US3874305A - Robot locomotive for classifying rolling stocks - Google Patents

Robot locomotive for classifying rolling stocks Download PDF

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Publication number
US3874305A
US3874305A US409140A US40914073A US3874305A US 3874305 A US3874305 A US 3874305A US 409140 A US409140 A US 409140A US 40914073 A US40914073 A US 40914073A US 3874305 A US3874305 A US 3874305A
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United States
Prior art keywords
hydraulic
robot locomotive
rolling stock
locomotive
robot
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Expired - Lifetime
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US409140A
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English (en)
Inventor
Katsutosh Sema
Mitsuru Wakao
Yoshinori Kobayashi
Koichi Hara
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Japan National Railways
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Japan National Railways
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61J—SHIFTING OR SHUNTING OF RAIL VEHICLES
    • B61J3/00—Shunting or short-distance haulage devices; Similar devices for hauling trains on steep gradients or as starting aids; Car propelling devices therefor
    • B61J3/12—Self-propelled tractors or pushing vehicles, e.g. mules
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/16—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle
    • B60T7/18—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle operated by wayside apparatus

Definitions

  • ABSTRACT A robot locomotive is disclosed which is adapted to be releasably coupled to a freight car which is approaching at a relatively lower speed to the head of a classifying network in a yard or which is stopped at the head so as to accelerate and push it off on a desired track.
  • a hydraulically operated pusher assembly adapted to forcibly press against the flanges of the first wheel of a freight car and a hydraulic brake system.
  • an electronic controller controls various hydraulic control valves in a hydraulic controller so as to control the hydraulically operated pusher assembly and brake system.
  • the present invention relates to a robot locomotive adapted to classify freight cars or the like in a railway yard and to push a rolling stock on a slope.
  • the railroad yards may be classified into level and slope yards.
  • a freight car to be classified In the level yard a freight car to be classified must be pushed to the proper track by a switch engine while in the slope yard with a built-up hump at the head of the classifying network, freight cars must be pushed up to the hump by a switch engine. Therefore, both the level and slope yards require switch engines so that the efficiency of yard operation is low.
  • the switch engines because of the nature of the switch engines the freight car trains must be switched from one track to another many times so that the efficiency of yard operation is further decreased. Therefore there has long been a need for an inexpensive system for classifying the freight cars of one classified train which is pushed by a switch engine to a predetermined track or position in a yard.
  • one of the objects ofthe present invention is to provide a novel robot locomotive which is compact in size yet capable of producing greater thrust or tractive force and starting torque and whose installation and operation costs are inexpensive.
  • a hydraulically operated pusher assembly adapted to releasably couple to or catch a freight car or the like and a hydraulically operated brake system.
  • Hydraulic liquid under pressure is used to drive a robot locomotive of the present invention because the conversion of the energy of hydraulic liquid under pressure into mechanical energy is very efficient and the control of hydraulic liquid under pressure is easy. Therefore the robot locomotive of the present invention may produce greater thrust or tractive force and starting torque even though it is compact in size.
  • an electronic controller controls various hydraulic control valves in a hydraulic controller, thereby controlling the operations of the hydraulic systems mounted upon the robot locomotive.
  • the robot locomotive can accelerate over a short distance not only a freight car or the like approaching at a relatively slow speed but also a freight car or the like completely at rest. Furthermore the robot locomotive of the present invention is adapted to push up a rolling stock on a sloped track.
  • FIGS. I and 2 are views used for the explanation of the mode of operation of a robot locomotive of the present invention when it is used to classify freight cars approaching at a relatively slow speed and at rest, respectively;
  • FIG. 3 is a top view of a robot locomotive ofthe present invention.
  • FIG. 4 is a front end view thereof
  • FIG. 5 is a detailed view partly in section of a collision preventive means thereof
  • FIG. 6 is a hydraulic circuit thereof.
  • FIG. 7 is a view illustrating another embodiment of a hydraulic circuit thereof.
  • the robot locomotive in accordance with the present invention will be described hereinafter as being used in a railroad yard to classify freight cars by destination, but it is to be understood that it may be also used to push freight cars up to hump or push a locomotive or the like on the sloped track when the electronic and bydraulic control systems are suitably modified.
  • FIGS. I and 2 illustrate the modes of yard operation by a robot locomotive generally indicated by 10 of the present invention.
  • the robot locomotive 10 is coupled to a freight car 11 which is approaching at a relatively slow speed to a predetermined position such as the head of a classifying network. It accelerates the freight car 11 to a predetermined speed, releases it to a predetermined track, and then returns to its initial position.
  • the robot locomotive I0 shunts the incoming freight cars 11 one by one and combines them by destination into new trains.
  • the robot locomotive 10 starts the freight car which is at rest, accelerates it to a predetermined speed to release it to a predetermined track, and returns to the second freight car I] to repeat the same operation.
  • the above two yard operations may be carried out by the robot locomotive I0 only by the slight modifications of detecting means to be described in more detail hereinafter.
  • the robot locomotive 10 of the present invention comprises a carriage or main frame I5 supported by driving wheels 12 and provided with guide wheels 13 whose axes are perpendicular to those of the driving wheels 12; a power source generally indicated by 18 and including a hydraulic pump 16, which is driven by a prime mover 15 such as an electric motor or internal combustion engine, and a reservoir 17 for hydraulic liquid or working oil; a driving mechanism or system generally indicated by 22 and comprising a pair of hydraulic motors 19a and 19b which are driven in parallel or series by working oil under pressure supplied from the power source 18, and driving pinions 21a and 21b drivingly coupled to the hydraulic motors 19a and 19h through reduction gears a and 2012, respectively; a hydraulic controller 23 for controlling the hydraulic motors 19a and 19b and other hydraulic systems to be described hereinafter, the hydraulic controller 23 comprising various hydraulic control valves to be described hereinafter; an electronic controller 24 for controlling the hydraulic control valves in the hydraulic controller 23; an accumulator 25 for temporarily storing working oil under pressure discharged from the
  • the robot locomotive 10 is adapted to travel in a pit 28 between a pair of railroad rails 27.
  • the driving wheels 12 ride on guide rails 31 securely fixed through supporting arms 30 to supporting members 39 which also serve to support the rails 27.
  • the driving pinions 21a and 21h are in mesh with racks 32 securely fixed to supporting arms 30 immediately above the guide rails 31 so that when the hydraulic motors 19a and 19b are driven, the robot locomotive 10 may travel forwardly or backwardly on the guide rails 31 along the railroad rails 27.
  • the lateral vibration of the robot locomotive may be prevented as the guide wheels 13 move along the supporting brackets 33.
  • the power source utilizes liquid whose energy conversion is advantageous and whose velocity control is easy and the driving system comprising the driving pinions 21a and 21b in mesh with the racks 32 is employed, greater thrust or tractive force and starting force may be produced when the robot locomotive I0 is started and the wheel slippage may be prevented.
  • the pusher assembly 26 comprises a pair of right and left hydraulic cylinders 34, which are substantially similar in construction so that the construction of only one of them will be described hereinafter.
  • the hydraulic cylinder 34 comprises a pusher arm 35 having a roller 36 rotatably fixed to the free end thereof.
  • the roller 36 is pressed against the flange 38 of a wheel 37 of the freight car ll (See FIG. 4), thereby retarding the speed thereof.
  • the pusher arm 35 is retracted, the roller 36 is moved away from the flange 38 of the wheel (See FIG. 4, right) so that the freight car 11 is free to roll.
  • the pair of hydraulic cylinders 34 are mounted on a slider 39 and joined to each other by a pair of front and rear side plates 40.
  • the slider 39 is supported by rollers 41 which in turn ride on guide rails (not shown) laid upon the main frame 14 so that the hydraulic cylinders 34 may be moved back and forth in the longitudinal direction as will be described in more detail hereinafter.
  • the free end of a piston rod 43 of a hydraulic shock absorber 42 mounted upon the main frame 14 is normally pressed against the rear plate of the slider 39 under the force of a spring 44 loaded between the hydraulic shock absorber 42 and the free end of the pisiton rod 43.
  • the hydraulic cylinders 34 are actuated by working liquid under pressure which is supplied from the hydraulic pump 16 or the accumulator 25 and whose flow is controlled by the hydraulic controller 23 as will be described in more detail hereinafter.
  • the rollers 36 of the by draulic cylinder 34 are adapted to be retracted as soon as the freight car 11 is pushed forwardly, but if the rollers 36 would not be retracted away from the flange 38 of the wheel 37, they would collide against the flanges' of the next wheels so that the robot locomotive 10 would be forced to run together with the freight car 11.
  • the present invention provides collision preventive means.
  • the collision preventive means comprises a lever 46 whose one end is pivoted with a pivot pin 47 to a stay fixed to the end portion of the pusher arm 35 and a collision preventive valve generally indicated by 49.
  • the other end of the lever 46 is slidably interposed between a roller 48 fixed to the main frame 14 and a roller 50 fixed to the main frame 14 and a roller 50 fixed to the top of the collision preventive valve 49.
  • An annular groove 52 is formed around the front end portion of a spool 51 slidably fitted into a cylindrical portion 54 of a valve body 53, and a plurality of thorough holes 55 are equiangularly drilled through the wall of the cylindrical portion 54. Steel balls 56 are fitted into the holes to partly extend into the annular groove 52 of the spool 51.
  • a slide cap 57 is slidably fitted over the cylindrical portion 54, and an annular groove 58 is formed in the inner wall of the slide cap 57.
  • a spring 59 is loaded between the bottom of the slide cap 57 and the end face of the spool 51. The slide cap 57 serves to retain the balls 56 in position, that is in the holes 55 and the annular groove 52 of the spool 51 under the normal condition, thereby preventing an erratic operation of the spool 51.
  • FIG. 6 illustrating the hydraulic circuit thereof.
  • the hydraulic pump 16 pumps working liquid in the reservoir 17 into the accumulator 25, the pressure of working liquid charged into the accumulator being controlled by a pressure switch 60.
  • a vent valve 62 of an unloader relieve valve 51 is opened to return working liquid under pressure discharged from the hydraulic pump 16 to the reservoir 17 so that the hydraulic pump 16 is operated under the unloaded condition.
  • the flow of working oil under pressure from the accumulator 25 to the vent valve 62 is prevented by a check valve 63.
  • a main and auxiliary control valves 64 and 65 and a brake operating valve 66 in the hydraulic controller 23 are energized whereas a forward-reverse control valve 67.
  • a detector 72 mounted on the main frame 14 forwardly of the pusher assembly 26 generates a signal which is transmitted through the electronic controller 24 to the vent valve 62.
  • the vent valve 62 is energized to switch to the upper or closed position
  • the main control valve 64 is deenergized to switch to the lower or open position
  • the forward-reverse control valve 67 is energized to switch to the forward position.
  • the parallel-series switching valve 68 is energized to switch to the parallel position
  • the pusher arm operating valve 69 is energized to the right position to extend the pusher arms 35.
  • Working oil under pressure from the accumulator 25 is admitted through the pusher arm operating valve 69 into the hydraulic cylinders 34 behind the pistons to extend the pusher arms 35 so that the rollers 36 are pressed against the flanges of the first wheels 37 of the freight car 1].
  • Working oil under pressure from the hydraulic pump 16 flows through the main control valve 64. the forward-reverse control valve and the seriesparallel switching valve 68 into the hydraulic motors 19a and 19h so that the latter are driven in the forward direction in parallel.
  • the rotation of the hydraulic motors 19a and 19/1 are transmitted to the driving pinions 21a and 2111 through the reduction gears 20a and 2011 so that the robot locomotive 10 starts to follow the freight car 11 with the pusher arms 35 and hence the rollers 36 being extended.
  • a pilot check valve 74 is opened so that working oil under pressure flows from the accumulator 25 through the pilot check valve 74 and a check valve and joins with the flow of working oil under pressure discharged from the hydraulic pump 16 so that the flow rate of working oil under pressure charged into the hydraulic motors 19a and 19b is increased.
  • the rotational speed of the hydraulic motors 19a and 19b is accelerated so that the freight car 1 I may be accelerated. Because of the parallel operation of the hydraulic motors 19a and 1917 the robot locomotive 10 may push the freight car 11 with the greater force.
  • a tachometer generator (not shown) coupled for example, to the output shaft of the hydraulic motor 190
  • the tachometer generator generates a signal which is transmitted through the electronic controller 24 to the vent valve 62.
  • the vent valve 62 is de-energized to be opened so that the hydraulic pump 16 is unloaded.
  • the vent valve 62 is disconnected from the electronic controller 24 and is operatively coupled to the pressure switch 60.
  • the main control valve 64 is en ergized to be closed. and the acceleration control valve 70 is dc-energized to close the pilot check valve 74 so that the flow of working oil under pressure from the hydraulic pump 16 and the accumulator 25 to the hydraulic motors 19a and 19b is interrupted.
  • the forward-reverse control valve 67 is switched to the upper position, that is the reverse position so that the pump operation of the hydraulic motors 19a and 1912 is started as the robot locomotive 10 is still rolling under the force of inertia.
  • Working oil under pressure discharged from the hydraulic motors 19a and 19b is returned to the suction ports thereof through the brake valve 71, a relief valve 76 and a check valve 77 so that the load whose pressure is determined by the relief valve 76 is applied to the hydraulic motors 19a and 1%.
  • the dynamic retarding forces are produced.
  • the operating valve 66 is energized in response to the signal from the tachometer generator to be switched to the right position so that working oil under pressure from the accumulator 25 is admitted through the brake operating valve 66 and a pressure reducing valave 79 into a brake cylinder 80 so that the mechanical retarding forces are applied to the robot locomotive 10.
  • the robot locomotive 10 is rapidly decelerated by the dynamic and mechanical braking so that the freight car I I may be released away from the robot locomotive 10 at a predetermined speed.
  • the pusher arm control valve 69 is dc-energized in response to the signal from the electronic controller 24 to communicate the chambers behind the pistons of the hydraulic cylinders 34 with the reservoir 17 so that the pusher arms 35 and hence the rollers 36 are retracted away from the flanges 38 of the first wheels 37 of the freight car I]. Thereafter the pusher assembly 26 is returned to its initial position by the hydraulic shock absorbers 42 and their springs 44.
  • V. Reverse and Acceleration When the robot locomotive 10 is stopped after it has pushed off the freight car II. a control signal is generated in the electronic controller 24 in response to the signal from the tachometer generator and is applied to the brake operating valve 66. the series-parallel switching valve 68. the acceleration control valve 70 and the brake valve 71.
  • the brake operating valve 66 is energized to switch to the left position, that is the valve 66 is opened so that working oil under pressure in the brake cylinder 80 is returned to the reservoir 17 through a check valve 81 so that brake is released.
  • the series parallel switching valve 68 is de-cnergized to switch to the lower or series position. and the acceleration control valve 70 is energized to switch to the left position.
  • the brake valve 7] is switched to the upper or reverse position.
  • the pilot check valve 74 is opened so that working oil under pressure flows from the accumulator 25 through the pilot check valve 74, the check valve 85. the forward-reverse control valve 67. the hydraulic motor 19h. the series-parallel switching valve 68 and the hydraulic motor 19a to the reservoir 17.
  • the hydraulic motors 19a and I9]; are coupled in series and driven in the reverse direction so that the robot locomotive I is reversed and is gradually accelerated.
  • the vent valve 62 is disconnected from the electronic controller 24 and is operatively coupled to the pressure switch 60 as soon as the brake is applied so that when the pressure in the accumulator drops a predetermined level. the pressure switch 60 is closed to close the vent valve.
  • the hydraulic pump 16 is driven into the on-load state so that working oil under pressure discharged thereform is charged into the accumulator through the check valve 63.
  • the pressure in the accumulator 25 may be always maintained at a predetermined level.
  • Vl Free rolling
  • the electronic controller 24 When the robot locomotive 10 is accelerated to a predetermined speed. the electronic controller 24 generates a control signal in response to the signal from the tachometer generator. The control signal is transmitted to the auxiliary control valve 65. the forward-reverse control valve 67 and the acceleration control valve 70. The acceleration control valve is de-cnergized to close the pilot check valve 74. and the auxiliary control valve and the forward-reverse control valve 67 are also tie-energized so that the former is switched to the lower or open position, whereas the latter is switched to the center or free rolling position.
  • auxiliary control valve 65 is opened in response to a control signal from the electronic controller 24. which in turn is generated in response to the signal from the tachometer generator, to flow working oil under pressure from the accumulator 25 through the auxiliary control valve 65.
  • a pressure reducing valve 82 and check valves 83 and 84 into the hydraulic motors I90 and 19h so as to maintain the positive pressure in the closed hydraulic circuit.
  • Vlll Travel in'reverse direction at a predetermined speed
  • a control signal is transmitted from the electronic controller 24 to the vent valve 62, the main control valve 64 and the forward-reverse control valve 67.
  • the vent valve 62 is disconnected from the pressure switch 60 and is energized to switch to the upper or closed position so that the hydraulic pump 16 is driven into the onload state.
  • the main control valve 64 is de-energized to switch to the lower or open position. and the forward-reverse control valve 67 is switched to the upper or reverse position.
  • the main control valve 64 is energized to switch to the upper or closed position, the brake operating valve 66 is de-energized to the right or operative position, and the forward-reverse control valve 67 is switched to the lower or forward position.
  • the working oil under pressure discharged out of the hydraulic motors I90 and 19/) is returned to their suction ports through the brake valve 71, the relief valve 76 and the check valve 78 so that the dynamic retardation force is applied to the robot locomotive I0 as in the case of the first braking.
  • the working oil under pressure flows from the accumulator through the brake operating valve 66 and the pressure reducing valve 79 into the brake cylinder 80 so that the mechanical retarding forces are also applied to the robot locomotive I0.
  • the robot locomotive is rapidly dcceler' ated and comes to stop at a position spaced apart by a predetermined distance from the position at which the sensor 87 is actuated. That is, the robot locomotive I0 is returned to its initial position.
  • freight cars I] may be classified one by one by the robot locomotive 10.
  • the robot locomotive 10 of the present invention may also automatically classify freight cars II which are at rest at the head of a classifying network as shown in FIG. 2.
  • detector 72 may be eliminated. and the first braking operation is started in response to the signal from the detector 85 which is so modified as to be actuated by the first wheel 37 of the freight car.
  • the robot locomotive I0 which is travelling at a predetermined constant speed is subjected to the second braking in response to the signal generated by the detector 87 which is also so modified as to be actuated by the lirst wheel 37 of the freight car 11, whereby the robot locomotive 10 is stopped.
  • the positions ofthe detectors and 87 are so selected that when the robot locomotive I0 is stopped, the extended rollers 36 of the pusher assembly 26 may be correctly pressed against the flanges of the first wheels of the freight car 1 l, and the robot locomotive I0 is so arranged as to automatically repeat the operation of classifying the next freight car I I when the robot locomotive I0 is stopped. Then only the start and stop signals are required to have the robot locomotive automatically classified the freight cars as shown in FIG. 2.
  • hydraulic motors 19c and 19d having a servo cylinder 88 and a servo valve 89 are of the variable displacement type.
  • a control valve 90 is closed so that working oil under pressure flows from the accumulator 25 through the brake operating valve 66 and a check valve 91 and is admitted into a pilot chamber of the servo motor 89 and then into a chamber behind the piston of the servo cylinder, thereby increasing the displacements of the hydraulic motors 19c and 19d to the maximum. Therefore, the maximum dynamic brake force is applied.
  • the above described brake force is applied by having the displacements of the hydraulic motors 19c and Il9d increased to the max imum so that the maximum starting torque may be obtained.
  • the hydraulic motors 19c and 19d are driven with a predetermined hydraullic pressure which is determined by the unloader relief valve 61 until the whole working oil under pressure discharged from the hydraulic pump 16 flows into the hydraulic motors 19(- and 194/. Therefore the thrust. or tractive force of the robot locomotive 10 may be maintained constant.
  • working oil under pressure in a high pressure circuit is admitted into the pilot chamber of the servo valve 89 through a shuttle valve 92 and the control valve 90'. thereby actuating the servo cylinder 88 to vary eccentricity of the hydraulic motors 19c and 1911.
  • the pressure of working oil may be maintained always at a predetermined constant level so that the outputs of the hydraulic motors [9c and 19! may be also be maintained at a predetermined constant magnitude.
  • an open center type four-port directional control valve 670 must be used as the forwardreverse control valve in order to permit the free travel or rolling under the force of inertia in the reverse direc tion.
  • the present invention utilizes hydraulic liquid whose energy conversion is efficient and advantageous and whose velocity control is easy so that the robot locomotive may produce the greater starting torque and thrust or tractive force even though it is relatively compact in size. Therefore the robot locomotive of the present invention can accelerate over a relatively short distance and push off not only freight cars approaching at a relatively slow speed to the head of a classifying network, but also freight cars which are at rest at the head. Since the pinion and rack drive system is employed, wheel slippage may be prevented and the control of the position of the robot locomotive may be attained in a simple manner. The high pressure required may be controlled in a simple manner and the breakdown due to the overload may be prevented.
  • the maximum instantaneous output may be increased by a few times to tens of times the output of the hydraulic motors so that even a heavy freight car may be accelerated over a short distance to a required push-off speed.
  • the robot locomotive is simple in construction and compact in size, and the ground installation is simple so that the initial cost as well as the operating expenses may be considerably reduced.
  • the robot locomotive of the present invention may be used not only in a yard with a built-in hump but also to push a railroad car at a steep slope.
  • two hydraulic cylinders similar to the hydraulic cylinder 34 may be disposed in parallel on each side of the robot locomotive so that two pusher arms and hence tow rollers may be pressed against the flange of the same wheel of a freight car, thereby pushing the wheel in a desired direction or stopping the freight car at a desired position.
  • a hydraulically operated robot locomotive for pushing rolling stocks comprising a main frame sup ported on wheels so as to travel along a guide track; a power source mounted upon said main frame and comprising a hydraulic pump, means for driving said hydraulic pump, and a reservoir for working hydraulic liquid; a traction system comprising a plurality ofhydraulic motors which are driven by hydraulic liquid under pressure supplied from said power source; a hydraulic control system including hydraulic control valves for controlling said power source and said traction system, an electronic control system for controlling said bydraulic control valves in said hydraulic control system in response to control signals applied from the exterior of said robot locomotive; a hydraulic brake system for applying mechanical brake to said wheels of said main frame; and a hydraulic rolling stock pusher assembly adapted to relcasably couple said robot locomotive to a rolling stock, whereby said robot locomotive may push the rolling stock.
  • a robot locomotive as defined in claim I further (ill comprising an accumulator mounted on said main frame for accumulating therein working liquid under pressure and adapted, in response to a control signal, to supply working liquid under pressure to said hydraulic motors, said hydraulic brake system, and said hydraulic rolling stock pusher assembly through said hydraulic control system.
  • said hydraulic rolling stock pusher assembly comprises collision preventive means each of which comprises a collision preventive valve, and a lever operatively coupled to said collision preventive valve and said hydraulic rolling stock pusher assembly, whereby a wheel of a rolling stock pushes said lever in case of an erratic operation of said pusher assembly to cause the same to retract to the inoperative position.
  • a fluid-operated robot locomotive for pushing rolling stock comprising a frame supported on wheels for travel along a guide track;
  • a traction system coupled with said wheels and driven by said power source
  • an electronic control system including detecting means for detecting the proximity of rolling stock, for controlling said operations control system in response to control signals applied from the exterior of said robot locomotive;
  • a rolling stock pusher assembly adapted to releasably couple said robot locomotive to an item of rolling stock, whereby said robot locomotive may push the rolling stock.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Braking Arrangements (AREA)
  • Manipulator (AREA)
US409140A 1972-12-29 1973-10-24 Robot locomotive for classifying rolling stocks Expired - Lifetime US3874305A (en)

Applications Claiming Priority (1)

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JP733787A JPS5145846B2 (enrdf_load_stackoverflow) 1972-12-29 1972-12-29

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US3874305A true US3874305A (en) 1975-04-01

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US (1) US3874305A (enrdf_load_stackoverflow)
JP (1) JPS5145846B2 (enrdf_load_stackoverflow)
CA (1) CA988003A (enrdf_load_stackoverflow)
DE (1) DE2360626C3 (enrdf_load_stackoverflow)
FR (1) FR2212255B1 (enrdf_load_stackoverflow)
GB (1) GB1460283A (enrdf_load_stackoverflow)

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US4727813A (en) * 1985-01-26 1988-03-01 Kabushiki Kaisha Toshiba Linear induction propelled track guided runner
CN1326732C (zh) * 2003-12-26 2007-07-18 中南大学 流线型列车头部外形与结构的设计、加工方法
ES2327080A1 (es) * 2006-12-05 2009-10-23 Dano Rail, S. Coop Dispositivo para arrastre de composiciones de tren.
CN102963392A (zh) * 2012-11-15 2013-03-13 中国神华能源股份有限公司 推车机与列车未挂钩检测控制系统和方法
US20140216878A1 (en) * 2011-10-13 2014-08-07 Korea Railroad Research Institute Non-contact power feeding apparatus using conductive fluid

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JPS5498645U (enrdf_load_stackoverflow) * 1977-12-23 1979-07-12
JPS5889706U (ja) * 1981-12-14 1983-06-17 由井　成幸 暖房機の湯沸かし装置
JPS6060603U (ja) * 1983-10-03 1985-04-26 株式会社コロナ 暖房装置
JPS6063706U (ja) * 1983-10-08 1985-05-04 株式会社コロナ 暖房装置
DE3804539A1 (de) * 1988-02-13 1989-08-24 Werner Zappel Rangierwagen fuer eisenbahnwaggons
DE19638227C1 (de) * 1996-09-19 1998-03-05 Deutsche Bahn Ag Einrichtung für Rangierzwecke
DE19714562A1 (de) * 1997-04-09 1998-10-15 Deutsche Bahn Ag Rangiereinrichtung mit hoher Verfügbarkeit

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FR1441407A (fr) * 1964-05-28 1966-06-10 Sncf Dispositif et procédé de triage de matériel roulant
JPS4819961B1 (enrdf_load_stackoverflow) * 1968-02-23 1973-06-18

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Cited By (8)

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CN1326732C (zh) * 2003-12-26 2007-07-18 中南大学 流线型列车头部外形与结构的设计、加工方法
ES2327080A1 (es) * 2006-12-05 2009-10-23 Dano Rail, S. Coop Dispositivo para arrastre de composiciones de tren.
ES2327080B1 (es) * 2006-12-05 2010-06-04 Dano Rail, S. Coop Dispositivo para arrastre de composiciones de tren.
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US9531219B2 (en) * 2011-10-13 2016-12-27 Korea Railroad Research Institute Non-contact power feeding apparatus using conductive fluid
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CN102963392B (zh) * 2012-11-15 2015-09-23 中国神华能源股份有限公司 推车机与列车未挂钩检测控制系统和方法

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DE2360626C3 (de) 1981-12-17
GB1460283A (en) 1976-12-31
JPS5145846B2 (enrdf_load_stackoverflow) 1976-12-06
FR2212255B1 (enrdf_load_stackoverflow) 1978-08-11
DE2360626B2 (de) 1981-04-16
FR2212255A1 (enrdf_load_stackoverflow) 1974-07-26
CA988003A (en) 1976-04-27
JPS4992709A (enrdf_load_stackoverflow) 1974-09-04
DE2360626A1 (de) 1974-07-04

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