EP3402709B1 - Maintenance vehicle and method - Google Patents

Maintenance vehicle and method Download PDF

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Publication number
EP3402709B1
EP3402709B1 EP16809287.2A EP16809287A EP3402709B1 EP 3402709 B1 EP3402709 B1 EP 3402709B1 EP 16809287 A EP16809287 A EP 16809287A EP 3402709 B1 EP3402709 B1 EP 3402709B1
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Prior art keywords
vehicle
track
work
industrial robot
sensor system
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EP16809287.2A
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German (de)
French (fr)
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EP3402709A1 (en
Inventor
Gregor Schmid
Christoph MÜHLBACHER
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Robel Bahnbaumaschinen GmbH
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Robel Bahnbaumaschinen GmbH
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Priority to PL16809287T priority Critical patent/PL3402709T3/en
Publication of EP3402709A1 publication Critical patent/EP3402709A1/en
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    • 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 performing maintenance work on a section of a track according to the features stated in the preamble of claims 1 and 9, respectively.
  • the object of the present invention is to create a maintenance vehicle of the type mentioned at the beginning, with which improved track processing is possible.
  • Equipping the work area in this way enables the workforce to be relieved of all physical exertion resulting from the handling of the track processing tool.
  • the accuracy of the work result can be increased as a result of precise guidance by the robot.
  • the use of noisy and exhaust gas-generating combustion engines is also unnecessary.
  • Fig. 1 a simplified side view of a maintenance vehicle
  • Fig. 2 an enlarged cross section through the maintenance vehicle forming a work space.
  • the maintenance vehicle 1 shown has a vehicle frame 3 supported at the end on rail running gear 2 and a driving cabin 4.
  • the vehicle 1 can be moved in a vehicle longitudinal direction 6 on a track 7 with the aid of a travel drive 5.
  • the vehicle frame 3 is cranked upwards between the two rail carriages 2, as a result of which between two side walls 8 (see FIG. Fig. 2 ) a working space 9 that is open towards the track 7, but otherwise closed for safety reasons, is delimited. This can be entered from a team cabin 10, so that a stay in a danger area outside the maintenance vehicle 1 is not necessary for workers employed in the work area 9.
  • two side walls 8 which can be spaced apart from one another by a drive 12, are provided in a transverse direction 11 of the vehicle running normal to the vehicle longitudinal direction 6.
  • a left side wall 8 is displaced in the transverse direction 11 of the vehicle, so that a left rail 13 of the track 7 can be processed unhindered.
  • the opposite right side wall 8 can also be moved in the transverse direction 11 of the vehicle for a further enlargement of the working space 9 relative to the vehicle frame 3.
  • media couplings 15 for an energy supply and a tool coupling 16 for optional connection to a track machining tool 17 is arranged on the vehicle 1 by way of example. This is displaceably supported by a drive 19 on a robot guide 20 running in the vehicle longitudinal direction 6 and fastened to the vehicle frame 3.
  • the industrial robot 18 is equipped with a sensor system 25 on a coupling-side end 24 for contactless scanning of track components 23 accessible within the working space 9 and composed of the rails 13, sleepers 21 and small iron 22.
  • a control device 26 assigned to the industrial robot 18 is designed in addition to the robot control for storing parameters recorded by the sensor system 25 and characterizing the work quality of the track components 23 processed by the robot 18.
  • the industrial robot 18 is designed for an automatic coupling with the track processing tool 17 stored on a tool tray 27 within the work space 9 for selection, as well as its automatic energy supply through the media couplings 15 and for a subsequent work operation that runs automatically in a selectable program mode. If necessary, by the control device 26 also a combined work deployment of the industrial robot 18 with a spring balancer 28 which can be displaced on the vehicle frame 3 in the vehicle longitudinal direction 6 (see FIG. Fig. 1 ), in particular for automatically installing or removing the rails 13. This makes handling of heavy rail sections by the industrial robot 18 easier.
  • the vehicle 1 is stopped on a track section to be machined and the work space 9 required for unimpeded machining of the track components 23 is created by shifting the two side walls 8.
  • the suitable track processing tool 17 is selected from a group of tools upstream in the work area 9 on the tool holder 27 and automatically to the industrial robot both mechanically and with regard to a complete energy supply 18 coupled.
  • the track component 23 to be processed by the track processing tool 17 is then scanned contactlessly with the aid of the sensor 25 arranged on the industrial robot 18 in order to obtain a suitable reference basis for the subsequent automatic work assignment for an exact work result.
  • This scanning could of course also be carried out by the industrial robot 18 immediately before the coupling with the track processing tool 17.
  • contactless scanning of the track component 23, preferably a rail 13 to be ground can also be carried out by the sensor system 25 during work in order to compare the measurement data thus obtained with a desired state stored in the control device 26. If the work assignment, e.g. in the case of rail grinding, is composed of a plurality of work passes, these are repeated automatically until the sensor system 25 registers that the desired state has been reached.
  • the program sequence for the industrial robot 18 is thus automatically modified in order to achieve an optimal work result. Because it can be moved along the robot guide 20, the industrial robot 18 can optionally be used unhindered in the entire work space 9.
  • the rail head is measured via the sensor system 25 and a coupled rail drill is precisely moved into the correct position by the industrial robot 18.
  • a final quality check and, if necessary, documentation of the work result by storing the data in connection with a local assignment to track 7 can be carried out using the sensor system 25.
  • This workflow is of course also possible for other maintenance work, such as Threshold drilling, rail cutting, shearing of a welding bead, track stuffing, etc.
  • An impact wrench can be used to loosen the screws. This is mounted on the industrial robot 18 on a 6th axis of movement. The screw heads are found and loosened via the sensor system 25 designed as image recognition. 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.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Machines For Laying And Maintaining Railways (AREA)

Description

Die Erfindung betrifft ein Instandhaltungsfahrzeug und ein Verfahren zur Durchführung von Instandhaltungsarbeiten auf einem Abschnitt eines Gleises gemäß den im Oberbegriff von Anspruch 1 bzw. 9 angeführten Merkmalen.The invention relates to a maintenance vehicle and a method for performing maintenance work on a section of a track according to the features stated in the preamble of claims 1 and 9, respectively.

Aus DE 20 2004 013 732 U1 ist ein Instandhaltungsfahrzeug mit einem zum Gleis hin offenen Arbeitsraum bekannt. Der in vertikaler Richtung obere Endbereich des Arbeitsraumes wird durch einen nach oben gekröpften Fahrzeugrahmen gebildet, so dass Arbeitskräfte zwischen zwei Seitenwänden in einem abgesicherten Bereich ungehindert am Gleis arbeiten können.Out DE 20 2004 013 732 U1 is a maintenance vehicle with a work space open to the track is known. The upper end region of the work area in the vertical direction is formed by a vehicle frame that is cranked upwards, so that workers can work unhindered on the track between two side walls in a secured area.

Bei einem weiteren, in DE 92 06 335 U1 geoffenbarten Gleisarbeitsfahrzeug ist im Bereich eines brückenförmig ausgebildeten Wagenkastens ein gelenkig ausgebildeter Ausleger angebracht, mit dessen Hilfe ein an diesem angeordnetes Werkzeug in einen neben dem Gleis befindlichen Geländeabschnitt positionierbar ist.Another, in DE 92 06 335 U1 disclosed track work vehicle in the area of a bridge-shaped car body, an articulated boom is attached, with the help of which a tool arranged thereon can be positioned in a section of the terrain located next to the track.

Die Aufgabe der vorliegenden Erfindung liegt nun in der Schaffung eines Instandhaltungsfahrzeuges der eingangs genannten Art, mit dem eine verbesserte Gleisbearbeitung möglich ist.The object of the present invention is to create a maintenance vehicle of the type mentioned at the beginning, with which improved track processing is possible.

Diese Aufgabe wird erfindungsgemäß durch die im Kennzeichen von Anspruch 1 bzw. 9 angeführten Erfindungsmerkmale gelöst.This object is achieved according to the invention by the features of the invention.

Eine derartige Ausstattung des Arbeitsraumes ermöglicht eine komplette Entlastung der Arbeitskräfte von aus der Handhabung des Gleisbearbeitungswerkzeuges resultierenden körperlichen Anstrengungen. Außerdem kann die Genauigkeit des Arbeitsergebnisses infolge einer präzisen Führung durch den Roboter erhöht werden. Mit der Energieversorgung durch die Medienkupplungen erübrigt sich auch der Einsatz von lärmenden und Abgase erzeugenden Verbrennungsmotoren.Equipping the work area in this way enables the workforce to be relieved of all physical exertion resulting from the handling of the track processing tool. In addition, the accuracy of the work result can be increased as a result of precise guidance by the robot. With the energy supply through the media couplings, the use of noisy and exhaust gas-generating combustion engines is also unnecessary.

Mit der Aufnahmemöglichkeit von verschiedenen Gleisbearbeitungswerkzeugen im Arbeitsraum ist eine weitgehende Abdeckung sämtlicher für eine vollständige Gleisinstandhaltung erforderlicher Arbeiten möglich. Der Einsatz einer Arbeitskraft kann im Wesentlichen auf Kontrollfunktionen eingeschränkt werden. In Verbindung mit einer Abtastung der zu bearbeitenden Gleiskomponenten ist einerseits ein präziser Einsatz des Gleisbearbeitungswerkzeuges gewährleistet und andererseits auch eine abschließende Dokumentation des Arbeitsergebnisses möglich.With the option of accommodating various track processing tools in the work area, extensive coverage of all the work required for complete track maintenance is possible. The use of a worker can essentially be restricted to control functions. In connection with a scanning of the track components to be processed, on the one hand a precise use of the track processing tool is guaranteed and on the other hand a final documentation of the work result is possible.

Weitere Vorteile der Erfindung ergeben sich aus den Unteransprüchen und der Zeichnungsbeschreibung.Further advantages of the invention result from the subclaims and the description of the drawing.

Im Folgenden wird die Erfindung anhand eines in der Zeichnung dargestellten Ausführungsbeispieles näher beschrieben. Es zeigen: Fig. 1 eine vereinfachte Seitenansicht eines Instandhaltungsfahrzeuges, und Fig. 2 einen vergrößerten Querschnitt durch das einen Arbeitsraum bildende Instandhaltungsfahrzeug.The invention is described in more detail below with reference to an embodiment shown in the drawing. Show it: Fig. 1 a simplified side view of a maintenance vehicle, and Fig. 2 an enlarged cross section through the maintenance vehicle forming a work space.

Ein in Fig. 1 dargestelltes Instandhaltungsfahrzeug 1 weist einen endseitig auf Schienenfahrwerken 2 abgestützten Fahrzeugrahmen 3 sowie eine Fahrkabine 4 auf. Mithilfe eines Fahrantriebes 5 ist das Fahrzeug 1 in einer Fahrzeuglängsrichtung 6 auf einem Gleis 7 verfahrbar. Der Fahrzeugrahmen 3 ist zwischen den beiden Schienenfahrwerken 2 nach oben gekröpft ausgebildet, wodurch zwischen zwei Seitenwänden 8 (s. Fig. 2) ein in Richtung zum Gleis 7 hin offener, ansonsten aus Sicherheitsgründen jedoch in sich geschlossener Arbeitsraum 9 eingegrenzt wird. Dieser ist von einer Mannschaftskabine 10 aus begehbar, so dass für im Arbeitsraum 9 beschäftigte Arbeitskräfte ein Aufenthalt in einem außerhalb des Instandhaltungsfahrzeuges 1 liegenden Gefahrenbereich nicht erforderlich ist.An in Fig. 1 The maintenance vehicle 1 shown has a vehicle frame 3 supported at the end on rail running gear 2 and a driving cabin 4. The vehicle 1 can be moved in a vehicle longitudinal direction 6 on a track 7 with the aid of a travel drive 5. The vehicle frame 3 is cranked upwards between the two rail carriages 2, as a result of which between two side walls 8 (see FIG. Fig. 2 ) a working space 9 that is open towards the track 7, but otherwise closed for safety reasons, is delimited. This can be entered from a team cabin 10, so that a stay in a danger area outside the maintenance vehicle 1 is not necessary for workers employed in the work area 9.

Wie in Fig. 2 ersichtlich, sind zwei in einer normal zur Fahrzeuglängsrichtung 6 verlaufenden Fahrzeugquerrichtung 11 durch einen Antrieb 12 voneinander distanzierbare Seitenwände 8 vorgesehen. Im dargestellten Beispiel ist - zur Schaffung eines vergrößerten Arbeitsraumes 9 - lediglich die linke Seitenwand 8 in Fahrzeugquerrichtung 11 verschoben, so dass eine linke Schiene 13 des Gleises 7 ungehindert bearbeitet werden kann. Bedarfsweise kann zusätzlich auch die gegenüberliegende rechte Seitenwand 8 für eine weitere Vergrößerung des Arbeitsraumes 9 relativ zum Fahrzeugrahmen 3 in Fahrzeugquerrichtung 11 verschoben werden.As in Fig. 2 As can be seen, two side walls 8, which can be spaced apart from one another by a drive 12, are provided in a transverse direction 11 of the vehicle running normal to the vehicle longitudinal direction 6. In the example shown, in order to create an enlarged working space 9, only the left side wall 8 is displaced in the transverse direction 11 of the vehicle, so that a left rail 13 of the track 7 can be processed unhindered. If necessary, the opposite right side wall 8 can also be moved in the transverse direction 11 of the vehicle for a further enlargement of the working space 9 relative to the vehicle frame 3.

Für die Bearbeitung eines innerhalb des Arbeitsraumes 9 gelegenen Abschnittes des Gleises 7 ist ein wenigstens drei Bewegungsachsen 14, Medienkupplungen 15 für eine Energieversorgung sowie eine Werkzeugkupplung 16 zur wahlweisen Verbindung mit einem Gleisbearbeitungswerkzeug 17 (in Fig. 2 beispielhaft ein Schienenschleifer) aufweisender Industrieroboter 18 am Fahrzeug 1 angeordnet. Dieser ist durch einen Antrieb 19 verschiebbar auf einer in der Fahrzeuglängsrichtung 6 verlaufenden, am Fahrzeugrahmen 3 befestigten Roboterführung 20 gelagert.For machining a section of the track 7 located within the working space 9 there is at least three movement axes 14, media couplings 15 for an energy supply and a tool coupling 16 for optional connection to a track machining tool 17 (in Fig. 2 an industrial robot 18 having a rail grinder) is arranged on the vehicle 1 by way of example. This is displaceably supported by a drive 19 on a robot guide 20 running in the vehicle longitudinal direction 6 and fastened to the vehicle frame 3.

Für eine berührungslose Abtastung von innerhalb des Arbeitsraumes 9 zugänglichen, aus den Schienen 13, Schwellen 21 und Kleineisen 22 zusammengesetzten Gleiskomponenten 23 ist der Industrieroboter 18 an einem kupplungsseitigen Ende 24 mit einer Sensorik 25 ausgestattet. Eine dem Industrieroboter 18 zugeordnete Steuereinrichtung 26 ist zusätzlich zur Robotersteuerung für eine Speicherung von durch die Sensorik 25 erfassten, die Arbeitsqualität der vom Roboter 18 bearbeiteten Gleiskomponenten 23 kennzeichnenden Parametern ausgebildet.The industrial robot 18 is equipped with a sensor system 25 on a coupling-side end 24 for contactless scanning of track components 23 accessible within the working space 9 and composed of the rails 13, sleepers 21 and small iron 22. A control device 26 assigned to the industrial robot 18 is designed in addition to the robot control for storing parameters recorded by the sensor system 25 and characterizing the work quality of the track components 23 processed by the robot 18.

Der Industrieroboter 18 ist für eine automatische Kupplung mit dem auf einer Werkzeugablage 27 innerhalb des Arbeitsraumes 9 zur Auswahl gelagerten Gleisbearbeitungswerkzeug 17 sowie dessen automatischer Energieversorgung durch die Medienkupplungen 15 und für einen anschließenden, in einem wählbaren Programmmodus automatisch ablaufenden Arbeitseinsatz ausgebildet. Bedarfsweise ist durch die Steuereinrichtung 26 auch ein kombinierter Arbeitseinsatz des Industrieroboters 18 mit einem am Fahrzeugrahmen 3 in Fahrzeuglängsrichtung 6 verschiebbaren Federzug-Balancer 28 (s. Fig. 1), insbesondere zum Ein- bzw. Ausbau der Schienen 13, automatisch steuerbar. Damit wird ein Handling von schweren Schienenstücken durch den Industrieroboter 18 erleichtert.The industrial robot 18 is designed for an automatic coupling with the track processing tool 17 stored on a tool tray 27 within the work space 9 for selection, as well as its automatic energy supply through the media couplings 15 and for a subsequent work operation that runs automatically in a selectable program mode. If necessary, by the control device 26 also a combined work deployment of the industrial robot 18 with a spring balancer 28 which can be displaced on the vehicle frame 3 in the vehicle longitudinal direction 6 (see FIG. Fig. 1 ), in particular for automatically installing or removing the rails 13. This makes handling of heavy rail sections by the industrial robot 18 easier.

Zur Durchführung von Instandhaltungsarbeiten wird das Fahrzeug 1 auf einem zu bearbeitenden Gleisabschnitt angehalten und durch Verschiebung der beiden Seitenwände 8 der für die ungehinderte Bearbeitung der Gleiskomponenten 23 erforderliche Arbeitsraum 9 geschaffen. Für einen geplanten Arbeitseinsatz des Industrieroboters 18 wird - nach Eingabe eines entsprechenden Codes in die Steuereinrichtung 26 - das geeignete Gleisbearbeitungswerkzeug 17 aus einer Gruppe von im Arbeitsraum 9 auf der Werkzeugablage 27 vorgelagerten Werkzeugen ausgewählt und sowohl mechanisch als auch bezüglich einer kompletten Energieversorgung automatisch an den Industrieroboter 18 angekuppelt.To carry out maintenance work, the vehicle 1 is stopped on a track section to be machined and the work space 9 required for unimpeded machining of the track components 23 is created by shifting the two side walls 8. For a planned work deployment of the industrial robot 18 - after inputting a corresponding code into the control device 26 - the suitable track processing tool 17 is selected from a group of tools upstream in the work area 9 on the tool holder 27 and automatically to the industrial robot both mechanically and with regard to a complete energy supply 18 coupled.

Die durch das Gleisbearbeitungswerkzeug 17 zu bearbeitende Gleiskomponente 23 wird anschließend mithilfe der am Industrieroboter 18 angeordneten Sensorik 25 berührungslos abgetastet, um für den darauffolgenden automatischen Arbeitseinsatz eine geeignete Bezugsbasis für ein exaktes Arbeitsergebnis zu erhalten. Diese Abtastung könnte natürlich durch den Industrieroboter 18 auch unmittelbar vor der Kupplung mit dem Gleisbearbeitungswerkzeug 17 durchgeführt werden.The track component 23 to be processed by the track processing tool 17 is then scanned contactlessly with the aid of the sensor 25 arranged on the industrial robot 18 in order to obtain a suitable reference basis for the subsequent automatic work assignment for an exact work result. This scanning could of course also be carried out by the industrial robot 18 immediately before the coupling with the track processing tool 17.

Wahlweise kann auch während des Arbeitseinsatzes durch die Sensorik 25 eine berührungslose Abtastung der Gleiskomponente 23, vorzugsweise einer abzuschleifenden Schiene 13, erfolgen, um die dadurch gewonnenen Messdaten mit einem in der Steuereinrichtung 26 gespeicherten Sollzustand zu vergleichen. Falls der Arbeitseinsatz, wie z.B. beim Schienenschleifen, aus mehreren Arbeitsdurchgängen zusammengesetzt ist, werden diese automatisch solange wiederholt, bis durch die Sensorik 25 ein Erreichen des Sollzustandes registriert wird. Damit wird der Programmablauf für den Industrieroboter 18 zur Erzielung eines optimalen Arbeitsergebnisses selbsttätig abgeändert. Durch die Verfahrbarkeit entlang der Roboterführung 20 ist der Industrieroboter 18 wahlweise im gesamten Arbeitsraum 9 ungehindert einsetzbar.Optionally, contactless scanning of the track component 23, preferably a rail 13 to be ground, can also be carried out by the sensor system 25 during work in order to compare the measurement data thus obtained with a desired state stored in the control device 26. If the work assignment, e.g. in the case of rail grinding, is composed of a plurality of work passes, these are repeated automatically until the sensor system 25 registers that the desired state has been reached. The program sequence for the industrial robot 18 is thus automatically modified in order to achieve an optimal work result. Because it can be moved along the robot guide 20, the industrial robot 18 can optionally be used unhindered in the entire work space 9.

Für einen hier beispielhaft angeführten Arbeitseinsatz zum Schienenbohren wird über die Sensorik 25 der Schienenkopf eingemessen und ein angekuppelter Schienenbohrer durch den Industrieroboter 18 präzise in die richtige Position bewegt. Nach erfolgter Bohrung kann mithilfe der Sensorik 25 eine abschließende Qualitätsprüfung und bedarfsweise auch eine Dokumentation des Arbeitsergebnisses durch Abspeicherung der Daten in Verbindung mit einer örtlichen Zuordnung zum Gleis 7 durchgeführt werden.For a working example for rail drilling, which is exemplified here, the rail head is measured via the sensor system 25 and a coupled rail drill is precisely moved into the correct position by the industrial robot 18. After drilling has been carried out, a final quality check and, if necessary, documentation of the work result by storing the data in connection with a local assignment to track 7 can be carried out using the sensor system 25.

Dieser Arbeitsablauf ist analog natürlich auch für andere Instandhaltungsarbeiten möglich, wie z.B. Schwellenbohren, Schienendurchtrennen, Abscheren eines Schweißwulstes, Gleisunterstopfung, usw.This workflow is of course also possible for other maintenance work, such as Threshold drilling, rail cutting, shearing of a welding bead, track stuffing, etc.

Zum Schraubenlösen kann ein Schlagschrauber zum Einsatz kommen. Dieser ist am Industrieroboter 18 an einer 6. Bewegungsachse montiert. Über die als Bilderkennung ausgebildete Sensorik 25 werden die Schraubköpfe gefunden und gelöst. Bei Bedarf können die gelösten Schrauben mit beispielsweise einem am Industrieroboter 18 befestigten Magnetgreifer aufgenommen und abtransportiert werden. Neue Schrauben können rasch platziert und angezogen werden.An impact wrench can be used to loosen the screws. This is mounted on the industrial robot 18 on a 6th axis of movement. The screw heads are found and loosened via the sensor system 25 designed as image recognition. 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.

Es ist auch möglich während der Fahrt des Instandhaltungsfahrzeuges 1 die Gleisgeometrie, die Spurweite oder Stoßlücken mithilfe einer am Industrieroboter 18 angebrachten Sensorik 25 zu vermessen und die Ergebnisse entsprechend zu dokumentieren.It is also possible to measure the track geometry, the track gauge or gaps while the maintenance vehicle 1 is moving using a sensor system 25 attached to the industrial robot 18 and to document the results accordingly.

Claims (11)

  1. Maintenance vehicle (1), consisting of a vehicle frame (3), supported at the ends on on-track undercarriages (2), and having side walls (8) for creating a work space (9), delimited by the same, for working personnel situated on a track (7), the side walls (8) being arranged on the vehicle frame (3), characterized
    in that, for treatment of a track section located within the work space (9), an industrial robot (18) is arranged on the vehicle (1), the robot having at least three motion axes (14), media couplings (15) for energy supply as well as a tool coupling (16) for selective connection to a track treatment tool (17).
  2. Vehicle according to claim 1, characterized
    in that the side walls (8) are designed to be distanced from one another by drives (12) in a transverse direction (11) of the vehicle extending perpendicularly to a longitudinal direction (6) of the vehicle.
  3. Vehicle according to claim 1 or 2, characterized
    in that the industrial robot (18) is mounted for displacement by a drive (19) on a robot guide (20) extending in a longitudinal direction (6) of the vehicle.
  4. Vehicle according to claim 3, characterized
    in that the robot guide (20) is arranged on the vehicle frame (3) which forms an upper border of the work space (9) with regard to a vertical.
  5. Vehicle according to one of claims 1 to 4, characterized
    in that the industrial robot (18) has a sensor system (25), arranged particularly at an end (24) at the coupling side, for contact-less scanning of track components (23) which are accessible within the work space (9) and composed of the rails (13), sleepers (21) and rail fastenings (22).
  6. Vehicle according to one of claims 1 to 5, characterized
    in that a control device (26) associated with the industrial robot (18) is designed for storing of parameters detected by the sensor system (25) and characterizing the work quality of the track components (23) treated by the industrial robot (18).
  7. Vehicle according to one of claims 1 to 6, characterized
    in that the industrial robot (18) is configured for automatic coupling to the track treatment tool (17), stored for selection on a tool shelf (27) inside the work space (9), as well as for the automatic energy supply thereof by the media couplings (15) and for a subsequent work assignment taking place automatically in a program mode.
  8. Vehicle according to claim 6, characterized
    in that the control device (26) is designed for a combined work effort of the industrial robot (18) with a spring balancer (28) displaceable on the vehicle frame (3) in the longitudinal direction (6) of the vehicle, particularly for installing or removing rails (13).
  9. Method of carrying out maintenance work on a section of a track (7) which, for creating a secured work space (9), is delimited by a maintenance vehicle (1), characterized by the following features:
    a) a track treatment tool (17) suitable for a scheduled work operation is selected from a group of tools (17) pre-stored in the work space (9) and automatically coupled to an industrial robot (18) both mechanically as well as with regard to a complete energy supply,
    b) with the aid of a sensor system (25) arranged on the industrial robot (18), a track component (23) to be treated is contact-less scanned for creating a reference base for a subsequent automatic work operation of the tool (17).
  10. Method according to claim 9, characterized
    in that, during the work operation, a contact-less scanning of the track component (23), preferably a rail (13) to be ground, takes place by the sensor system (25), and the obtained measuring data are compared to a stored target condition.
  11. Method according to claim 10, characterized
    in that the work operation is composed of several working passes which are automatically repeated until the sensor system (25) registers that the target condition has been attained.
EP16809287.2A 2016-01-14 2016-12-06 Maintenance vehicle and method Active EP3402709B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL16809287T PL3402709T3 (en) 2016-01-14 2016-12-06 Maintenance vehicle and method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016000408.8A DE102016000408A1 (en) 2016-01-14 2016-01-14 Maintenance vehicle and procedure.
PCT/EP2016/002048 WO2017121441A1 (en) 2016-01-14 2016-12-06 Maintenance vehicle and method

Publications (2)

Publication Number Publication Date
EP3402709A1 EP3402709A1 (en) 2018-11-21
EP3402709B1 true EP3402709B1 (en) 2020-01-29

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US (1) US10940874B2 (en)
EP (1) EP3402709B1 (en)
JP (1) JP6910360B2 (en)
CN (2) CN110578275B (en)
AU (1) AU2016385836B2 (en)
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CN108463388B (en) 2020-02-07
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DK3402709T3 (en) 2020-04-27
ES2779779T3 (en) 2020-08-19
US20190016350A1 (en) 2019-01-17
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CN110578275B (en) 2022-05-13
CN110578275A (en) 2019-12-17
JP6910360B2 (en) 2021-07-28
AU2016385836A1 (en) 2018-07-05
WO2017121441A1 (en) 2017-07-20
DE102016000408A1 (en) 2017-07-20
JP2019503299A (en) 2019-02-07
EP3402709A1 (en) 2018-11-21

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