EP3402709A1 - Instandhaltungsfahrzeug und verfahren - Google Patents
Instandhaltungsfahrzeug und verfahrenInfo
- Publication number
- EP3402709A1 EP3402709A1 EP16809287.2A EP16809287A EP3402709A1 EP 3402709 A1 EP3402709 A1 EP 3402709A1 EP 16809287 A EP16809287 A EP 16809287A EP 3402709 A1 EP3402709 A1 EP 3402709A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- track
- industrial robot
- work
- working space
- 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.)
- Granted
Links
- 238000012423 maintenance Methods 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims description 6
- 230000008878 coupling Effects 0.000 claims abstract description 13
- 238000010168 coupling process Methods 0.000 claims abstract description 13
- 238000005859 coupling reaction Methods 0.000 claims abstract description 13
- 238000003754 machining Methods 0.000 claims description 8
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 2
- 229910052742 iron Inorganic materials 0.000 claims description 2
- 239000002131 composite material Substances 0.000 claims 1
- 230000001747 exhibiting effect Effects 0.000 claims 1
- 238000011144 upstream manufacturing Methods 0.000 claims 1
- 238000005553 drilling Methods 0.000 description 3
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
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
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B29/00—Laying, rebuilding, or taking-up tracks; Tools or machines therefor
- E01B29/16—Transporting, laying, removing, or replacing rails; Moving rails placed on sleepers in the track
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B31/00—Working rails, sleepers, baseplates, or the like, in or on the line; Machines, tools, or auxiliary devices specially designed therefor
- E01B31/02—Working rail or other metal track components on the spot
Definitions
- the invention relates to a maintenance vehicle and a method for
- DE 20 2004 013 732 U1 discloses a maintenance vehicle with a working space open towards the track.
- the upper end region of the working space which is in the vertical direction, is formed by an upwardly cranked vehicle frame, so that workers can work unhindered on the track between two side walls in a secured area.
- an articulated boom is mounted in the region of a bridge-shaped body, with the aid of which a tool arranged on it can be positioned in a terrain section located next to the track.
- the object of the present invention is now to provide a
- FIG. 1 shows a simplified side view of a maintenance vehicle
- FIG. 2 shows an enlarged cross section through the maintenance vehicle forming a working space.
- a maintenance vehicle 1 shown in FIG. 1 has a vehicle frame 3 supported on rail chassis 2 at the end and a driver's cab 4. With the aid of a travel drive 5, the vehicle 1 can be moved in a vehicle longitudinal direction 6 on a track 7.
- the vehicle frame 3 is designed to be bent upwards between the two rail carriages 2, whereby a working space 9 which is open in the direction of the track 7 and otherwise closed for safety reasons is enclosed between two side walls 8 (see FIG. This is accessible from a crew cab 10, so that for workers employed in the working space 9, a stay in a danger area outside the maintenance vehicle 1 is not required.
- two vehicle side walls 11 which extend in a direction normal to the vehicle longitudinal direction 6 are provided with side walls 8 that can be distanced from one another by a drive 12.
- a drive 12 In the example shown - to create an enlarged working space 9 - only the left side wall 8 is displaced in the vehicle transverse direction 11, so that a left rail 13 of the track 7 can be processed unhindered.
- the opposite right side wall 8 can be moved relative to the vehicle frame 3 in the vehicle transverse direction 11 for a further enlargement of the working space 9.
- an at least three moving axes 14, media couplings 15 for a power supply and a tool coupling 16 for selective connection to a track machining tool 17 are industrial robots 18 arranged on the vehicle 1. This is displaceably mounted by a drive 19 on a running in the vehicle longitudinal direction 6, fixed to the vehicle frame 3 robot guide 20.
- a control device 26 assigned to the industrial robot 18 is, in addition to the robot control, configured for storing parameters that are captured by the sensor system 25 and that characterize the quality of work of the track components 23 processed by the robot 18.
- the industrial robot 18 is designed for automatic coupling with the track machining tool 17 mounted on a tool rest 27 within the working space 9 and its automatic power supply through the media couplings 15 and for a subsequent work insert which automatically runs in a selectable program mode. If necessary, the tax authorities Direction 26 and a combined use of the industrial robot 18 with a movable on the vehicle frame 3 in the vehicle longitudinal direction 6 spring balancer 28 (see Fig. 1), in particular for installation and removal of the rails 13, automatically controlled. This facilitates handling of heavy rail sections by the industrial robot 18.
- the vehicle 1 For performing maintenance work, the vehicle 1 is stopped on a track section to be processed and created by displacement of the two side walls 8 of the required for the unimpeded processing of the track components 23 working space 9.
- the appropriate track machining tool 17 selected from a group of in the working space 9 on the tool tray 27 tools and both mechanically and with respect to a complete power supply to the industrial robot automatically 18 hitched.
- the track component 23 to be processed by the track processing tool 17 is then scanned without contact by means of the sensor system 25 arranged on the industrial robot 18, in order to obtain a suitable reference base for an exact work result for the subsequent automatic working operation.
- this scan could also be performed by the industrial robot 18 immediately prior to coupling with the track machining tool 17.
- contactless scanning of the track component 23, preferably a rail 13 to be abraded can also take place during use of the work by the sensors 25 in order to compare the measurement data thus obtained with a desired state stored in the control device 26. If the labor input, such as rail grinding, is composed of several work passes, they are automatically repeated until the sensor system 25 detects that the desired state has been reached.
- the program flow for the industrial robot 18 is changed automatically to achieve an optimal work result. Due to the mobility along the robot guide 20 of the industrial robot 18 is optionally used freely in the entire working space 9.
- the rail head is measured via the sensor system 25 and a coupled rail drill is precisely moved by the industrial robot 18 into the correct position.
- After drilling can be carried out by means of the sensor 25 a final quality inspection and, if necessary, a documentation of the work result by storing the data in conjunction with a local assignment to the track 7.
- This workflow is of course also possible for other maintenance work, such as threshold drilling, rail cutting, shearing a Sch spawulstes, track clogging, etc.
- An impact wrench can be used to loosen the screw.
- Screw heads found and solved. If necessary, the loosened screws can be picked up and removed with, for example, a magnetic gripper attached to the industrial robot 18. New screws can be quickly placed and tightened.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Machines For Laying And Maintaining Railways (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PL16809287T PL3402709T3 (pl) | 2016-01-14 | 2016-12-06 | Pojazd konserwacyjny oraz sposób |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016000408.8A DE102016000408A1 (de) | 2016-01-14 | 2016-01-14 | Instandhaltungsfahrzeug und Verfahren. |
PCT/EP2016/002048 WO2017121441A1 (de) | 2016-01-14 | 2016-12-06 | Instandhaltungsfahrzeug und verfahren |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3402709A1 true EP3402709A1 (de) | 2018-11-21 |
EP3402709B1 EP3402709B1 (de) | 2020-01-29 |
Family
ID=57539200
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16809287.2A Active EP3402709B1 (de) | 2016-01-14 | 2016-12-06 | Instandhaltungsfahrzeug und verfahren |
Country Status (12)
Country | Link |
---|---|
US (1) | US10940874B2 (de) |
EP (1) | EP3402709B1 (de) |
JP (1) | JP6910360B2 (de) |
CN (2) | CN110578275B (de) |
AU (1) | AU2016385836B2 (de) |
DE (1) | DE102016000408A1 (de) |
DK (1) | DK3402709T3 (de) |
ES (1) | ES2779779T3 (de) |
HU (1) | HUE049164T2 (de) |
PL (1) | PL3402709T3 (de) |
PT (1) | PT3402709T (de) |
WO (1) | WO2017121441A1 (de) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102019205764A1 (de) | 2019-04-23 | 2020-10-29 | Robel Bahnbaumaschinen Gmbh | Bearbeitungsanlage und Verfahren zum Durchführen von Gleisarbeiten |
DE202019102984U1 (de) * | 2019-05-27 | 2020-08-28 | Robel Bahnbaumaschinen Gmbh | Trennschleifmaschine zum Durchtrennen einer Schiene eines Gleises |
ES2729815B2 (es) * | 2019-07-02 | 2020-05-13 | Univ Valencia Politecnica | Instalacion para vias ferreas con placas prefabricadas y procedimiento automatizado de montaje de la misma |
DE102019212186A1 (de) * | 2019-08-14 | 2021-02-18 | Robel Bahnbaumaschinen Gmbh | Bearbeitungsanlage und Verfahren zum Durchführen von Gleisarbeiten |
DE102020201689A1 (de) | 2020-02-11 | 2021-08-12 | Robel Bahnbaumaschinen Gmbh | Bearbeitungsanlage und Verfahren zum Durchführen von Gleisarbeiten |
DE102020207437A1 (de) | 2020-06-16 | 2021-12-16 | Robel Bahnbaumaschinen Gmbh | Vorrichtung zur Gleisbearbeitung |
DE102021202939A1 (de) | 2021-03-25 | 2022-09-29 | Robel Bahnbaumaschinen Gmbh | Verfahren und Vorrichtung zum Durchführen von Gleisarbeiten |
AT17744U1 (de) * | 2021-08-24 | 2023-01-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | Arbeitsfahrzeug zur Durchführung von Arbeitseinsätzen auf einem Gleis |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1166876A (en) * | 1966-12-09 | 1969-10-15 | Toyo Rayon Co Ltd | Reinforced Rubber Structure and method of producing the same |
AT402519B (de) | 1990-02-06 | 1997-06-25 | Plasser Bahnbaumasch Franz | Kontinuierlich verfahrbare gleisbaumaschine zum verdichten der schotterbettung eines gleises |
DE9206335U1 (de) | 1992-05-12 | 1992-07-23 | Hermann Wiebe Grundstücks- und Maschinenanlagen KG, 2800 Bremen | Schienengebundenes Trägerfahrzeug |
ATA47295A (de) | 1995-03-16 | 1996-07-15 | Plasser Bahnbaumasch Franz | Gleisbaufahrzeug |
US6787726B2 (en) * | 1997-12-16 | 2004-09-07 | Holland Lp | Rail welding apparatus incorporating rail restraining device, weld containment device, and weld delivery unit |
US6655296B2 (en) * | 2001-04-11 | 2003-12-02 | Franz Plasser Bahnbaumaschinen-Industriegesellschaft M.B.H. | Method of renewing damaged ties of a track |
DE10201095C1 (de) * | 2002-01-09 | 2003-12-18 | Siemens Ag | Vorrichtung zur automatischen Verlegung von Balisen im Gleisbett |
DE20208835U1 (de) * | 2002-06-07 | 2002-10-10 | Robel Bahnbaumaschinen Gmbh | Instandhaltungsfahrzeug |
AT6158U3 (de) | 2003-01-29 | 2004-03-25 | Plasser Bahnbaumasch Franz | Maschine zur behandlung eines gleises |
DE202004013732U1 (de) | 2004-09-03 | 2004-12-16 | Robel Bahnbaumaschinen Gmbh | Instandhaltungsfahrzeug |
JP5332042B2 (ja) * | 2009-10-20 | 2013-11-06 | 株式会社安川電機 | 線路保守装置及び線路保守システム |
DE102009051583A1 (de) * | 2009-10-21 | 2011-04-28 | IPR-Intelligente Peripherien für Roboter GmbH | Robotersystem und Verfahren zum Verlegen eines Schienenstrangs |
DE202009014493U1 (de) * | 2009-10-27 | 2010-02-04 | Robel Bahnbaumaschinen Gmbh | Fahrzeug zur Instandhaltung eines Gleises |
DE102010022679A1 (de) * | 2010-06-04 | 2011-12-08 | Robel Bahnbaumaschinen Gmbh | Fahrzeugkombination zum Transport von Schienen |
US20120192756A1 (en) * | 2011-01-31 | 2012-08-02 | Harsco Corporation | Rail vision system |
CN202318314U (zh) * | 2011-12-15 | 2012-07-11 | 哈尔滨岛田大鹏工业有限公司 | 机器人自动更换夹具机构 |
DE202012002222U1 (de) * | 2012-03-02 | 2012-04-17 | Db Bahnbaugruppe Gmbh | Fahrzeug zur Durchführung von Baumaßnahmen im Gleisbereich des Eisenbahnverkehrs |
DE202016000509U1 (de) | 2016-01-27 | 2016-03-02 | Robel Bahnbaumaschinen Gmbh | Instandhaltungsfahrzeug |
-
2016
- 2016-01-14 DE DE102016000408.8A patent/DE102016000408A1/de not_active Withdrawn
- 2016-12-06 ES ES16809287T patent/ES2779779T3/es active Active
- 2016-12-06 US US16/068,906 patent/US10940874B2/en active Active
- 2016-12-06 PL PL16809287T patent/PL3402709T3/pl unknown
- 2016-12-06 JP JP2018536835A patent/JP6910360B2/ja active Active
- 2016-12-06 EP EP16809287.2A patent/EP3402709B1/de active Active
- 2016-12-06 DK DK16809287.2T patent/DK3402709T3/da active
- 2016-12-06 CN CN201910910574.5A patent/CN110578275B/zh active Active
- 2016-12-06 CN CN201680079026.7A patent/CN108463388B/zh active Active
- 2016-12-06 WO PCT/EP2016/002048 patent/WO2017121441A1/de active Application Filing
- 2016-12-06 HU HUE16809287A patent/HUE049164T2/hu unknown
- 2016-12-06 AU AU2016385836A patent/AU2016385836B2/en active Active
- 2016-12-06 PT PT168092872T patent/PT3402709T/pt unknown
Also Published As
Publication number | Publication date |
---|---|
DK3402709T3 (da) | 2020-04-27 |
US10940874B2 (en) | 2021-03-09 |
CN110578275A (zh) | 2019-12-17 |
AU2016385836A1 (en) | 2018-07-05 |
EP3402709B1 (de) | 2020-01-29 |
HUE049164T2 (hu) | 2020-09-28 |
PT3402709T (pt) | 2020-03-27 |
ES2779779T3 (es) | 2020-08-19 |
US20190016350A1 (en) | 2019-01-17 |
PL3402709T3 (pl) | 2020-06-15 |
CN108463388B (zh) | 2020-02-07 |
AU2016385836B2 (en) | 2021-07-22 |
CN110578275B (zh) | 2022-05-13 |
CN108463388A (zh) | 2018-08-28 |
WO2017121441A1 (de) | 2017-07-20 |
DE102016000408A1 (de) | 2017-07-20 |
JP2019503299A (ja) | 2019-02-07 |
JP6910360B2 (ja) | 2021-07-28 |
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