Patent Application
20230113067
The invention relates to an apparatus for track machining. Furthermore, the invention relates to a method for operating an apparatus for track machining. The invention also relates to a tamping assembly for track bed treatment.
From international patent disclosure WO 2017/097 390 A1, a tamping assembly for tamping sleepers of a track is known. The tamping assembly contains tamping picks, each of which is connected to a tamping lever and mounted on a tool carrier so as to be pivotable about a pivot axis. Each tamping lever is associated with an angle sensor for detecting the pivot angle in relation to the tool carrier. This can improve the use and service life of the tamping assembly.
Published, non-prosecuted patent application DE 1 904 121 A discloses an apparatus having screwdriving tools for tightening and loosening screw connections. In order to bring the respective screwdriving tool into engagement with the screw connection robustly with respect to positional tolerances, it is mounted elastically on a housing via springs with predetermined rigidity. The screwdriving tools are thus mounted so that they can move relative to the housing and relative to one another. However, these additional degrees of freedom make it difficult to position the screwdriving tools, in particular when vibrations caused by motors or actuators cause the elastically mounted screwdriving tools to vibrate. A further disadvantage is that the tightening torques and tightening precision that can be achieved on the screw connections are reduced due to the elastic mounting of the screwdriving tools.
It is an object of the invention to create a simple, robust and flexibly usable apparatus for track bed treatment.
This object is achieved by an apparatus for track machining containing a fastening device, at least one machining device for compacting a track bed and/or for tightening and/or loosening a screw connection, at least one vibration decoupler with an adjustable stiffness and/or an adjustable damping to at least partially decouple the fastening device and the at least one machining device. Due to the fact that the apparatus has at least one vibration decoupler with adjustable stiffness and/or adjustable damping, which vibration decoupler operates between the at least one machining device and the fastening device, the at least one machining device can be precisely guided and positioned on the one hand. On the other hand, the at least one machining device and the fastening device can be decoupled with a desired degree. The decoupling of a movement of the fastening device from a movement of the at least one machining device and/or a movement of the at least one machining device from a movement of the fastening device is adjustable by means of the at least one vibration decoupler. The transmission of vibration movements from the at least one machining device to the fastening device can be reduced thereby. The apparatus can thus be used flexibly and is robust. The apparatus serves in particular for partially automated and/or fully automated track machining. In particular, the apparatus is configured as a track machining apparatus that can be moved on rails.
Preferably, the at least one vibration decoupler is adjustable between a first coupling state, in which the vibration decoupler has a first stiffness and/or a first damping, and a second coupling state, in which the vibration decoupler has a different, in particular lower, second stiffness as against the first coupling state and/or a different, in particular lower, second damping than the first damping. For positioning the at least one machining device, the at least one vibration decoupler can be set to the first coupling state, with the higher stiffness. The positioning of the at least one machining device via the fastening device can thus be performed particularly precisely and reliably. For track machining, the at least one vibration decoupler can be set to the second coupling state, with the lower stiffness. Movements occurring during track machining, in particular oscillation and/or vibration movements, of the at least one machining device can be decoupled from the movement of the fastening device to a desired or large extent in the second coupling state. The loads acting on the fastening device are thus reduced. The apparatus is particularly robust and economical in operation due to the reduced loads.
The adjustability of the at least one vibration decoupler with regard to its stiffness and/or damping is understood to mean that a change in corresponding properties, in particular reversibly, can be brought about by changing at least one actuating variable. The integrity of the at least one vibration decoupler is thereby preferably completely preserved. In particular, the vibration decoupler can be adjusted without having to remove one of its components and/or replace it with another component, in particular a component of different stiffness and/or damping, for this purpose. The at least one vibration decoupler can preferably be switched between different stiffnesses and/or damping values, in particular without tools.
The vibration decoupler can be designed in such a manner that the stiffness and/or the damping can be changed at least once within one, in particular each, track machining cycle, in particular at least containing the positioning of the at least one machining device and the track machining. Advantageously, this ensures that the stiffness and/or the damping of the at least one vibration decoupler can be adjusted within the time period between the positioning of the at least one machining device on the track and the track machining.
Preferably, the at least one vibration decoupler can be adjusted remotely with regard to its stiffness and/or damping. For this purpose, the vibration decoupler can have an interface, in particular a connection, for a signal communication. The interface and/or the signal connection are preferably designed to conduct fluidic and/or mechanical and/or electrical signals. In particular, the adjustment of the stiffness and/or the damping can be carried out in an automated manner. This allows the vibration decoupler to be operated particularly efficiently and economically.
According to one aspect of the invention, the at least one vibration decoupler is configured to release a relative movement between the at least one machining device and the fastening device in the vertical direction and/or in at least one horizontal direction, in particular in each horizontal direction, and/or along a feed direction, in particular a penetration direction or an engagement direction, of the at least one machining device and/or in at least one direction, in particular in all directions, perpendicular to the feed direction. The at least one vibration decoupler can be configured to permit rotational movements about the vertical direction and/or about the feed direction and/or about at least one direction perpendicular to the vertical direction and/or to the feed direction of the at least one machining device relative to the fastening device. Advantageously, this achieves that a transmission of vibrations between the machining device and the fastening device is particularly comprehensively reduced.
The vibration decoupler may have one or more decoupling members that are adjustable with respect to their stiffness or damping, and in particular reversibly variable with respect to these properties.
According to a further aspect of the invention, the at least one vibration decoupler is adjustable between different stiffness values and/or damping values, each of which differs by at least 20%, in particular at least 50%, in particular at least 100%, and/or a maximum of 500%. Through this, a particularly high machining flexibility can be achieved.
Preferably, the at least one machining device is designed so that the adjustment of the stiffness and/or the damping, in particular the adjustment between different stiffness and/or damping values, can be carried out within a time period of at most 10 s, in particular at most 5 s, in particular at most 2 s, in particular at most 1 s, and/or at least 0.1 s. The track machining can thus be carried out in a particularly time-efficient manner.
The at least proportional decoupling of movement means in particular that the decoupling takes place at least along individual degrees of freedom of movement and/or along these degrees of freedom of movement at least proportionally. For example, the decoupling can take place with respect to at least one linear degree of freedom and/or one rotational degree of freedom. Preferably, the at least one machining device is mounted so as to be displaceable and/or pivotable relative to the fastening device. For this purpose, the at least one vibration decoupler can have at least one linear bearing and/or a rotary joint, in particular a universal joint. The at least one vibration decoupler is preferably designed in such a manner that it counteracts a relative movement of the at least one machining device with respect to the fastening device.
Preferably, the at least one vibration decoupler is adjustable between at least two, in particular at least three, in particular at least four, in particular at least five coupling states, each with different stiffness and/or damping. Preferably, the at least one vibration decoupler is reversibly adjustable. Even more preferably, the at least one vibration decoupler is continuously adjustable, in particular between the first coupling state and the second coupling state.
For adjusting the stiffness, the at least one vibration decoupler can have a coupling unit for reversibly coupling different stiffnesses, in particular a plurality of spring members, and/or different regions of one single spring member into the force conduction path between the fastening device and the at least one machining device. The at least one spring member may comprise a coil spring and/or a leaf spring and/or an elastic body, in particular made of a soft elastic material, in particular made of a rubber material, in particular acrylonitrile butadiene rubber. Preferably, the coupling unit comprises a servomotor for reversibly coupling the different stiffnesses.
The at least one vibration decoupler can have a fluidic damping member, in particular a fluid damper and/or a gas damper and/or a throttle valve, and/or a mechanical damping member, in particular a mechanical brake, and/or an electrical damping member, in particular an eddy current brake, for setting the damping. Preferably, the damping member can be used repeatedly.
Preferably, the at least one vibration decoupler is designed so that the stiffness and/or the damping can be adjusted by means of an electrical signal and/or a fluidic signal, in particular a fluid pressure. The at least one vibration decoupler can thus be adjusted and/or switched between the individual coupling states particularly easily and reliably.
Preferably, the apparatus comprises a control unit for adjusting the stiffness and/or the damping of the at least one vibration decoupler, in particular for adjusting the at least one vibration decoupler between the at least two different coupling states. Preferably, the control unit is designed for automated adjustment of the at least one vibration decoupler. Preferably, the control unit comprises an electronic control device for controlling the apparatus.
The at least one vibration decoupler can have a passive spring member and/or a passive damping member. Passive spring members and/or passive damping members are understood to be spring members and/or damping members that are not adjustable with respect to their stiffness and/or damping. The passive spring member and/or passive damping member can, for example, be a rubber bearing. By means of the at least one passive spring member and/or passive damping member, the arrangement of the at least one vibration decoupler is reliably ensured in at least one coupling state that is safe in operation, in particular also in the event of failure of an electrical and/or fluid power supply.
According to a further aspect of the invention, the decoupling of the movement of the fastening device with respect to movements of the at least one machining device is performed by means of the at least one vibration decoupler in at least two, in particular at least three and/or in a maximum of four, in particular a maximum of three planes along the force path between the at least one machining device and the fastening device.
The at least one machining device may contain a machining apparatus and/or a machining tool. In contrast to the machining tool, the machining apparatus contains a machine motor or drive motor for providing the power required for track machining.
The fastening device can be designed for permanent, non-detachable attachment to a supporting structure. Preferably, the fastening device is designed for detachable attachment to a supporting structure. For example, the fastening device can have a quick-release coupling for reversibly releasable, in particular automatable, connection to the supporting structure. Preferably, the fastening device comprises a fluid coupling for reversibly releasably establishing at least one fluid connection and/or a current coupling for reversibly releasably establishing at least one electrical connection, in particular with the supporting structure. The fluid coupling and/or the current coupling are preferably designed to reversibly establish at least one, in particular at least two, in particular at least three, in particular at least four, and/or in particular at most four fluid connections and/or current connections. These connections are preferably configured to transmit control signals and/or power signals to the at least one vibration decoupler and/or to the at least one machining device.
Forces in the range from 0.1 kN to 10 kN, in particular from 0.5 kN to 5 kN, are preferably transmitted via the fastening device.
Preferably, the apparatus contains a plurality of machining devices. The plurality of machining devices may be associated with a common vibration decoupler, a plurality of vibration decouplers, and/or in particular one vibration decoupler each. The plurality of machining devices may be associated with a common fastening device, a plurality of fastening devices, and/or one fastening device each. The apparatus preferably comprises at least two, in particular at least three, and in particular at least four machining devices and/or at most eight, in particular at most six, and in particular at most four machining devices.
According to one aspect of the invention, the apparatus, in particular the at least one vibration decoupler, has a housing which covers parts which are movable relative to one another, in particular between the fastening device and the at least one machining device. Injury to persons as well as damage to the mechanical system by penetrating objects can thus be reliably prevented.
An apparatus containing an adjusting means that is in signal communication with the at least one vibration decoupler, for adjusting the stiffness and/or the damping, is particularly economical in operation. The adjusting means that is in signal communication with the at least one vibration decoupler may be arranged directly on the vibration decoupler or spaced apart therefrom. In a spaced arrangement, the adjustment may be remotely controlled. The signal connection may be designed to transmit fluidic and/or mechanical and/or electrical signals. The adjusting means can be designed as a pressure regulating unit and/or as a switching lever that can be actuated in an automated manner or manually and/or as an electronic control unit.
An apparatus containing a drive unit connected to the adjusting means for providing a fluidic and/or mechanical signal for automated adjustment of the stiffness and/or the damping is particularly economical in operation. The drive unit is preferably configured to provide the fluidic and/or mechanical energy required to adjust the stiffness and/or the damping. The drive unit may comprise a fluid pump, in particular a hydraulic pump and/or a pneumatic pump, and/or an electric motor, in particular a rotary motor and/or a linear motor.
An apparatus configured such that the at least one vibration decoupler has a chamber filled with a fluid for the at least proportional transmission of forces between the fastening device and the at least one machining device via the fluid is robust and economical in operation. The chamber filled with the fluid allows the stiffness and/or damping of the at least one vibration decoupler to be adjusted in a particularly simple manner. Preferably, the chamber is reversibly fillable with the fluid. In particular, the filling of the chamber can be carried out in an automated manner based on a control signal from the control unit. To adjust the stiffness and/or the damping, the pressure of the fluid in the chamber can be varied.
The fluid may contain a liquid, in particular water and/or oil, in particular hydraulic oil, or a gas, in particular air.
According to one aspect of the invention, the at least one vibration decoupler comprises at least one, in particular at least two, in particular at least three, in particular at least four, of the chambers. Preferably, an overflow channel is provided between at least two of the chambers. Preferably, the at least one vibration decoupler is configured such that a volume enclosed by the at least one chamber increases when a force is exerted on the vibration decoupler, wherein the volume enclosed by another chamber simultaneously decreases when the force is exerted on the at least one vibration decoupler. Fluid can flow between these two chambers via the overflow channel. In doing so, a damping of the relative movement between the fastening device and the at least one machining device can be achieved.
The at least one chamber can be designed as the displacement chamber of a piston-cylinder unit and/or as a bellows and/or as an elastic bladder. The piston-cylinder unit is preferably designed as a two-way cylinder piston unit.
An apparatus configured such that the chamber has a reversibly deformable chamber wall is robust and economical in operation and ensures decoupling of the movements in a simple manner. Preferably, the chamber wall is deformed exclusively in an elastic region. Preferably, a wall thickness of the chamber wall is in a range from 2 mm to 6 mm, in particular from 0.5 mm to 4 mm, in particular from 1 mm to 2 mm. Preferably, the chamber wall is designed to withstand a fluid pressure within the chamber of at least 2 bar, in particular at least 5 bar, in particular at least 10 bar, in particular at least 50 bar, in particular at least 100 bar. The chamber wall may comprise an elastic material, in particular a rubber material, and/or a fiber material, in particular carbon fibers and/or glass fibers and/or natural fibers and/or plastic fibers, in particular polyamide fibers, and/or a textile material having such fibers and/or a plastic material and/or a metallic material, in particular a steel, in particular a spring steel. In particular, the chamber can be configured as a flexible rubber bellows.
The design of the chamber with the deformable chamber wall makes it possible to act on a plurality of linear degrees of freedom and/or rotational degrees of freedom at the same time. In particular, in contrast to a piston cylinder unit, the chamber having the deformable chamber wall can act on at least two movement components of the relative movement between the fastening device and the at least one machining device, in particular on at least two linear movement components perpendicular to one another and/or on at least two rotary movement components and/or on at least one linear movement component and/or at least one rotary movement component, simultaneously.
According to a further aspect of the invention, the at least one vibration decoupler comprises at least one end stop for limiting a relative movement between the fastening device and the at least one machining device. Advantageously, this ensures that the at least one vibration decoupler is not damaged in the event of strong deflections of the fastening device relative to the at least one machining device. In particular, damage to the reversibly deformable chamber wall can thus be avoided.
The at least one vibration decoupler may have a dimensionally rigid housing which limits pressure-induced expansion of the reversibly deformable chamber wall. This makes the apparatus particularly safe to operate.
An apparatus comprising a pressure regulating unit for controlling a pressure of the fluid in the chamber ensures easy adjustment of the decoupling of movements. The pressure regulating unit may be a component of the at least one vibration decoupler. Alternatively, the pressure regulating unit may be arranged on the side of the fasting device with respect to the at least one vibration decoupler. Preferably, the pressure regulating unit is in signal communication with the control unit. The pressure regulating unit and/or the control unit may be configured to regulate the pressure of the fluid in the chamber. Due to the fact that the pressure in the chamber can be regulated, the stiffness and/or the damping are in particular continuously adjustable. Preferably, the chamber is configured in the manner of an adjustable gas spring and/or a pneumatic muscle.
An apparatus configured such that the at least one vibration decoupler has an adjustable throttle valve for limiting a flow of the fluid is particularly economical to manufacture and ensures the decoupling of movements in a simple and reliable manner. Preferably, the throttle valve is adjustable electrically and/or fluidically, in particular by means of a signal from the control unit. The throttle valve is preferably arranged in the overflow channel between two chambers filled with the fluid. The fact that the throttle valve is adjustable means that, in particular, the characteristic curve of the damping can be adjusted. Depending on the adjustable opening width of the throttle valve, a varying proportion of the kinetic energy for moving the fastening device relative to the at least one machining device is converted into thermal energy and thus eradicated from the movement system.
An apparatus configured such that the at least one vibration decoupler has a braking unit for adjustable braking of the at least one machining device relative to the fastening device enables the adjustment of the stiffness and/or the damping of the at least one vibration decoupler in a particularly simple and flexible manner. The braking unit can be actuated fluidically and/or electrically. For this purpose, the braking unit can have a fluidically and/or electrically actuable actuating member. The braking unit can have an electromagnet and/or a piezo member and/or a piston cylinder unit for effecting the braking force. According to a particularly preferred embodiment, the braking unit comprises an eddy current brake. Due to the fact that the braking effect of the braking unit is adjustable, the damping and/or the stiffness of the at least one vibration decoupler can be influenced. The braking unit is preferably in signal communication with the control unit. The braking effect can be adjusted, for example, on the basis of a force signal provided at a force sensor and/or on the basis of a displacement signal provided at a displacement sensor. The force signal preferably correlates with a force transmitted between the fastening device and the at least one machining device. The displacement sensor is preferably configured to detect the variable position of the at least one machining device relative to the fastening device.
An apparatus containing at least one machine motor for providing power required for operating the at least one machining device, which machine motor is arranged in particular with respect to the at least one vibration decoupler on the side of the at least one machining device enables vibration decoupling in a simple manner. Due to the fact that the machine motor is arranged in at least one machining device, a constructively complex, motion-decoupled, mechanical power transmission can be dispensed with. Furthermore, the mass of the at least one machine motor acts as an inertial mass on the side of the at least one machining device. Vibration movements on the at least one machining device are damped by this inertial mass and are thus only transmitted proportionally to the at least one vibration decoupler and to the fastening device. The machine motor may be a fluidically or electrically driven drive motor. The machine motor can, for example, be a vibration drive, in particular a vibration drive of a tamping assembly, or a rotary drive, in particular a screw drive, in particular an impact screw drive.
An apparatus configured such that the at least one machining device has a tamping unit for track bed treatment is robust and economical in operation. Tamping units for track bed treatment are designed to generate vibration movements for compacting the track bed. For this purpose, the tamping unit contains a vibration generator. For penetration into the track bed, the tamping unit can have at least one, in particular at least two, in particular at least three, in particular at least four, penetrators, in particular tamping picks. The tamping unit may have a penetrator receptacle for reversibly releasably receiving the at least one penetrator. The forces generated during the vibration of the tamping unit, in particular of the at least one penetrator, contribute significantly to wear of the apparatus. By arranging the at least one vibration decoupler between the at least one tamping unit and the fastening device, the wear of the apparatus on the side of the fastening device can be considerably reduced. The maintenance and manufacturing costs associated with the apparatus can be reduced.
According to one aspect of the invention, the at least one tamping unit is configured as an oscillating tamping unit comprising a machine motor, a vibration generator and at least one penetrator and/or penetrator receptacle. The apparatus preferably has at least two, in particular at least three, in particular at least four, of the tamping units, in particular the oscillating tamping units. The oscillating tamping unit may comprise, for example, a drive motor and a vibration generator arranged in a tamping pick tube. The tamping pick tube forms a penetrator.
Alternatively, the vibration generator can be arranged with respect to the at least one vibration decoupler on the side of the fastening device. The at least one machining device can thus be configured to be particularly lightweight. The mass supported via the fastening device is thus reduced.
An apparatus configured such that the at least one machining device has a vibration generator for generating a vibratory movement is particularly robust in operation. Due to the fact that the at least one machining device comprises the vibration generator, the vibration movements of the at least one machining device can be decoupled particularly effectively from a movement of the fastening device. In addition, the mass of the vibration generator as inertial mass contributes to the damping of the vibration movements on the side of the at least one machining device.
An apparatus configured such that the at least one machining device has a screwing unit for tightening and/or loosening a screw connection is particularly robust and economical in operation. The reaction forces occurring during the tightening and/or loosening of screws, for example sleeper screws, contribute significantly to the wear of the apparatus. By the at least one vibration decoupler operating between the at least one screwing unit and the fastening device, the forces transmitted to the fastening device can be reduced. Preferably, the screwing unit is configured as an impact wrench and/or as a drill driver and/or as a drilling machine.
According to one aspect of the invention, the at least one screwing unit comprises a torque sensor. Preferably, the control unit is configured to monitor the torque when tightening the screw connection. The control unit may be configured to memorize and document a tightening torque of the respective screw connection together with the specific identification of this screw connection and/or the position of the respective screw connection along the respective rails.
An apparatus configured such that the at least one machining device contains a plurality of screwing units is particularly economical in operation. According to one aspect of the invention, the apparatus comprises at least two, in particular at least three, in particular at least four of the screwing units. Advantageously, this enables a plurality of the screw connections to be tightened and/or loosened simultaneously.
An apparatus comprising a clamping device for reversibly fastening the at least one machining device to a rail is particularly robust and economical in operation. The clamping device is preferably configured for reversibly clamping the at least one machining device to a rail of the track. For this purpose, the clamping device may comprise a clamping actuator which reversibly provides a clamping force for clamping to the rail. The clamping device can be rigidly connected to the at least one machining device. Preferably, the clamping device is movable relative to the at least one machining device. Advantageously, this ensures that the respective screwing unit can be displaced relative to the position of the rail depending on the position of the screw connection. For the clamping device, forces that arise during tightening and/or loosening of the screw connection can be transmitted to the rail. The fastening device and/or the at least one vibration decoupler can thereby be relieved mechanically. In particular, particularly high screw torques can be exerted on the screw connections.
An apparatus containing a feeding device for providing screw members is particularly economical in operation. The screw members may comprise nuts and/or screws and/or further screw members required for a screw connection, such as washers and/or spring washers. Preferably, the feeding device is configured to provide the screw members at a specific position and/or with a predetermined orientation. For this purpose, the feeding device may comprise an oscillating conveyor and/or a vibrating table and/or a vibrating spiral conveyor and/or a blister conveyor for handling screw members provided in blister packs. The feeding device advantageously ensures that screw connections can be assembled as far as possible, in particular completely, in an automated manner.
An apparatus configured such that the at least one machining device comprises a cutting tool for cutting off a screw bolt is particularly economical in operation. By means of the cutting tool, in particular, tightly seized up screw connections can be loosened which, for example, cannot be loosened by means of the at least one screwing unit. The cutting tool preferably comprises a cutting tool motor for providing the power required for cutting. The cutting tool may be designed as a cutting grinder, in particular with a cutting wheel, or as cutting tongs. The cutting tool may be rigidly connected to at least one screwing unit. Alternatively, the cutting tool can be designed to be movable relative to all of the screwing units. The fact that tightly seized up screw connections can be loosened by means of the cutting tool means that the apparatus can be operated in an automated manner to the greatest possible extent, in particular completely.
An apparatus containing a displacement device for displacing and/or pivoting the at least one machining device relative to the fastening device is particularly economical in operation. The displacement device is preferably designed to displace and/or pivot the at least one machining device, in particular the at least one tamping unit and/or the at least one screwing unit, relative to the fastening device. In this way, the at least one machining device can be positioned particularly precisely on the respective object to be machined and/or oriented relative thereto. In particular, two of the machining devices can be accurately oriented and positioned relative to one another in accordance with the relative position and orientation of two objects to be machined. Preferably, the displacement device is construed to displace the at least one machining device, in particular the at least one screwing unit, along the vertical direction and/or parallel to a horizontal plane. The displacement device can have an actuator, in particular one that is in signal communication with the control unit, for effecting the displacement movement. This makes the apparatus particularly easy to operate in an automated manner.
Preferably, at least one vibration decoupler is arranged between the fastening device and the displacement device and/or between the displacement device and the at least one machining device. For example, at least two, in particular at least three, in particular at least four and/or a maximum of eight of the vibration decouplers can be provided between the displacement device and the at least one machining device. These vibration decouplers are referred to as machining decoupling units.
Preferably, at least one, in particular at least two, in particular at least three, and/or a maximum of four of the vibration decouplers is/are arranged between the displacement device and the fastening device. This at least one vibration decoupler is referred to as a fastening decoupling unit.
An apparatus configured such that at least two of the tamping units are displaceable relative to one another and/or pivotable relative to one another by means of the displacement device is particularly economical in operation. Due to the fact that the at least two tamping units are displaceable relative to one another and/or pivotable relative to each other, the compaction of the track bed, in particular under the track sleepers, can be performed particularly efficiently. The displacement device is preferably configured to displace and/or pivot the penetrators that have penetrated the track bed relative to one another. The displacement device may be configured to displace and/or pivot at least two of the oscillating tamping units relative to one another. With respect to the at least one vibration decoupler, the displacement device may be arranged on the side of the at least one machining device and/or on the side of the fastening device. Preferably, the at least two, in particular at least four, in particular at least six tamping units are always displaceable and/or pivotable in pairs relative to each other by means of the displacement device, in particular in directions directed towards each other.
The displacement device can have a linear guide and/or a linear drive for displacing the at least two tamping units. For pivoting the at least two tamping units, the displacement device can have a pivot joint and a linear drive and/or a pivot drive. The linear drive is preferably configured as a hydraulic cylinder. According to one aspect of the invention, the displacement device is configured to displace and/or pivot at least two, in particular all, of the tamping units independently of one another relative to the fastening device.
An apparatus comprising a positioning device, to which the fastening device is attached, for positioning the at least one machining device on the track, is particularly economical in operation. The positioning device may have a supporting structure for the connection to the fastening device. The positioning device is preferably in signal communication with the control unit. By means of the control unit, the positioning device is preferably controllable in an automated manner, for example in a semi-automated or fully automated manner.
An apparatus configured such that the positioning device has a multi-axis robot to which the fastening device is attached is particularly flexible in use and economical in operation. The fastening device is preferably attached to a robot head of the multi-axis robot. The fastening device and/or the robot head may be configured to transmit fluidic and/or electrical signals via the connection between the robot head and the fastening device. Preferably, the robot head is configured to connect to the fastening device configured as a quick release coupling. Preferably, the multi-axis robot is configured to displace the at least one machining device over a section along the rails which comprises at least three, in particular at least four, of the track sleepers.
The multi-axis robot preferably contains at least two, in particular at least three, in particular at least four, in particular at least six, and/or a maximum of ten pivot joints or pivot axes. The multi-axis robot can have an arm section between each of the pivot joints.
According to one aspect of the invention, the positioning device comprises at least two, in particular at least three, of the multi-axis robots, which can be used in particular simultaneously for track machining. Preferably, a fastening device having at least one vibration decoupler and at least one machining device is attached to each of the multi-axis robots. The machining performance of the apparatus can be increased due to this.
An apparatus configured such that the positioning device has a carriage is particularly flexible in use and economical in operation. The carriage may be designed as a trailer without a drive motor or may have a traction drive. Preferably, the at least one multi-axis robot is attached to the carriage particularly in a reversibly detachable manner. The at least one multi-axis robot may be displaceable, in particular linearly displaceable, relative to the carriage. In particular, the at least one multi-axis robot is attached to the carriage in a suspended manner and/or to a wall that is inclined relative to the horizontal plane, in particular a vertical wall. The carriage is preferably movable on rails.
According to one aspect of the invention, the carriage is configured as a two-path vehicle. The carriage may include a rail undercarriage for traveling on rails and/or a road undercarriage for traveling on roads. Preferably, at least one of the carriages is height adjustable. This allows the apparatus, in particular the carriage, to be transferred between adjacent rails.
An apparatus containing a fixing unit for detachably fixing the at least one machining device to the carriage is particularly safe to operate. The fixing unit can be designed for carrying the at least one machining device in a form-fit manner, in particular in the form of a carrying clamp and/or a carrying basket. Preferably, the fixing unit is configured so that the at least one machining device can be hooked into the fixing unit from above. In the fixing unit, the at least one machining device can be reliably held, in particular during the displacement of the apparatus along the rails. Thus, it is prevented that the at least one machining device gets into the track during the travel operation, whereby personal injury or property damage can be avoided. Preferably, the at least one machining device can be reversibly attached, in particular suspended, to the fixing unit by means of the multi-axis robot.
An apparatus containing a sensor device for detecting the position and/or the orientation of an object to be machined of the track and/or for monitoring a working space is particularly safe and economical to operate. The object to be machined is understood to mean the object to be machined with at least one machining device. The object to be machined is, for example, the track bed and/or a screw connection, in particular a screw head. For detecting the position and/or the orientation of the object to be machined and/or for monitoring the working space, the sensor device can have a camera unit, in particular a 3D camera, in particular a TOF camera, and/or an infrared camera, and/or a ground radar and/or a triangulation unit, in particular a laser triangulation unit, and/or a GPS module and/or a light barrier and/or a distance sensor, in particular an ultrasonic sensor. Preferably, the sensor device is in signal communication with the control unit. According to one aspect of the invention, the control unit is configured to control the apparatus, in particular the positioning device and/or the displacement device and/or the at least one machining device, based on a signal from the sensor device.
According to one aspect of the invention, the apparatus comprises a supply unit for supplying electrical and/or fluid power to the positioning device and/or the at least one machining device and/or the at least one vibration decoupler. The supply unit is preferably attached to the carriage. This allows the apparatus to be operated autonomously, in particular independently of peripheral supply units.
It is another object of the invention to provide a method for operating an apparatus for track machining that enables simple, precise, flexible and economical track machining.
This object is achieved by a method for operating an apparatus for track machining containing the steps of: providing at least one machining device which is arranged on a vibration decoupler, adjusting the vibration decoupler between a first coupling state in which the vibration decoupler has a first stiffness and/or a first damping, and a second coupling state in which the vibration decoupler has a second stiffness different from the first stiffness and/or a second damping different from the first damping, and compacting a track bed and/or tightening and/or loosening a screw connection by means of the at least one machining device. The advantages of the method correspond to the advantages described above in connection with the apparatus.
Preferably, an apparatus according to the above description is first provided. Preferably, the at least one machining device is displaceable into a restoring position, in which the at least one machining device is arranged at a distance from the object to be machined, and into a working position, in which the at least one machining device is in engagement with the object to be machined. In the working position, at least one tamping unit, in particular the penetrator, is immersed in the track bed and/or at least one screwing unit, in particular a wrench, is in engagement with the screw connection, in particular the screw head.
Preferably, the second stiffness is lower than the first stiffness and/or the second damping is lower than the first damping. Preferably, the change in stiffness is in the range of from 1 N/cm to 1,000 N/cm, in particular from 10 N/cm to 100 N/cm, and/or in a range of from 0.1 Nm/° to 100 Nm/°, in particular from 1 Nm/° to 10 Nm/°. Preferably, a movement of the at least one machining device relative to the fastening device is completely locked and/or at least partially locked in a first coupling state and/or completely released and/or partially released in the second coupling state. Preferably, the track machining takes place in the region of a straight section of the track and/or in the region of a turnout.
According to one aspect of the invention, the method is carried out in a partially automated and/or fully automated manner, in particular by means of the control unit.
According to a further aspect of the invention, the displacement of the at least one machining device takes place at least partially, in particular exclusively, during simultaneous monitoring of the working space by means of the sensor device, in particular by means of a camera system. When a person and/or an object enters the working space, the operation of the apparatus can be interrupted. The sensor device detects the intrusion of the person and/or the object preferably in an automated manner and provides a corresponding signal to the control unit.
Vibration driving of the tamping unit and/or rotational driving of the screwing unit is preferably performed exclusively when the vibration decoupler is set in the second coupling state.
A method containing displacing the at least one machining device from a restoring position to a working position, wherein the vibration decoupler is set to the first coupling state, ensures a particularly precise track machining. Due to the fact that the displacement between the restoring position and the working position takes place while the vibration decoupler is set in the first, stiffer coupling state, the at least one machining device can be positioned particularly precisely at the object to be machined.
A method includes machining the track, wherein the vibration decoupler is set to the second coupling state, ensures a reduction of the loads acting on the apparatus. By setting the vibration decoupler to the second coupling state with the lower stiffness during the machining of the track, a stronger decoupling of the movement of the at least one machining device from the movement of the fastening device can be achieved. The wear of the apparatus is reduced and the apparatus can be operated particularly economically.
A method includes tightening and/or loosening two screw connections of the track one after the other and/or simultaneously, wherein in particular two rotatably drivable screwing units are engaged simultaneously with one of the screw connections in each case, enables particularly high torques to be exerted on the screw connections. In particular, a transmission of the torques via the fastening device can be avoided. This relieves the fastening device and/or the positioning device and/or the vibration decoupler. As a result of the fact that at least two of the screwing units are in engagement with a screw connection at the same time, the bearing torques acting on the corresponding machining device when the respective screw connection is driven in rotation can be dissipated via the respective other screw connection. Thus, no or at most only low torques need to be transmitted via the fastening device and/or the vibration decoupler.
According to one aspect of the invention, the two screw connections are tightened or loosened simultaneously at least in sections, in particular completely. Preferably, the screwing units are alternately driven in rotation during the initial loosening and/or during the final tightening. The maximum bearing forces occurring in this process thus do not overlap each other. The load on the screw connections is thus reduced.
The method includes locking the at least one machining device to at least one rail when machining the track is particularly economical. Preferably, the at least one machining unit is locked to the track during the tightening and/or loosening of at least one screw connection. Thus, each of the screwing units can be flexibly used independently of another screwing unit for tightening and/or loosening the screw connections, wherein the bearing torques resulting from the rotational driving of the screwing unit are transferred to the rail. The apparatus, in particular the fastening device and/or the vibration decoupler, and/or the screw connections are not loaded by the bearing torques. Preferably, two of the screw connections are completely tightened and/or loosened simultaneously, in particular by means of two screwing units.
The method in which the machining of the track takes place on a frog of a turnout is particularly economical. Preferably, the at least one machining device is moved relative to the track in an automated manner, in particular by means of the positioning device, in particular with the multi-axis robot. Manual track machining in the complex region of the turnouts can be avoided due to the flexible displaceability of the at least one machining device relative to the track. The method can thus be carried out particularly economically.
It is a further object of the invention to create a tamping assembly for track bed treatment that is particularly economical to operate and to manufacture.
This object is achieved by a tamping assembly for track bed treatment, containing a fastening device, at least one tamping unit having a penetrator, which is formed as a tamping pick tube, and a vibration generator, wherein the vibration generator and/or a machine motor of the tamping assembly is arranged in the tamping pick tube, and a displacement device for displacing and/or pivoting the at least one tamping unit relative to the fastening device. The advantages of the tamping assembly correspond to the advantages described above in connection with the apparatus and the method.
Preferably, the at least one tamping unit or oscillating tamping unit comprises a machine motor or drive motor for driving the vibration generator. The tamping unit can have a penetrator, in particular a tamping pick, and/or a penetrator receptacle for reversibly releasable fastening of a penetrator.
The tamping unit has as penetrator a tube or tamping pick tube in which the vibration generator and/or the machine motor or drive motor are arranged. Preferably, the vibration generator and/or the machine motor are at least partially, in particular completely, overlapped by the penetrator or the tamping pick tube, perpendicular to the vertical direction and/or the feed direction. In particular, the vibration generator and/or the machine motor can be arranged completely within the penetrator or the tamping pick tube, in particular within a smallest convex envelope thereof. The tamping assembly is thus particularly compact in design and energy-efficient in operation.
The tamping assembly may comprise at least one vibration decoupler. The at least one vibration decoupler is preferably arranged between the tamping unit and the displacement device and/or between the tamping unit and the fastening device and/or between the displacement device and the fastening device. The at least one vibration decoupler has in particular an adjustable stiffness and/or an adjustable damping. The tamping assembly can be further embodied with the features described above in connection with the apparatus, in particular with the tamping unit.
Other features which are considered as characteristic for the invention are set forth in the appended claims.
Although the invention is illustrated and described herein as embodied in an apparatus for track machining, it is nevertheless not intended to be limited to the details shown, since various modifications and structural changes may be made therein without departing from the spirit of the invention and within the scope and range of equivalents of the claims.
The construction and method of operation of the invention, however, together with additional objects and advantages thereof will be best understood from the following description of specific embodiments when read in connection with the accompanying drawings.
Referring now to the figures of the drawings in detail and first, particularly to
The multi-axis robot 5 is attached to the bearing unit 9. The multi-axis robot 5 has six pivot joints 10 for displacing a robot head 11 relative to the bearing unit 9. An arm section 12 of the multi-axis robot 5 is disposed between each of the pivot joints 10.
The apparatus 1 has a fastening device 13, which is reversibly detachably attached to the positioning device 2, in particular to the robot head 11. Two machining devices 14 are connected to the fastening device 13. Vibration decouplers 15a, 15b act between the machining devices 14 and the fastening device 13. The vibration decouplers 15a, 15b are configured to decouple a movement of the fastening device 13 at least partially from a movement of the machining devices 14. The stiffness and damping behavior of the vibration decouplers 15a, 15b can be set.
The fastening device 13 has a quick release coupling 16 for a reversible connection to the robot head 11. Furthermore, the fastening device 13 has a fluid coupling 17, via which fluids, in particular hydraulic oil and compressed air, can be transmitted.
The two machining devices 14 each contain a tamping unit 18 for track bed treatment, in particular for compacting the track bed 19. The respective tamping unit 18 has a penetrator 20 for penetrating the track bed 19 and a vibration generator 21 for generating a vibration movement at the penetrator 20. The penetrator 20 is formed as a tube, which is also referred to as a tamping pick tube. The respective vibration generator 21 is disposed in the associated penetrator 20. The vibration generator 21 comprises an eccentric mass, which is not shown and is mounted eccentrically with respect to an axis of rotation, for generating the vibration movement. The two vibration generators 21 of the tamping units 18 can each be driven in rotation by a machine motor 22 or drive motor of the tamping units 18. The machine motors 22 are electrically driven. The required electrical power is provided via a current coupling 23 of the fastening device 13. The machine motors 22 are arranged with respect to the vibration decouplers 15a, 15b on the sides of the tamping units 18.
A displacement device 24 of the apparatus 1 is configured for pivoting the respective machining device 14, in particular the respective tamping unit 18, relative to the fastening device 13. For this purpose, the respective machining device 14 is connected to the fastening device 13 via a feed joint 25 of the displacement device 24. A piston cylinder unit 26 of the displacement device 24 produces the actuating force Fs required for pivoting the respective machining device 14. By means of the displacement device 24, the two tamping units 18 can also be pivoted relative to one another or toward each other.
The vibration decouplers 15a, 15b comprise a fastening decoupling unit 15a attached to the fastening device 13 and a machining decoupling unit 15b attached to each of the two machining devices 14. The fastening decoupling unit 15a and the machining decoupling units 15b each comprise at least one chamber 27, which can be filled with a fluid, for at least proportionally transmitting reaction forces FR between the fastening device 13 and the machining devices 14 via the fluid.
The fastener decoupling unit 15a is construed to control a displacement movement of the machining device 14 relative to the fastening device 13 along a penetration direction 28 of the penetrator 20 into the track bed 19. The machining decoupling units 15b are construed to control the movements of the respective machining device 14 relative to the fastening device 13 along and perpendicular to the penetration direction 28. To control these relative movements, the pressure p1, p2, p3 of the fluid within the chambers 27 is adjustable. In order to limit the relative movements to a linear degree of freedom of movement, the fastening decoupling unit 15a contains a linear guide 29. The machining decoupling units 15b do not comprise a guide of this type. The chambers 27 of both vibration decouplers 15a, 15b comprise a reversibly deformable chamber wall 30. A restriction of the relative movement to certain degrees of freedom of movement between the machining devices 14 and the fastening device 13 is not effected by the machining decoupling unit 15b.
All of the chambers 27 of the vibration decouplers 15a, 15b are connected to the supply unit 7 via fluid connections 31, in particular via the fluid coupling 17. The fluid pressure p1, p2, p3 within the respective chamber 27 is adjustable by means of the control unit 8 connected to the supply unit 7. The fluid is compressed air.
The fastening decoupling unit 15a is configured as a piston cylinder unit. The chambers 27 of the machining decoupling units 15b are configured as rubber bellows. Depending on the pressure p1, p2, p3, the rigidity of the respective vibration decoupler 15a, 15b is adjustable. As the pressure p1, p2, p3 increases, the respective vibration decoupler 15a, 15b is biased more strongly into a rest position in which the volume V enclosed by the respective chamber 27 is at a maximum. The vibration decouplers 15a, 15b arranged in a deflection position cause a restoring force to the rest position which depends on the pressure p1, p2, p3.
A piston 32 of the fastening decoupling unit 15a, which is designed as a piston cylinder unit, is displaceably mounted in a cylinder 33 and delimits two annular chambers 27 from one another. A spiral spring 33a acts between the piston 32 and the cylinder 33. Via a fluid line 34, which is in fluid-conducting connection with the fluid coupling 17, the pressure p1, p2 in the chambers 17 can be adjusted. The two chambers 27 of the fastening decoupling unit 15a are connected to one another in fluid-conducting manner via an electrically controllable throttle valve 35. The throttle valve 35 is in signal-transmitting connection with the control unit 8. In particular, the throttle valve 35 is connected to the current coupling 23 via a current line 36.
The apparatus 1 further contains a sensor device 37 for detecting the position of sleepers 38 of the track, in particular the arrangement of the machining devices 14 relative to the track bed 19. The sensor device 37 is further configured to monitor a working space 39, in particular to detect whether objects or persons are located in the working space 39. For this purpose, the sensor device 37 contains two cameras 40 and a ground radar 41. A triangulation unit 42 and a GPS module 43 serve to precisely determine the position of the apparatus 1 along the rails 4. The working space 39 is bounded downwardly by the track bed 19 and laterally, forwardly and rearwardly by a frame bridge 39a, which connects a front part of the carriage 3 to a rear part of the carriage 3.
For securely fastening the machining device 14 to the carriage 3 when displacing the apparatus 1 along the rails 4, the apparatus 1 contains a fixing unit 44. The fixing unit 44 is configured as a supporting frame in which the displacement device 24 can be hooked from above, in particular by means of the multi-axis robot 5.
The functional principle of the apparatus 1 is now described.
The carriage 3 is arranged on the rails 4. The machining devices 14 are suspended in the fixing unit 44 via the displacement device 24. The displacement device 24 is in the penetration position. The pressure p1, p2, p3 in the chambers 27 of the vibration decouplers 15a, 15b corresponds to the ambient pressure.
The traction drive 6 is activated and the carriage 3 is displaced along the rails 4 to the object to be machined, in particular to the track bed 19 to be compacted. The arrangement of the apparatus 1 at the region of the track bed 19 to be treated is controlled by means of the control unit 8. For this purpose, the information acquired by the sensor device 37, in particular the information acquired by the triangulation unit 42 and the GPS module 43, is processed in the control unit 8. The precise determination of the sleeper 38 of the track to be tamped by means of the machining devices 14 is carried out by means of the cameras 40.
By means of the multi-axis robot 5, the fastening device 13 and the machining devices 14 attached thereto are removed upward from the fixing unit 44 and arranged above the section of the track bed 19 to be treated. The two machining devices 14 are arranged in mirror symmetry with respect to a vertical plane through a central longitudinal axis of the corresponding sleeper 38. The multi-axis robot 5 is controlled by means of the control unit 8. The apparatus 1 is in the restoring position.
Via a pressure regulating unit 45 of the control unit 8, the chambers 27 of the vibration decouplers 15a, 15b are pressurized with compressed air, in particular via the fluid lines 34. The pressure p1, p2, p3 in the chambers 27 rises, the rigidity of the vibration decouplers 15a, 15b increases and the vibration decouplers 15a, 15b are arranged in the rest position. The pressure p1, p2 in the chambers 27 of the fastening decoupling unit 15a is 100 bar, for example. The pressure p3 in the chambers 27 of the machining decoupling unit 15b is 25 bar, for example. The vibration decouplers 15a, 15b are set to the first coupling state with a first stiffness in each case.
Based on a signal from the control unit 8, the multi-axis robot 5 lowers the machining devices 14 downward in the vertical direction. The penetrators 20 of the machining devices 14 penetrate the track bed 19. Due to the fact that the vibration decouplers 15a, 15b are stiffened by the pressure p1, p2, p3 in the chambers 27, the positioning of the penetrators 20 in the track bed 19 can be performed particularly precisely. The apparatus 1 is in the penetration position illustrated in
By means of the pressure regulating unit 45, the pressure in the chambers 27 is reduced based on a corresponding signal from the control unit 8. The pressure p1, p2 in the chambers 27 of the fastening decoupling unit 15a is 10 bar, for example. The pressure p3 in the chambers 27 of the machining decoupling unit 15b is 5 bar, for example. A respective second stiffness of the vibration decouplers 15a, 15b is reduced in the second coupling state compared to the first stiffness when entering the track bed 19. A second damping of the fastening decoupling unit 15a in the second coupling state is variable by means of the throttle valve 35 and adjustable differently from the first damping in the first coupling state.
The machine motors 22 of the machining devices 14 are supplied with electrical power by the control unit 8, in particular via the power coupling 23 and the power lines 36. The machine motors 22 drive the vibration generators 21 of the machining devices 14. This generates a vibration movement and transmits it to the penetrators 20
The piston cylinder units 26 of the displacement device 24 are supplied with hydraulic fluid, which is provided by the supply unit 7 and conducted to the piston cylinder units 26 via the fluid coupling 17 and the fluid lines 34. The actuating forces Fs produced at the piston cylinder units 26 cause a pivoting movement of the machining devices 14 about the feed joints 25. The displacement device 24, in particular the machining devices 14, is in the feed position illustrated in
When the penetrators 20 are displaced into the track bed 19, due to the vibration movement and due to the pivoting of the penetrators 20 immersed in the track bed 19, reaction forces FR act on the machining device 14. The reaction forces FR are transmitted to the fastening device 13 via the machining decoupling unit 15b, the displacement device 24, and the fastening decoupling unit 15a. In this case, the transmission of the reaction forces FR takes place at least proportionally via the compressed air introduced into the chambers 27. As a result of the fact that the pressure p1, p2, p3 during the pivoting of the machining devices 14 about the feed joints 25 is lower than the pressure p1, p2, p3 during the penetration of the track bed 19, the forces transmitted to the fastening device 13 can be reduced. In particular, the reaction forces FR resulting from the vibration movement of the penetrator 20 are largely cancelled out by the vibration decouplers 15a, 15b. In particular, peak values of the vertical reaction forces FRz during the penetration of the track bed 19 are reduced by the vibration decouplers 15a, 15b. The adjustable throttle valve 35 enables an adjustable damping of the vertical relative movement of the machining devices 14 with respect to the fastening device 13.
The control unit 8 provides a signal for displacing the machining devices 14 by means of the piston cylinder unit 26 into the penetration position. The machining devices 14 pivot back about the feed joints 25 into the penetration position. By means of the multi-axis robot 5, the machining devices 14 are moved back to the restoring position based on a signal from the control unit 8. The vibration decouplers 15a, 15b are returned to the first coupling state.
The sensor device 37 provides a signal correlating with the position of the adjacent sleeper 38 to the control unit 8. The multi-axis robot 5 displaces the machining devices 14 to the next restoring position above the next section of the track bed 19 to be treated. The further treatment of the track bed 19 is carried out as described above.
Throughout the entire duration of the track machining, the working space 39 is monitored by the sensor device 37. If a person or an object enters the working space 39, these are detected by the sensor device 37 and a corresponding signal is provided to the control unit 8. The control unit 8 then interrupts the operation of the apparatus 1. In particular, the movements of the multi-axis robot 5, the displacement device 24 and the vibration generator 21 are interrupted. As a result, the operation of the apparatus 1 can be carried out in a particularly safe manner.
The carriage 3 is configured as a multi-path vehicle. For this purpose, in addition to a rail undercarriage 46 for driving on the rails 4, the carriage 3 contains an additional undercarriage 47. The additional undercarriage 47 can be displaced in the vertical direction, in particular between a position above the rail undercarriage 46 and a position below the rail undercarriage 46. The additional undercarriage 47 is configured to travel over uneven surfaces and roads. In particular, the additional undercarriage 47 is designed to displace the apparatus 1 between two adjacent tracks, in particular perpendicular to the longitudinal extension of the rails 4. This considerably increases the flexibility of use of the apparatus 1.
Due to the fact that the vibration decouplers 15a, 15b act between the machining devices 14 and the fastening device 13, the positioning device 2, in particular the carriage 3 with the multi-axis robot 5, is subjected to considerably less mechanical load and its wear is reduced. The positioning device 2 can thus be designed to be particularly material-saving and lightweight and can be manufactured and operated particularly economically.
With reference to
The machining decoupling units 15b have an elastically deformable chamber wall 30 in the form of a rubber bellows. The structure of these machining decoupling units 15b is essentially the same as the machining decoupling units 15b according to the embodiment example described above.
In contrast to the embodiment described above, the fastening decoupling unit 15a comprises a braking unit 53 for adjustable braking of a movement of the machining devices 14 relative to the fastening device 13. The braking unit 53 comprises brake pads 54, which can be reversibly pressed against a brake body 56 by means of a brake actuator 55. By means of the braking unit 53, the damping of a movement transmitted via the fastening decoupling unit 15a can be adjusted on the basis of the contact force FA generated by the brake actuator 55. Decoupling of the movement of the fastening device 13 from the movement of the machining devices 14 is performed by the fastening decoupling unit 15a exclusively along the engagement direction 52. Forces oriented perpendicular to the engagement direction 52 are transmitted via the braking unit 53 and the spring member 33a. No motion decoupling takes place perpendicular to the direction of engagement 52. Corresponding movements are transmitted essentially rigidly via the linear guide 29 of the fastening decoupling unit 15a.
The apparatus 1 has a clamping device 57, shown only schematically, for reversibly fastening the machining devices 14 to the rails 4. The clamping device 57 is attached to the displacement device 24. The clamping device 57 has an adjusting member, which is not shown, for reversible clamping to the rail 4. The adjusting member can be actuated by means of a signal from the control unit 8.
Furthermore, the apparatus 1 has a cutting tool 58, shown only schematically in
The apparatus 1 has a feeding device 62 for providing screw members, in particular screws and/or nuts. The feeding device 62 is designed for handling blisters. The screw members can thus be provided in a determinable position and orientation and thus be fed in an automated manner to the machining devices 14, in particular by means of the multi-axis robot 4.
The functional principle of the apparatus 1 according to the embodiment shown in
In accordance with the previously described embodiment example, the apparatus 1 is moved to the object to be machined, in particular to the screw connections 49 to be loosened. The apparatus 1 is in the restoring position. The vibration decouplers 15a, 15b are set to the first coupling state with the higher stiffness compared to the second coupling state.
The position of the rail 4 and the screw connections 49 is detected by the sensor device 37. Controlled by the control unit 8, the clamping device 57 rigidly attached to the displacement device 24 engages around the rail 4. An actuator of the clamping device 57 is activated by means of the control unit 8. The rail 4 is clamped between clamping jaws of the clamping device 57. The machining devices 14 are supported on the rail 4 via the displacement device 24 and the clamping device 57.
On the basis of a signal from the control unit 8, the machining devices 14 are positioned by means of the displacement device 24 relative to one another and perpendicular to the engagement direction 52, corresponding to the relative position of the screw connections 49 to one another.
On the basis of a further signal from the control unit 8, the machining devices 14 are lowered in the engagement direction 52 by means of the multi-axis robot 5. The socket wrenches 51 are brought into engagement with screw heads of the screw bolts 59. The vibration decouplers 15a, 15b are set to the second coupling state with the lower stiffness compared to the first coupling state.
The machine motors 22 are activated and the socket wrenches 51 are driven in rotation by the screwdriving tools 50. The screwdriving tools 50 are designed as impact wrenches. Seized up screw connections 49 can thus be loosened particularly reliably.
The vibration decouplers 15a, 15b decouple a movement of the fastening device 13 from the movements of the two machining devices 14. Force peaks of vertical reaction forces FRz are cancelled out by the fastening decoupling unit 15a. The vertically resilient mounting due to the linear guide 29 and the spring member 33a prevents transmission of shock-like stresses to the fastening device 13 when the screw connections 49 are contacted in the course of lowering the machining tools 14. Shock-like stresses can thus be counteracted by the mass inertia of the pre-designed components of the apparatus 1, in particular the machining devices 14 and the displacement device 24. The braking unit 53 dampens the vertical movement of the machining devices 14 relative to the fastening device 13, which further reduces the forces acting on the fastening device 13.
The design of the screwing units 48 as impact screwing units makes it possible to loosen seized up screw connections 49 particularly reliably. The vibrations generated during impact screwing lead in particular to reaction forces FRx, FRy in the horizontal plane. Force peaks of these reaction forces FRx, FRy are cancelled out in the machining decoupling devices 15b. The movement of the machining devices 14 is at least proportionally decoupled from the movement of the displacement device 24 by the machining decoupling device 15b.
After loosening the screw connections 49, the clamping device 57 is detached from the rail 4. The vibration decouplers 15a, 15b are set to the first coupling state with the higher stiffness compared to the second coupling state. By means of the multi-axis robot 5, the machining devices 14 are lifted above the fastening device 13.
By means of the sensor device 37, it is checked whether the screw connections 49 have been loosened. If at least one of the screw connections 49 is seized up in such a manner that it could not be loosened by means of the screwdriving tool 50, the corresponding screw bolt 59 is cut off. For this purpose, the cutting tool 58 is displaced to the corresponding screw connection 49 by means of the multi-axis robot 5. The vibration decouplers 15a, 15b are here set to the first coupling state. The cutting tool motor 61 is activated and the cutting grinding wheel 60 is fed in the direction of the screw bolt 59. The screw bolt 59 is cut through. The cutting process is completed and the apparatus 1 is moved back to the restoring position.
The apparatus 1 can also be used for producing, in particular for assembling and tightening screw connections 49. For this purpose, the screwing units 48 are moved to the feeding device 62 by means of the multi-axis robot 5. The vibration decouplers 15a, 15b are here set to the first coupling state. The socket wrenches 51 are inserted into the blisters filled with screws. The screws are held in the socket wrenches 51, for example, by means of a clamping connection, in particular by means of a thrust piece, and/or by means of a magnet, in particular an electromagnet. When the machining devices 14 are displaced in the direction of the screw connection 49 to be produced, the screws are removed from the blister. The screws are inserted into the predetermined screw hole on the basis of a signal from the control unit 8, in particular based on the measured values provided by the sensor device 37.
By means of the clamping device 57, the machining devices 14 are fastened to the rail 4. The vibration decouplers 15a, 15b are set to the second coupling state. The machine motors 22 are activated. The screw connections 49 are tightened, in particular simultaneously.
According to a further embodiment not shown, the apparatus 1 does not have a clamping device 57, in contrast to the last embodiment described. The two screwing units 48 of the machining devices 14 are supported against each other when the screw connections 49 are tightened and/or loosened. In particular, the torques transmitted to the respective screw connection 49 are dissipated by corresponding reaction forces FR, which act on the other screw connection 49 in each case.
In order to reduce the load on the screw connections 49 caused by these reaction forces FR, both machining units 14 are not activated simultaneously during the initial loosening and/or the final tightening, but the screwing units 48 are operated alternately. On the other hand, both screwing units 48 are operated simultaneously during the initial tightening and/or the final loosening of the screw connections 49.
Preferably, the screwing units 48 have a force sensor, in particular a torque sensor. Switching between simultaneous operation and alternating operation of the screwing units 48 is preferably performed using a signal from the respective force sensor, in particular by the control unit 8.
With reference to
In contrast to the arrangement at a single bearing unit 9 in a central region between the rails 4, in this embodiment example two of the bearing units 9 are provided for supporting the multi-axis robots 5, which are attached to the carriage 3. The frame bridge 39a is replaced by a central frame support 39b, which runs in particular centrally between the rails 4. The feeding device 62 is arranged on the frame support 39b. The feeding device 62 is thus accessible by all machining devices 14.
The cameras 40 of the sensor device 37 are arranged in a side region of the carriage 3. The two working spaces 39 are monitored by the sensor device 37 in accordance with the embodiments described above.
The functional principle of the apparatus 1 corresponds to the functional principle of the apparatuses 1 according to the embodiments described above.
As a result of the fact that the apparatus 1 has the vibration decouplers 15a, 15b, a movement of the fastening device 13 is at least proportionally decoupled from a movement of the at least one machining device 14. The loads transmitted to the fastening device 13, in particular to the positioning device 2, can thus be significantly reduced. The apparatus 1 is particularly robust and reliable in operation and can be manufactured and operated particularly economically.
The features of the individual embodiment examples can be combined as required.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2020 207 437.2 | Jun 2020 | DE | national |
This application is a continuation, under 35 U.S.C. § 120, of copending International Patent Application PCT/EP2021/065598, filed Jun. 10, 2021, which designated the United States; this application also claims the priority, under 35 U.S.C. § 119, of German Patent Application DE 10 2020 207 437.2, filed Jun. 16, 2020; the prior applications are herewith incorporated by reference in their entirety.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/EP2021/065598 | Jun 2021 | US |
| Child | 18079480 | US |
