in FIGS. 1 and 3, the second manipulator 22 includes a base 31, a first arm 32, a second arm 33, a flange 34, and a pair of support plates (support member, hand portion) 35.

The base 31, the first arm 32, the first arm 32, the second arm 33, and the flange 34 are each configured to be rotated by a servo motor (not shown).
Each rotation axis is set to be parallel (here, the front-rear direction). That is, the second manipulator 22 is configured as a three-axis horizontal articulated robot. The rotational position of each movable part is input to the controller 23. The operation of each servo motor is controlled by a signal from the controller.

  The flange 34 has a disk shape and is provided at the tip of the second arm 33 so as to be driven to rotate as described above. The pair of support plates 35 are attached to the flange 34 by welding or the like, and rotate integrally with the flange 34. Further, the pair of support plates 35 extends to the outside of the flange 34.

(Configuration of bolt processing cart)
Next, the configuration of the bolt machining cart 102 will be described.
The bolt processing carriage 102 includes a vehicle body 40, four bolt work manipulators 41 to 44, a controller (robot controller) 45, and a power supply 46.
The vehicle body 40 has wheels 48 that are respectively disposed in the vicinity of the four corners of the chassis 47 and can travel on the rail member 3, as with the conversion work carriage 101. Each wheel 48 can be driven by an electric motor (not shown), and the electric motor is controlled by a controller 45.
The electric motor that drives the wheels 48 may be configured to be controlled by a control device separate from the controller 45.

The bolt work manipulators 41 to 44 are arranged at the four corners of the chassis 47, respectively. In addition, bolt mounts 49 and 49 are disposed between the two bolt work manipulators 41 and 42 on the front side and between the two bolt work manipulators 43 and 44 on the front side, respectively.
Each of the bolt work manipulators 41 to 44 is a vertical articulated manipulator configured in the same manner, and has a base fixed to the chassis 47 and an arm portion having a plurality of rotary joints from the base to the tip. doing. The arm portion incorporates a servo motor (not shown) that drives the rotary joint, and the drive of each servo motor is controlled by a controller 45.

The controller 45 is configured by a computer having a storage device, an electronic arithmetic device, and an input device (all not shown), and is connected to the respective bolt work manipulators 41 to 44 so as to be able to communicate with each other. Further, the controller 45 stores in advance the operation trajectories (teaching data) of the respective bolt work manipulators 41 to 44.
End effectors 41A to 44A are attached to the tips of the respective arm portions.

Each of the end effectors 41A to 44A includes a wrench mechanism (not shown) for loosening the bolt nut 9 and a gripping mechanism (not shown) for gripping the loosened bolt nut 9, and in accordance with a signal from the controller 45, The bolt nut 9 that fixes the fixed member 6 and the movable member 8 is loosened, the bolt nut 9 is removed from the line 1, and the bolt nut 9 is stored in the bolt stand 49.
In addition, when the bolt nut 9 is removed from the track 1, the rotary hinge 7 can swing.

The transport system according to the present embodiment is configured as described above, and operates as follows.
First, as shown in FIG. 6A, an electric motor (not shown) of the preceding bolt machining cart 102 is driven, and the bolt machining cart 102 is stopped at a preset position.
Then, the controller 45 operates each of the bolt work manipulators 41 to 44 to perform the removal work of the bolt nut 9 that fixes the fixed member 6 and the movable member 8 of the guardrail support mechanism 5. The bolt nut 9 removed from the track 1 is stored in the bolt stand 49. The longitudinal length of the chassis 47 of the bolt processing carriage 102 is set to be shorter than the five sleepers 2 and longer than the three sleepers 2.

When the operation by the bolt work manipulators 41 to 44 is completed, the bolt processing carriage 102 advances the sleeper 2 by a distance of two as shown in FIG. 6B and stops again. In this way, the unworked guardrail support mechanism 5 is positioned in the vicinity of each bolt work manipulator 41-44.
In the position of FIG. 6 (B), when the removal operation of the bolt nut 9 by the respective bolt operation manipulators 41 to 44 is completed, the bolt processing carriage 102 advances the sleeper 2 by a distance of six and stops again. In this way, as shown in FIG. 6A, the unworked guardrail support mechanism 5 is positioned in the vicinity of each of the bolt work manipulators 41 to 44, and the four bolt work manipulators 41 to 44 are used. Work efficiently.

When the removal operation of the bolt nut 9 corresponding to one segment of the guard rail 4 (that is, the portion where the guard rail 4 can be separated) is completed by the bolt processing carriage 102, the conversion work carriage 101 is moved to the center of the card rail 4 in the front-rear direction. The first manipulator 21 and the second manipulator 22 cooperate to change the position of the guard rail 4 from the normal position to the maintenance work position.
That is, as shown in FIG. 7A, the first manipulator 21 and the second manipulator 22 are operated in the same manner so that the guard rail 4 is accommodated between the pair of support plates 35. The inner surface (that is, the surface where the pair of support plates 35 face each other) is in contact with one side of the guard rail 4 (the lower side of the flange portion when the guard rail 4 is in the normal position), and resists the guard rail 4 against gravity. I support you. In this state, as shown in FIG. 7B, the first manipulator 21 and the second manipulator 22 are similarly operated to cause the guard rail 4 to swing around the rotary hinge 7.

  Thereafter, when the angle θ (θ corresponds to the rotation angle from the normal position) formed by the fixed member 6 and the movable member 8 of the guardrail support mechanism 5 reaches the first angle θ1 stored in advance in the controller 23 (θ = Θ1), as shown in FIG. 7C, only the second manipulator 22 operates with the first manipulator 21 stopped, and as shown in FIG. 7D, the other side of the second manipulator 22 is operated. The support plate 35 is in contact with the other side of the guard rail 4 (the upper side of the flange portion when the guard rail 4 is in the normal position), and the guard rail 4 is supported.

Then, as shown in FIG. 7E, the rotary hinge 7 is rotated in a state where one side of the guard rail 4 is supported by the first manipulator 21 and the opposite side of the guard rail 4 is supported by the second manipulator 22. (During this time, θ1 <θ <θ2).
Note that the positions of the centers of gravity of the guardrail 4 and the guardrail support mechanism 5 pass through the rotary hinge 7 in the section of θ1 <θ <θ2. That is, the first angle θ and the second angle θ2 are set so that the direction of the moment applied to the rotary hinge 7 due to gravity is opposite in the section θ1 <θ <θ2.

  Thereafter, when the angle θ reaches the second angle θ2 (θ = θ2), only the first manipulator 21 operates with the second manipulator 22 stopped. As shown in FIG. 7F, the first manipulator 21 is operated. And the second manipulator 22 support the opposite side of the guardrail 4.

Then, while supporting the guard rail 4 against gravity, the guard rail 4 is swung to the maintenance work position as shown in FIG.
Thereafter, the other guard rail 4 is also swung from the normal position to the maintenance work position in the same procedure, and the guard rail changing work is performed.
When the guardrail conversion work is completed, a full-scale maintenance work on the track 1 is executed by the maintenance work truck that follows the conversion work truck 101.

  After the maintenance work of the track 1 is completed, the opposite side of the guard rail 4 is supported by the first manipulator 21 and the second manipulator 22, and the angle θ is the second angle θ2 (here, the second angle θ2 is the present invention). 1 (corresponding to the first angle in FIG. 1) (θ = θ2), only the first manipulator 21 operates with the second manipulator 22 stopped, and the guard plate 4 is supported by the support plate 35 on one side of the first manipulator 21. One side is supported.

After that, when the guard rail 4 is returned to the first angle θ1 (here, the first angle θ1 corresponds to the second angle in the present invention) (θ = θ1), the first manipulator 21 is stopped and the first manipulator 21 is stopped. Only the two manipulators 22 operate, and the first manipulator 21 and the second manipulator 22 support one side of the guard rail 4.
Then, the guard rail 4 is swung to the normal position as shown in FIG. 7A while supporting the guard rail 4 against gravity.

When the guard rail 4 is changed from the maintenance work position to the normal position by the conversion work carriage 101, the conversion work carriage 101 moves and the bolt processing carriage 102 enters.
Then, the bolt work manipulators 41 to 44 perform the installation work of the bolt nut 9 to fix the fixed member 6 and the movable member 8 of the guard rail support mechanism 5, and the guard rail 4 is set up in a normal state.

Thus, according to the track maintenance system concerning this embodiment, work which cancels fixation of guard rail 4 and work which rotates guard rail 4 and can change arrangement can be automated, and arrangement change work of guard rail 4 is carried out. It is possible to reduce the burden of maintenance work on the track 1 including and improve workability.
In addition, since both the conversion work cart 101 and the bolt processing cart 102 can self-propell on the main rail 3, there is also an advantage that it is easy to transport devices and the like related to the track maintenance system 100.

Furthermore, since the conversion work of the guard rail 4 is performed in cooperation with the first manipulator 21 and the second manipulator 22, a load on each manipulator can be suppressed and a smaller manipulator can be used.
In addition, by reducing the size and weight of the manipulator, it is possible to reduce the size and weight of each device (for example, the motor that drives the chassis 25 and the wheels 27) constituting the conversion work carriage 101 or the bolt processing carriage 102. Therefore, when moving to a distant track maintenance section, the conversion work truck 101 is once disassembled and transported to a conveying means such as a truck, and it becomes easy to assemble the conversion work truck 101 or the bolt processing carriage 102 locally. There is also an advantage that maintenance work becomes more efficient.

The embodiment of the present invention has been described above, but the track maintenance device or track maintenance system according to the present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit of the present invention. And is applicable.
For example, in the above-described embodiment, four bolt work manipulators are provided, but the number of bolt work manipulators is not necessarily limited to this and may be one.

Further, in the embodiment, the bolt machining device and the track maintenance device are configured as separate vehicles, and the track maintenance device continues behind the bolt removal device, but the bolt machining device and the track maintenance device are not necessarily separate vehicles. There is no need to do this, and a common vehicle may be used.
Furthermore, in the embodiment, the bolt work manipulator performs the bolt loosening operation and the bolt removal operation. However, the bolt work manipulator may perform either the bolt loosening operation or the bolt removal operation. . In any case, the bolt work manipulator may be any one that removes the bolt and releases the guard rail.
In the embodiment, the first angle θ1 and the second angle θ2 at the time of changing the arrangement of the guardrail from the normal position to the maintenance work position are opposite to each other, when the arrangement is changed from the maintenance work position to the normal position. Then, although used interchangeably, you may set the 1st angle in this invention, and 2nd angle as separate angle threshold values according to the operation direction of a guardrail.

1 Track 2 Sleeper 3 Rail material (Main rail)
4 Guardrail 5 Guardrail support mechanism 6 Fixing member 7 Rotating hinge (rotating shaft)
8 Movable member 9 Bolt nut (bolt)
10 Bolt nut 20 Car body 21 Front side robot (first manipulator)
22 Rear robot (second manipulator)
23 Controller 24 Power supply 25 Chassis 26 Manipulator mounting table 27 Wheel 31 Base 32 First arm 33 Second arm 34 Flange 35 Support plate (support member, hand part)
40 Car body 41-44 Bolt work manipulators 41A-44A End effector 45 Controller 46 Power supply 47 Car base 48 Wheel 49 Bolt stand 100 Track maintenance system 101 Conversion work cart (track maintenance device)
102 Bolt processing cart (bolt processing equipment)

Claims (7)

A track maintenance device in a track where a guard rail that can be relocated to a regular position and a position for maintenance work is installed along the main rail,
A vehicle body traveling on the main rail,
A first manipulator installed on the front side of the vehicle body;
A second manipulator installed on the rear side of the vehicle body;
A track maintenance device, comprising: a robot controller installed on the vehicle body and configured to change the position of the guard rail by cooperating the first manipulator and the second manipulator. 2. The guard rail is supported by a horizontal rotation shaft, and is repositioned to the normal position and the maintenance work position by rotating about the rotation shaft. The track maintenance device described. When the robot controller changes the position of the guard rail,
Until one of the first manipulator and the second manipulator supports one side of the guard rail until the rotation angle of the guard rail reaches a preset first angle,
Until the rotation angle passes the first angle and reaches a preset second angle, one of the first manipulator and the second manipulator is supported on one side and the other is opposite to the one side. Support the other side,
3. The track maintenance apparatus according to claim 2, wherein when the rotation angle exceeds the second angle, the other side is supported by both the first manipulator and the second manipulator. At the tip of the first manipulator and the second manipulator,
The track maintenance device according to any one of claims 1 to 3, wherein a hand portion including a pair of support members fixed to the manipulator so as to be separated from each other is provided. A track maintenance system in a track having a guard rail that is installed along a main rail and is bolted,
A bolt working device that is mounted on a bolt work manipulator that performs the work of installing or removing the bolt, and that travels on the main rail,
A track maintenance system comprising: the track maintenance device according to claim 1. The bolt processing apparatus is
6. The bolt removing operation for fixing the guard rail is performed before the guard rail is changed from a normal position to a maintenance work position by the track maintenance device. Track maintenance system. The bolt processing apparatus is
The track according to claim 5 or 6, wherein after the guard rail is rearranged from a maintenance work position to a regular position by the track maintenance device, an installation operation of the bolt for fixing the guard rail is performed. Maintenance system.

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