EP3402709B1 - Instandhaltungsfahrzeug und verfahren - Google Patents
Instandhaltungsfahrzeug und verfahren Download PDFInfo
- 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
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- track
- work
- industrial robot
- sensor system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012423 maintenance Methods 0.000 title claims description 16
- 238000000034 method Methods 0.000 title claims description 5
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims 1
- 238000005553 drilling Methods 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 239000011324 bead Substances 0.000 description 1
- 108010066278 cabin-4 Proteins 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
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 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.
Landscapes
- 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)
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 EP3402709A1 (de) | 2018-11-21 |
EP3402709B1 true 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 (hu) |
EP (1) | EP3402709B1 (hu) |
JP (1) | JP6910360B2 (hu) |
CN (2) | CN108463388B (hu) |
AU (1) | AU2016385836B2 (hu) |
DE (1) | DE102016000408A1 (hu) |
DK (1) | DK3402709T3 (hu) |
ES (1) | ES2779779T3 (hu) |
HU (1) | HUE049164T2 (hu) |
PL (1) | PL3402709T3 (hu) |
PT (1) | PT3402709T (hu) |
WO (1) | WO2017121441A1 (hu) |
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, 83395 Freilassing | 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 PL PL16809287T patent/PL3402709T3/pl unknown
- 2016-12-06 HU HUE16809287A patent/HUE049164T2/hu unknown
- 2016-12-06 US US16/068,906 patent/US10940874B2/en active Active
- 2016-12-06 AU AU2016385836A patent/AU2016385836B2/en active Active
- 2016-12-06 CN CN201680079026.7A patent/CN108463388B/zh active Active
- 2016-12-06 PT PT168092872T patent/PT3402709T/pt unknown
- 2016-12-06 DK DK16809287.2T patent/DK3402709T3/da active
- 2016-12-06 JP JP2018536835A patent/JP6910360B2/ja active Active
- 2016-12-06 WO PCT/EP2016/002048 patent/WO2017121441A1/de active Application Filing
- 2016-12-06 ES ES16809287T patent/ES2779779T3/es active Active
- 2016-12-06 EP EP16809287.2A patent/EP3402709B1/de active Active
- 2016-12-06 CN CN201910910574.5A patent/CN110578275B/zh active Active
Non-Patent Citations (1)
Title |
---|
None * |
Also Published As
Publication number | Publication date |
---|---|
PL3402709T3 (pl) | 2020-06-15 |
PT3402709T (pt) | 2020-03-27 |
AU2016385836A1 (en) | 2018-07-05 |
DK3402709T3 (da) | 2020-04-27 |
AU2016385836B2 (en) | 2021-07-22 |
DE102016000408A1 (de) | 2017-07-20 |
US20190016350A1 (en) | 2019-01-17 |
CN108463388B (zh) | 2020-02-07 |
US10940874B2 (en) | 2021-03-09 |
HUE049164T2 (hu) | 2020-09-28 |
WO2017121441A1 (de) | 2017-07-20 |
ES2779779T3 (es) | 2020-08-19 |
JP2019503299A (ja) | 2019-02-07 |
CN110578275B (zh) | 2022-05-13 |
CN110578275A (zh) | 2019-12-17 |
EP3402709A1 (de) | 2018-11-21 |
CN108463388A (zh) | 2018-08-28 |
JP6910360B2 (ja) | 2021-07-28 |
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