阅读说明：本技术 用于执行轨道作业的处理系统和方法 (Processing system and method for performing orbital operations ) 是由 G·施密德 于 2020-03-27 设计创作，主要内容包括：处理系统(3)具有用于执行轨道作业的至少一个多轴机器人(17)。处理系统(3)包括呈集装箱形式的用于容纳所述至少一个多轴机器人(17)的箱体(10)以及用于使所述至少一个多轴机器人(17)在所述箱体(10)内的运输位置与所述箱体(10)外的作业位置之间移位的至少一个移位装置(18)。这使得能够以简单、灵活、安全且可靠的方式执行轨道作业。(The handling system (3) has at least one multi-axis robot (17) for performing orbital operations. The handling system (3) comprises an enclosure (10) in the form of a container for accommodating the at least one multi-axis robot (17) and at least one displacement device (18) for displacing the at least one multi-axis robot (17) between a transport position inside the enclosure (10) and a working position outside the enclosure (10). This enables track work to be performed in a simple, flexible, safe and reliable manner.)

1. A handling system for performing orbital operations, the handling system having at least one multi-axis robot (17, 17'), characterized in that the handling system comprises:

an enclosure (10) in the form of a container, the enclosure (10) for housing the at least one multi-axis robot (17, 17'); and

at least one displacement device (18), the at least one displacement device (18) being used for displacing the at least one multi-axis robot (17, 17') between a transport position inside the enclosure (10) and a working position outside the enclosure (10).

2. Handling system according to claim 1, wherein the magazine (10) comprises at least one magazine opening (14) for passing the at least one multi-axis robot (17, 17').

3. Treatment system according to claim 2, characterized in that the tank opening (14) is formed at a short side (S) of the tank (10)_H，S_V) And/or long sides (S)_L，S_R) And/or upper side (S)_O) The above.

4. Treatment system according to at least one of the preceding claims, characterized in that the tank (10) comprises a plurality of walls (12) and at least one cover element (13), which at least one cover element (13) is displaceable relative to the walls (12) for opening and closing at least one tank opening (14).

5. Handling system according to at least one of the preceding claims, characterized in that a plurality of fastening elements (19) for fastening the box (10) to a chassis (4) are arranged at the box (10).

6. Handling system according to at least one of the preceding claims, characterized in that the at least one displacement device (18) is configured with at least one linear axis (x) for linearly displacing the at least one multi-axis robot (17, 17').

7. Handling system according to at least one of the preceding claims, characterized in that the at least one displacement device (18) is provided with at least one swivel axis (36) for turning the at least one multi-axis robot (17, 17').

8. Handling system according to at least one of the preceding claims, characterized in that the at least one displacement device (18) comprises a mounting element (21), the at least one multi-axis robot (17, 17') being fastened to the mounting element (21) and the mounting element (21) being displaceable relative to the tank (10).

9. Handling system according to at least one of the preceding claims, characterized in that the at least one displacement device (18) can be locked in the transport position and/or the working position.

10. Handling system according to at least one of the preceding claims, characterized in that said at least one displacement device (18) comprises at least one support element (54) for supporting on a rail.

11. Processing system according to at least one of the preceding claims, characterized in that a tool magazine (22) is arranged in the box (10).

12. The processing system according to at least one of the preceding claims, characterized in that the processing system comprises a dry ice supply unit (38) for processing a surface.

13. Treatment system according to at least one of the preceding claims, characterized in that the treatment system comprises an energy generator (26) and/or an energy storage device (27).

14. Processing system according to at least one of the preceding claims, characterized in that the processing system comprises at least one sensor (31, 32) for controlling the at least one multi-axis robot (17, 17') and/or monitoring the working space (a).

15. Processing system according to at least one of the preceding claims, characterized in that the processing system comprises a control unit (24) for controlling the at least one multi-axis robot (17, 17').

16. Processing system according to at least one of the preceding claims, characterized in that it comprises at least one protection element (35) for protection from the environment and/or for delimiting a working space (a).

17. Handling system according to at least one of the preceding claims, characterized in that it comprises a first multi-axis robot (17) and a second multi-axis robot (17') for build-up welding and/or lap welding.

18. A processing apparatus for performing orbital operations, the processing apparatus comprising:

-a chassis (4); and

-a handling system (3) according to at least one of claims 1 to 17, the handling system (3) being arranged on the chassis (4).

19. A method for performing a rail operation, the method comprising the steps of:

-providing a processing system (3) according to at least one of claims 1 to 17;

-transporting the handling system (3) to a track location to be handled, wherein in the transport position the at least one multi-axis robot (17, 17') is located within the enclosure (10);

-transferring the at least one multi-axis robot (17, 17') from the transport position to a working position outside the box (10) by means of the at least one displacement device (18); and

-performing the orbital work by the at least one multi-axis robot (17, 17').

Technical Field

The present invention relates to a processing system and method for performing rail operations.

Background

DE 102016000408 a1 discloses a maintenance vehicle with an industrial robot having at least three axes of movement for carrying out orbital work. The industrial robot is displaceably mounted on a robot guide secured to the frame of the maintenance vehicle. The industrial robot is arranged between side walls of the maintenance vehicle, which side walls define a working space in which track work is performed.

A work train for producing rails is known from AU 2017204414 a 1. The work train includes a work vehicle having a work bay in which a multi-axis robot is arranged.

Disclosure of Invention

The object of the present invention is to create a processing system for performing orbital operations that can be used simply, flexibly, safely and reliably.

This object is achieved by a processing system having the features of claim 1. In order to automatically perform the orbital work, the handling system has a multi-axis robot. The multi-axis robot is designed, for example, as an industrial robot. In the transport position, the multi-axis robot is arranged inside the box, and in the working position, the multi-axis robot is arranged outside the box. The container body is designed as a container, in particular as a standard container or as an ISO container. In particular, the container is made of metal. In order to displace the multi-axis robot between the transport position and the working position, the handling system comprises a displacement device.

In the transport position, the multi-axis robot and in particular also the displacement device are arranged within the box such that the handling system appears to be and has the dimensions of the box. The handling system can thus be transported easily, flexibly, safely and reliably to the track-work location or to the place of use. For this purpose, the processing system is fastened to a vehicle, such as a railway or road vehicle, or to a truck or freight trailer, for example like a normal standard container. In the transportation process, the multi-axis robot is protected from the environment in the box body.

At the place of use, the multi-axis robot is transferred from the transport position to a working position outside the housing by means of a displacement device. In the working position, the multi-axis robot can perform a variety of orbital operations in a simple, flexible and reliable manner. The multi-axis robot may perform maintenance and/or repair work on a rail system, for example. For this purpose, the processing system may, for example, remain on the vehicle or on a truck or freight trailer, or be unloaded and placed in a fixed position at the point of use. If the rail work has to be interrupted, the multi-axis robot can be moved from the working position back to the transport position in the tank at any time by means of the displacement device, so that the handling system is in a safe state. After the track work is completed, the multi-axis robot is transferred back to the transport position by the displacement device and is transported away from the place of use.

The displacement means is preferably fastened to the housing. In particular, in the inner space of the box, the displacement device is fastened to the box. In the transport position, the displacement device is preferably arranged inside the box, while in the working position the displacement device is arranged partly inside the box and partly outside the box. The multi-axis robot is secured to the displacement device. For example, the multi-axis robot is fastened to the displacement device in a horizontal or vertical position. For example, multi-axis robots are secured in a standing or suspended position. Preferably, the multi-axis robot has at least three, in particular at least four, in particular at least five, in particular at least six axes of motion. In particular, the multi-axis robot has at least three axes of motion and at most six axes of motion. The movement axis is designed in particular as a swivel axis.

The processing system may include one tank or a plurality of tanks. This allows the processing system to have a modular structure. The displacement device and the multi-axis robot are in particular arranged in the first housing, while the additional components may be arranged in the first housing and/or the second housing. For example, the displacement device and the multi-axis robot are arranged in a first housing, while the power supply is arranged in a second housing. Preferably, all the housings have dimensions and/or interfaces according to a standard, in particular according to an ISO standard.

The handling system comprises at least one multi-axis robot. For example, the handling system comprises at least two, in particular at least three, multi-axis robots. Furthermore, the handling system has at least one displacement device for displacing the at least one multi-axis robot between the transport position and the working position. If the processing system has a plurality of multi-axis robots, these can be arranged on a common displacement device or can each be arranged on a displacement device. Preferably, each multi-axis robot is arranged on a respective associated displacement device (i.e. its own displacement device). If the handling system has a plurality of multi-axis robots, these are preferably arranged in a common housing in the transport position. The multi-axis robot and/or the displacement device may have the same and/or different structures.

For example, the handling system may comprise a first multi-axis robot arranged on the first displacement device and a second multi-axis robot arranged on the second displacement device. The pod includes a first pod opening for passage of the first multi-axis robot therethrough and a second pod opening for passage of the second multi-axis robot therethrough. The tank opening is preferably formed on different sides of the tank.

The handling system according to claim 2 ensures a simple, flexible, safe and reliable execution of the rail work. The at least one box opening enables the multi-axis robot to be easily displaced between the transport position and the working position. The case defines an inner space and separates it from an outer space. The at least one box opening provides a connection between the interior space and the exterior space such that the multi-axis robot may be easily displaced between the interior space and the exterior space. For example, the at least one bin opening may be opened or closed as desired and/or permanently opened by an associated cover element. Preferably, the box has two opposite long sides, two opposite short sides, a lower side and an opposite upper side. Preferably, the at least one tank opening is formed on a short side and/or a long side and/or an upper side of the tank.

The handling system according to claim 3 ensures a simple, flexible, safe and reliable execution of the rail work. The box has two opposite long sides, two opposite short sides, a lower side and an opposite upper side. The at least one box opening is formed on at least one short side and/or at least one long side and/or upper side, depending on the rail work to be performed. Preferably, the at least one tank opening is formed on a short side. Since the housing is formed as a container, a housing opening for passing at least one multi-axis robot therethrough is not formed at a lower side of the housing.

The handling system according to claim 4 ensures a simple, flexible, safe and reliable execution of the rail work. By means of the at least one cover element, the at least one box opening can be closed in the transport position and can be opened to transfer the multi-axis robot from the transport position to the working position. Thus, in the transport position, the multi-axis robot and the displacement device are protected in the box. The at least one cover element may be opened in a simple manner to expose the at least one box opening for the passage of the multi-axis robot. The at least one covering element may be actuated, for example, manually and/or by a drive device. In particular, the at least one tank opening is arranged at a short side and/or a long side and/or an upper side of the tank. The at least one covering element is designed, for example, as a cover plate, as a single or multiple door, as a roller door and/or as a sectional door.

The handling system according to claim 5 ensures a simple, flexible, safe and reliable execution of the rail work. The box can be reversibly fastened to the chassis by means of fastening elements. Thereby, the handling system can be transported easily, safely and reliably to the place of use. By loosening the fastening elements, the tank can be separated from the chassis again, so that the processing system does not have to be held on the chassis at the place of use or during storage. The chassis can then be used elsewhere, for example for transporting goods by means of containers. Preferably, the fastening elements are all part of a swivel connection. The corresponding swivel connection is used to form a form-fitting connection between the container or container and the chassis. The form-fit connection is locked or unlocked by rotating the respective fastening element and the mating fastening element relative to each other. A mating fastening element is fastened to the chassis. These rotational connections are referred to as twist-lock connections.

The handling system according to claim 6 ensures a simple, flexible, safe and reliable execution of the rail work. Since the displacement device forms at least one linear axis, the multi-axis robot can be displaced between the transport position and the working position in a simple manner. In particular, the displacement device has a linear guide and a slide guided on the linear guide. The displacement means may preferably be actuated by the drive means. The at least one linear axis extends in particular in a horizontal direction and/or in a vertical direction. Preferably, at least one linear axis extends parallel to the long sides of the tank. The displacement device comprises a mounting element, which is designed for example as a cubic frame. In particular, the mounting element is guided on at least two sides of the box by linear guides. Preferably, the linear guides guide the mounting element inside the box and/or on opposite sides (for example on the lower and upper sides and/or on opposite long sides). In particular, the cubic frame is formed by longitudinal struts, transverse struts and vertical struts in a grid-like manner. The mounting element is used for fastening at least one multi-axis robot. Preferably, the at least one displacement device forms at least two linear axes for horizontally displacing and/or vertically displacing the at least one multi-axis robot.

The handling system according to claim 7 ensures a simple, flexible, safe and reliable execution of the rail work. The at least one swivel axis preferably extends parallel to the horizontal direction and/or parallel to the vertical direction. In order to form at least one swivel axis, the displacement device has in particular a turntable and/or a swivel bridge to which the multi-axis robot is fastened. The multi-axis robot can be rotated about the at least one swivel axis, for example manually or by means of a drive. By forming at least one swivel axis, the handling system has a high degree of flexibility in performing rail operations.

The handling system according to claim 8 ensures a simple, flexible, safe and reliable execution of the rail work. The multi-axis robot is secured to the mounting element. The mounting element can be displaced relative to the housing, so that the multi-axis robot can be displaced between the transport position and the working position in a simple and flexible manner. The mounting element is preferably linearly displaceable and/or rotatable about a swivel axis.

For example, the mounting element constitutes a platform on which the multi-axis robot is mounted. The mounting element is for example a slide, a lifting platform, a turntable or a swivel bridge. For example, the cross-section of the slide is L-shaped, so that the multi-axis robot is fastened to the slide in a horizontal position.

The mounting element is preferably a cuboid shaped, for example a cuboid shaped frame. The cubic frame is formed in a grid-like manner, for example, by longitudinal struts, transverse struts and vertical struts. The mounting element defines a working space in which the at least one multi-axis robot is arranged. The at least one multi-axis robot is arranged in the working space, in particular in a suspended manner. Preferably, the mounting element defines a mounting plane extending parallel to the upper and/or lower side of the housing, wherein the first axis of motion of the multi-axis robot extends perpendicular to said mounting plane.

The handling system according to claim 9 ensures a simple, flexible, safe and reliable execution of the rail work. By means of the locking displacement device, the multi-axis robot is fixed in the transport position and/or the working position. The displacement means may for example be locked manually and/or automatically.

The handling system according to claim 10 ensures a simple, flexible, safe and reliable execution of the rail work. The at least one displacement device comprises a mounting element on which at least one multi-axis robot is arranged. At least one support member is used to support the mounting member on the track. In the working position, the mounting element is displaced from the magazine by means of the linear guide. The first end of the mounting element is freely suspended in the working position, while the opposite second end is held in the linear guide. At least one support element is used to support the free end of the mounting element on the rail. The at least one support element can be displaced, in particular can be displaced linearly, relative to the mounting element. The at least one support element can thus be transferred from a compact transport position in the tank to a working position for supporting the mounting element. Preferably, the at least one displacement device comprises two support elements which support the mounting element in the region of the rail. In particular, the at least one support element comprises guide rollers for supporting the mounting element on the rail during displacement of the mounting element between the transport position and the working position. The respective support element is preferably displaceable by the drive means. The at least one support element stabilizes the displacement device in the working position so that the at least one multi-axis robot can perform an orbital work without vibrations or oscillations.

The handling system according to claim 11 ensures a simple and flexible execution of the rail work. Since the tool magazine is disposed in the magazine, the multi-axis robot can perform various orbital operations using a suitable tool. Thus, the processing system enables automatic tool replacement. Automatic tool change can be performed in the following manner: the multi-axis robot automatically stores tools that are no longer needed in the tool magazine and/or automatically picks up the needed tools from the tool magazine. If desired, a tool changer may be disposed in the magazine in addition to the tool magazine. In this case, the tool changer transfers the tool, which is no longer needed, from the multi-axis robot to the tool magazine and stores it in the tool magazine. Accordingly, the tool changer takes the required tool out of the tool magazine and transfers it to the multi-axis robot. The tool magazine and/or the tool changer are preferably linearly displaceable, in particular parallel to the long sides of the magazine.

The handling system according to claim 12 ensures a simple, flexible and reliable execution of the rail work. The dry ice supply unit is capable of treating, in particular cleaning, the respective surfaces. The dry ice supply unit comprises as a tool at least one treatment nozzle, which can be arranged on or held by the multi-axis robot. For example, at least one treatment nozzle is provided in the tool box. The dry ice supply unit is disposed in the tank and/or in the additional tank. For example, arranging CO in an additional tank₂A storage tank, a pelletizer, and a dry ice storage tank to provide dry ice pellets in the dry ice storage tank. For example, a compressed air generator and a proportioner are arranged in the additional tank to generate a dry ice-compressed air mixture from the dry ice particles and the compressed air. The dry ice-compressed air mixture is fed from the additional tank into the tank via a feed line. The feed line is connected to at least one treatment nozzle. The additional container is in particular a container, for example a standard container or an ISO container. Preferably, the additional tank is designed according to said tank.

The handling system according to claim 13 ensures a simple, flexible and reliable execution of the rail work. Since the treatment system comprises an energy generator and/or an energy storage device, the treatment system can be operated largely autonomously. Thus, the processing system may operate independently of the external energy supply device. The energy generator is used in particular for providing electrical energy. Preferably, the energy generator comprises a power unit with a drive that can be operated by fuel and a power generator driven by the power unit. The energy storage device is designed in particular as a battery. The energy generator and/or the energy storage device may be arranged in the housing and/or in an additional housing. The additional container is in particular a container, for example a standard container or an ISO container. Preferably, the additional tank is designed according to said tank.

The handling system according to claim 14 ensures a simple, flexible, safe and reliable execution of the rail work. The at least one sensor is arranged in particular at the multi-axis robot and/or at the pod and/or on the displacement device. Preferably, the at least one sensor is configured as an optical sensor and/or an optical detector. For example, the at least one sensor is a radar sensor and/or a laser scanner and/or a camera. In particular, the at least one sensor is used for detecting an object to be processed and/or for controlling or positioning the multi-axis robot and/or for monitoring the working space.

The handling system according to claim 15 ensures a simple, flexible, safe and reliable execution of the rail work. The control unit is preferably in signal communication with the multi-axis robot and/or the displacement device and/or the at least one sensor and/or the tool changer and/or the energy generator and/or the energy storage device and/or the dry ice supply unit. The control unit may be arranged in the box and/or in the additional box. In particular, the additional container is a container, such as a standard container or an ISO container. Preferably, the additional tank is designed according to said tank.

The handling system according to claim 16 ensures a simple, flexible, safe and reliable execution of the rail work. The at least one protective element is used, for example, for protection from the environment and/or for delimiting a working space from danger to people. Preferably, the at least one protection element is arranged at the box and/or the displacement device. Preferably, the at least one protection element is displaceable relative to the tank and/or the displacement device. For example, the at least one protective element is arranged in the transport position inside the tank and in the working position at least partially outside the tank. Preferably, the at least one protective element encloses a working space in which the at least one multi-axis robot is arranged. In particular, the at least one protective element is arranged on the cuboid-shaped mounting element and encloses the working space on at least two long sides, on at least one short side and on the upper side. Preferably, the at least one protection element is displaceably arranged on the mounting element of the displacement device. The at least one protective element can be displaced relative to the displacement device or relative to the mounting element between a transport position and a working position. In the transport position, the at least one protective element is arranged within the box. In the working position, the at least one protective element is displaced such that a working space between the displacement device and the rail is defined. Preferably, at least two U-shaped protective elements are arranged on the displacement device. Thus, the working space between the displacement device and the rail can be defined on all sides. The at least one protective element is designed in particular to be opaque.

The handling system according to claim 17 ensures a simple, flexible, safe and reliable execution of the rail work. The first multi-axis robot is used to perform preparatory work and/or finishing work in connection with build-up welding and/or lap welding. For example, a first multi-axis robot is used for grinding and/or milling rails. The second multi-axis robot is used for overlaying the rails and/or for overlap welding of two rails or rail sections. In the tool receiver of the first multi-axis robot, a grinding tool and/or a milling tool is accommodated, for example, in a rotationally drivable manner. For example, a welding head is accommodated in the tool receiver of the second multi-axis robot. The welding head is communicated with the welding device. The welding device is arranged in particular on the displacement device or on the mounting element. The multi-axis robot is capable of achieving automatic lap welding and/or build-up welding.

It is also an object of the invention to create a processing device for performing a track work that can be used simply, flexibly, safely and reliably.

This object is achieved by a processing device having the features of claim 18. As the handling system according to the invention is arranged on a chassis, the at least one handling system can be transported easily, flexibly, safely and reliably to the place of use and can be transported away again from the place of use. Preferably, the at least one processing system is reversibly fastened to the chassis. Thus, the at least one processing system may be secured to the chassis and may be removed from the chassis again. Thus, if desired, the at least one processing system may be removed from the chassis and the chassis may be used elsewhere. The chassis is for example part of a railway vehicle, an on-road vehicle, an off-road vehicle (such as a track vehicle or a walking excavator), a track-bound flatbed or truck and/or a trailer or semi-trailer.

It is also an object of the invention to create a method which enables a simple, flexible, safe and reliable execution of a track work.

This object is achieved by a method having the features of claim 19. The advantages of the method according to the invention correspond to the advantages of the processing system according to the invention that have been described. The method according to the invention is further obtained, in particular, by providing a treatment device according to claim 18. The handling system may be removed from the chassis or remain on the chassis after transport to the track location or point of use to be handled. After the track work has been performed, the multi-axis robot is transferred from the work position back to the transport position and is transported away from the track position or point of use being processed. If necessary, at least one processing system is reloaded onto the chassis. Preferably, in the working position, the at least one displacement device is supported on the rail by means of at least one support element.

Drawings

Further features, advantages and details of the invention will become apparent from the following description of several embodiments, in which:

fig. 1 shows a side view of a processing device for performing a rail-bound operation according to a first embodiment in a transport state, wherein the processing system is arranged on a flatbed;

FIG. 2 shows a rear view of the processing apparatus of FIG. 1;

fig. 3 shows a side view of the processing device according to fig. 1 in an operating state of the processing system;

fig. 4 shows a side view of a handling device according to a second embodiment in a transport state;

fig. 5 shows a side view of a handling device according to a third embodiment in a transport state;

fig. 6 shows a sectional side view of a handling device for performing a track work according to a fourth embodiment in a transport state;

fig. 7 shows a first perspective view of the handling device according to fig. 6 during a transition from a transport state to an operating state;

fig. 8 shows a second perspective view of the handling device according to fig. 6 during a transition from the transport state to the operating state;

fig. 9 shows a perspective view of the processing device according to fig. 6 in an operating state; and

fig. 10 shows a partially sectioned side view of the processing device according to fig. 9 in an operating state.

Detailed Description

A first embodiment of the present invention is described below with reference to fig. 1 to 3. A handling device 1 for performing rail operations comprises a rail-bound platform 2, to which platform 2 a handling system 3 is fastened. The flat car 2 includes a chassis 4 on which a plurality of axles are rotatably mounted, and wheels 5 attached to the plurality of axles. The wheels 5 are guided on rails 6 of a track system 7. The processing device 1 is coupled to the rail vehicle 8 in the transport state shown in fig. 1. The rail vehicle 8 can be electrically operated and supplied with electrical energy via an overhead line 9 of the rail system 7.

The processing system 3 includes a first housing 10 and a second housing 11. The containers 10, 11 are designed as standard containers or ISO containers. The cases 10, 11 each have a lower side S_UUpper side S_OTwo opposite long sides S_L、S_RAnd two opposite short sides S_V、S_H. Lower side S_UUpper side S_OAnd side S_L、S_RAnd S_VFormed by a solid wall 12, while the side S_HIs constituted by a covering element 13 in the form of two doors. The covering element 13 can be displaced relative to the wall 12. The cover element 13 can be opened or closed such that the cover element 13 exposes or closes the box opening 14.

The housings 10, 11 have a length L, a width B and a height H. For length L: l is more than or equal to 280cm and less than or equal to 1700cm, particularly more than or equal to 500cm and less than or equal to 1300cm, particularly more than or equal to 600cm and less than or equal to 610 cm. For width B: b is more than or equal to 100cm and less than or equal to 300cm, particularly more than or equal to 200cm and less than or equal to 280cm, particularly more than or equal to 240cm and less than or equal to 250 cm. For the height H, 100cm & lt, H & lt, 300cm, in particular 180cm & lt, H & lt, 290cm, in particular 250cm & lt, H & lt, 280 cm. The first casing 10 defines a first inner space 15. Accordingly, the second casing 11 defines a second inner space 16. The housings 10, 11 have a plurality of fastening elements 19 in the region of the lower side SU, which fastening elements 19 interact with mating fastening elements of the platform 2 for fastening to the chassis 4. The counterpart fastening element is not shown in more detail.

The handling system 3 comprises a multi-axis robot 17 and an associated displacement device 18 for performing orbital operations. The multi-axis robot 17 is arranged on a displacement device 18 such that the multi-axis robot 17 can be displaced from a transport position in the interior space 15 through the open cabinet opening 14 into a working position outside the interior space 15.

The multi-axis robot 17 is designed as an industrial robot. The multi-axis robot 17 has six axes of motion, which are indicated in detail as B₁To B₆. The design of the multi-axis robot 17 is known and commonly used.

The displacement device 18 comprises a guide 20 and a mounting element 21 configured as a slide. In the inner space 15 at the lower side S_UIn the region of (a), the guide 20 is fastened to the box 10. The guide 20 is disposed adjacent the bin opening 14. The guide 20 is designed as a linear guide. The displacement device 18 thus has a linear axis x. The mounting element 21 can be displaced on the guide 20 along the linear axis x by a drive means not shown in more detail. The mounting element 21 is L-shaped in cross-section and has a long leg and a short leg. In the region of the long leg, the mounting element 21 is mounted on the guide 20, while the short leg extends substantially perpendicularly to the long leg and the guide 20. In the short leg region, the multi-axis robot 17 is fastened to the mounting element 21 in a substantially horizontal position.

In the transport state of the processing apparatus 1 shown in fig. 1, the multi-axis robot 17 and the displacement apparatus 18 are in the transport position. In the transport position, the multi-axis robot 17 and the displacement device 18 are arranged completely in the interior 15, so that the housing 10 can be closed by the cover element 13. The displacement device 18 can be locked in the transport position.

The processing system 3 further comprises a tool magazine 22 with an associated tool changer 23 for performing an automatic tool change and a control unit 24. A tool magazine 22 and a tool changer 23 are arranged in the interior space 15. At the bottom side S_UIn the region of (a) of (b),the tool box 22 is secured to the housing 10. On the other hand, the tool changer 23 is arranged on a tool changer slide 25, which tool changer slide 25 is arranged on the mounting element 21 in a linearly displaceable manner. The tool changer 23 can be displaced linearly in the direction of the linear axis x between the tool magazine 22 and the multi-axis robot 17 by means of a drive device which is not shown in greater detail.

The processing system 3 further comprises an energy generator 26 for providing electrical energy and an energy storage device 27. An energy generator 26 and an energy storage device 27 are arranged in the interior space 16 of the second housing 11. The energy generator 26 includes, for example, a power unit having a driving device capable of operating by fuel and a power generator driven by the power unit. The energy storage device 27 is designed, for example, as a battery.

The first case 10 has a first connection 28 for transmitting electric energy, and the second case 11 has a second connection 29 for transmitting electric energy. The connections 28, 29 are connected to each other via a supply line 30, so that the part of the processing system 3 arranged in the tank 10 can be supplied with electrical energy. Alternatively, an external supply line may be connected to the connector 28, thereby enabling the use of an external power source. In this case, the case 11 having the energy generator 26 and the energy storage device 27 is not required.

In order to control the multi-axis robot 17 and to monitor the working space a of the multi-axis robot 17, the processing system 3 has sensors 31, 32, 33. The first sensor 31 is configured as a camera. The first sensor 31 is arranged in the region of a tool receiver 34 of the multi-axis robot 17. The second sensor 32 and the third sensor 33 are designed as cameras. In the interior 15 of the housing 10, sensors 32, 33 are arranged in the region of the housing opening 14. The sensors 31, 32, 33 are in signal communication with the control unit 24.

In order to protect the working space a from the environment, the processing system 3 has a protection element 35. The working space a is defined by the range of motion of the multi-axis robot 17. The protective element 35 is plate-shaped and is arranged on the upper side S_OIs mounted on the casing 10 in a linearly displaceable manner. The protective element 35 can be displaced manually or by means of a drive.

Fig. 3 shows the handling system 3 in the operating state at the place of use or at the track location to be handled. The multi-axis robot 17 and the displacement device 18 are in the working position. The displacement device 18 can be locked in the working position. In the working position, the multi-axis robot 17 is no longer located in the inner space 15, but in the outer space of the cabinet 10.

The operating principle of the processing apparatus 1 is described below.

Initially, the processing apparatus 1 is in the transport state shown in fig. 1. The multi-axis robot 17 and the displacement device 18 as well as the protective element 35 are arranged completely inside the cabinet 10. The cases 10, 11 are closed by respective covering elements 13. In the transport state, the processing system 3 is externally represented by two boxes 10, 11.

The handling device 1 is coupled to a railway vehicle 8 and transported by means of the railway vehicle 8 to the desired place of use or track location to be handled. At the place of use, the processing device 1 or the processing system 3 is transferred from the transport state to the operating state shown in fig. 3. For this purpose, the covering element 13 of the tank 10 is first opened. The mounting element 21 is linearly moved on the guide 20 along the linear axis x, so that the displacement device 18 is transferred from the transport position to the working position. The displacement device 18 is locked in the working position. The multi-axis robot 17 fastened to the mounting element 21 is transferred from the transport position to the working position accordingly. In the working position, the multi-axis robot 17 is located outside the cabinet 10. The protective element 35 is linearly displaced in the working position such that the protective element 35 at least partially obstructs the working space a.

The multi-axis robot 17 can now be used to perform track work, for example handling the rails 6. For this purpose, a tool, which is not shown in greater detail, is located in the tool receiver 34. The first sensor 31 detects, for example, the rail 6 to be processed, so that the multi-axis robot 17 can be controlled in a desired manner by the control unit 24. The sensors 32, 33 monitor the working space a. If, for example, a person enters the working space a, this is detected by the sensors 32, 33 and recognized by the control unit 24, so that the control unit 24 stops the multi-axis robot 17.

When a tool change is required, the tool changer 23 takes out the required tool from the tool magazine 22. Then, the tool changer 23 is moved linearly in the direction of the multi-axis robot 17 by the tool changer slide 25. The multi-axis robot 17 stores the tools that are no longer needed in the tool changer 23 and removes the needed tools from the tool changer 23. Then, the multi-axis robot 17 may continue the process. The tool changer 23 is again moved linearly in the direction of the tool magazine 22 and stores the tools no longer needed in the tool magazine 22.

When the track work is completed, the multi-axis robot 17 and the displacement device 18 are moved back to the transport position. The displacement device 18 is locked in the transport position. The protective element 35 is displaced into the housing 10. Subsequently, the cover member 13 of the container 10 is closed, thereby closing the container opening 14. The processing device 1 can now be transported away by means of the rail vehicle 8.

A second embodiment of the present invention is described below with reference to fig. 4. Compared to the first embodiment, the displacement device 18 additionally has a swivel axis 36 for rotating the multi-axis robot 17. The multi-axis robot 17 can be rotated about a horizontally extending swivel axis 36, thereby rotating the multi-axis robot 17 from a horizontal position to a vertical position. The movement axis B1 can thus be transferred from the horizontal position shown in fig. 4 to the vertical position by rotating about the swivel axis 36. For this purpose, the mounting element 21 is designed as a swivel bridge. The mounting element 21 is part of the displacement device 18 and is mounted in a rotating manner on a slide 37 of the displacement device 18. By turning to the vertical position, the multi-axis robot 17 can reach the overhead line 9. This makes it possible to perform maintenance work and/or inspection work on the overhead line 9. With regard to further construction and further operating principle, reference is made to the first embodiment.

A third embodiment of the present invention is described below with reference to fig. 5. In contrast to the previous embodiment, the processing system 3 has a dry ice supply unit 38. The dry ice supply unit 38 includes CO₂A storage tank 39, a granulator 40, a dry ice storage tank 41, a compressed air generator 42 and a proportioner 43. CO 2₂The storage case 39 is fastened in the case 10. The granulator 40, the dry ice storage tank 41, the compressed air generator 42 and the proportioner 43 are fastened to the mounting element 21 which is designed as a slide. GranulatingThe machine 40 is supplied from the CO via a supply line₂The storage tank 39 is supplied with liquid CO₂And generates dry ice particles, which are stored in the dry ice storage bin 41. The compressed air generator 42 provides compressed air so that a dry ice-compressed air mixture is provided through the proportioner 43. The dry ice supply unit 38 further comprises a treatment nozzle 44, which treatment nozzle 44 is arranged in the tool receptacle 34 and is guided by the multi-axis robot 17. The treatment nozzle 44 is connected to the proportioner 43 via a mixture line 45. The mixture line 45 is designed as a flexible tube. In particular, the mixture line 45 is mounted such that it can be rolled up and unrolled, and thus can flexibly accommodate the movement of the multi-axis robot 17. Through the treatment nozzle 44, a dry ice-compressed air mixture can be discharged for surface treatment. With regard to further construction and further operating principle, reference is made to the foregoing embodiments.

A fourth embodiment of the present invention is described below with reference to fig. 6 to 10. The handling system 3 comprises a first multi-axis robot 17 for grinding and/or milling the rail 6 and a second multi-axis robot 17' for welding, in particular for build-up and/or lap welding.

The mounting element 21 is formed as a cubic frame. The mounting element 21 comprises a longitudinal strut 46 extending in the x-direction, a transverse strut 47 extending in the y-direction and a vertical strut 48 extending in the z-direction. The x-direction, y-direction and z-direction extend perpendicularly to each other in pairs and form a cartesian coordinate system. The guide 20 is designed as a linear guide. The guide has a cubic base frame 49, and in the inner space 15, the cubic base frame 49 is fastened to the box 10. At the upper side S_OAnd the lower side surface S_UAbove, a guide element 50 for linearly guiding the mounting element 21 is arranged on the base frame 49. The guide element 50 is designed, for example, as a guide roller. For the linear displacement of the mounting element 21, the guide element 50 can be driven in rotation, for example by a drive device which is not shown in greater detail.

The mounting element 21 delimits an interior space 51, in which interior space 51 the multi-axis robot 17, 17' is arranged. The first multi-axis robot 17 is suspended on the mounting element 21. For this purpose, the mounting element 21 forms a mounting plane E extending parallel to the x-y plane₁. First axis of motion B of multi-axis robot 17₁Perpendicular to the mounting plane E₁And (4) extending.

The second multi-axis robot 17' is disposed on the short side S of the first multi-axis robot 17 and the casing 10 in the x direction_VIn the meantime. The second multi-axis robot 17' is fastened to the linear guide 52 and can be guided in the plane E by the linear guide 52₂A medium linear shift. Plane E₂And plane E₁Is α, wherein: 0 degree<Alpha is less than or equal to 90 degrees. The second multi-axis robot 17' has six axes of motion B corresponding to the first multi-axis robot 17₁To B₆。

For processing the rail 6, a grinding tool and/or a milling tool is accommodated in the tool receiver 34 of the first multi-axis robot 17. To perform a tool change, the tool magazine 22 is fastened to the mounting element 21.

A welding head is arranged in the tool receiver 34 of the second multi-axis robot 17'. The welding head is part of a welding device 53, said welding device 53 being fastened to the mounting element 21.

For support in the working position, the displacement device 18 comprises a support element 54. The mounting element 21 comprises a first end which is arranged remote from the housing 10 in the operating position and a second end which is held in the housing 10 in the operating position. The support element 54 is arranged at the first end. The support element 54 is displaceable in the z-direction relative to the mounting element 21. The support element 54 can be telescoped, for example, by means of a drive device which is not shown in greater detail. In the retracted transport position, the support element 54 is arranged in the inner space 51. In the extended working position, the support element 54 is arranged outside the inner space 51. The support elements 54 each comprise a carrier 55 and a guide roller 56 arranged on the carrier 55. By means of the guide rollers 56, the mounting element 21 can be supported at a first end on the respective rail 6. The guide rollers 56 have axes of rotation extending parallel to the y-direction and centre the mounting member 21 relative to the rail 6.

A plurality of protection elements 35 are arranged at the displacement device 18 to protect the working space a. On the long side, the upper side and the short side forming the first end, a protective element 35 is arranged on the mounting element 21. Only the protective element 35 is shown in fig. 6 to 10. The protective element 35 is configured, for example, in the form of a film and is opaque, so that the welding in the working space a does not endanger people outside the working space a. Furthermore, the protective element 35 is arranged between the support elements 54. The protection member 35 is telescopic together with the support member 54.

In order to laterally delimit the working space a between the mounting element 21 and the rail, a frame part 57 is arranged laterally on the mounting element 21 for rotation about swivel axes S1 and S2. The frame member 57 is U-shaped. Further protective elements 35 are arranged on the frame part 57.

In the transport state shown in fig. 6, the multi-axis robots 17, 17' are arranged in the interior space 51 of the cubic mounting element 21. For this purpose, the linear guide 52 is in a retracted transport state. Furthermore, the axis of motion B₁To B₆The displacement causes the multi-axis robot 17, 17' to occupy a compact transport position within the interior space 51. The support member 54 is retracted and disposed within the interior space 51. The frame member 57 is screwed in. The mounting element 21 is displaced into the interior space 15 of the enclosure 10 such that the displacement device 18 with the multi-axis robot 17, 17' arranged thereon is completely arranged in the interior space 15 of the enclosure 10.

In order to transfer the processing system 3 to the operating state, the covering element 13, which is designed as a door, is opened so as to be arranged at the short side S_HThe upper tank opening 14 is opened.

The mounting element 21 is linearly moved out of the casing 10 by the guide 20. The support element 54 extends from the inner space 51 until the guide roller 56 is arranged on the rail 6. The support member 54 supports the mounting member 21 during extension and in the operating state. During extension, the guide roller 56 guides the first end of the mounting element 21. For this purpose, the guide rollers 56 roll on the rails 6. Fig. 7 shows the processing system 3 during extension.

When the mounting element 21 is fully extended, the working space a is delimited or shielded. The working space a is formed by the inner space 51 and the space between the mounting element 21 and the rail. The mounting element 21 has been shielded on the long side, the upper side and the extended short side by the protective element 35. By extending the support member 54 between the first end and the trackThe area is occluded. For shielding the lateral regions, the frame part 57 surrounds the swivel axis S₁And S₂And (4) rotating. The rotation may be performed manually and/or automatically. Fig. 8 shows the handling system 3 during the roll-out of the frame part 57 with the protective element 35.

In fig. 9 and 10, the processing system 3 is shown in a working state. After all the side surfaces of the working space a are shielded, the track work is started. The rail 6 to be treated for the build-up and/or lap welding is prepared by a first multi-axis robot 17, for example by a milling or grinding process. Subsequently, welding is performed by the second multi-axis robot 17'. The support member 54 supports the first end of the mounting member 21 while performing the orbital work so that the multi-axis robot 17, 17' is mounted on the mounting member 21 with little or no vibration. Therefore, the track work can be performed accurately and reliably.

The processing system 3 is transferred from the operating state to the transport state in the opposite way. With regard to further construction and further operating principle, reference is made to the aforementioned embodiments.

In general:

automation of railway infrastructure maintenance has considerable potential. Existing railway infrastructure is adapted to be automated maintenance toolsTransported to the site of use. Up to now, maintenance operations have been performed manually, mainly by means of hand-held tools. Maintenance work or rail work has many manual operations and is therefore physically laborious for workers. In addition, workers are subjected to environmental influences and put at risk.

The handling system according to the invention comprises a cabinet, preferably having dimensions and/or interfaces according to ISO standards, and having an integrated multi-axis robot. Preferably, the processing system comprises a tool box, a control unit and/or its own power supply. The processing system may be transported on standardized transport means (e.g., trucks, rail cars, and/or container ships) and thus brought to the point of use. During transport, the multi-axis robot is protected from the environment in the containment box. In the place of use, the box body can be stopped at a fixed position and can also be fastened on a trolley, so that the box body can be easily and flexibly displaced. For example, the housing may have its own motion drive. For example, the tank may be connected to a crawler chassis or chassis similar to a walking excavator. At the point of use, the multi-axis robot is displaced from the container to perform maintenance operations and track work on the railway infrastructure. For the displacement, a multi-axis robot is arranged on the displacement device. The displacement means comprise, for example, a linear guide with a drive. For transport, the displacement device can be locked in the transport position.

To perform the rail work, the handling system preferably comprises a tool magazine with tools and equipment required for the respective application, and, if required, a tool changing system. Additionally, the processing system may include a material storage device.

The energy supply of the processing system is either an external supply of electrical energy via the connection or an electrical energy supply via its own energy supply device.

Multi-axis robots can perform work above head height, such as work on overhead lines or overhead mast, and also work on the ground, such as work on rails or objects near the ground. Further, the multi-axis robot can perform work on one side of the rail, for example, work on a sound-proof barrier.

The displacement device may take different designs as desired and may enable the multi-axis robot to move, rotate and/or lift.

In particular, the handling system comprises sensors and controllers adapted to move the multi-axis robot to a suitable position to perform a desired maintenance operation.

By installing the multi-axis robot in a box according to ISO standards or in an ISO container, access conditions and approval conditions for the rail network for use and transportation on the rail are simplified. Thus, the processing system can be used easily and flexibly.

In particular, the displacement device enables the slide on which the multi-axis robot is fastened to be moved out of the buffer tank of the truck or flatbed. The displacement means can be capable of tilting and/or rotating if desired.

The displacement means comprise at least one linear axis, for example a linear axis in the longitudinal direction of the tank and/or a linear axis in the transverse direction of the tank and/or a linear axis in the vertical direction of the tank. The displacement device may be fastened to the box at the lower side, the upper side and/or one of the long sides. Safety devices may be provided in the enclosure to separate the action area of the multi-axis robot and/or the displacement device from the protected personnel area. In the personnel area, the material or tool may be prepared by a worker.

The handling system may comprise an auxiliary lifting device which is transported in the box and displaced from the box at the point of use. Since the weight can be manipulated by the auxiliary lifting device, the auxiliary lifting device is used, for example, to reduce the weight to be manipulated by the multi-axis robot.

The processing system can realize automation of the operation process. This makes it possible to execute a job with high quality and constant quality and to record the job accurately. It is possible to reduce the load of workers and protect the workers from environmental influences and dangers. Further, the job can be easily and flexibly executed, particularly without being limited by time.

The processing system according to the invention thus enables operations on a railway infrastructure to be performed easily, flexibly, safely and reliably.