EP3263768B1 - Véhicule de travaux ferroviaires et procédé de fabrication d'une voie ferroviaire - Google Patents

Véhicule de travaux ferroviaires et procédé de fabrication d'une voie ferroviaire Download PDF

Info

Publication number: EP3263768B1
Authority: EP; European Patent Office
Prior art keywords: vehicle; railway construction; railway; construction vehicle; robotic arm
Prior art date: 2016-06-29
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.): Active

Application number

EP17178487.9A

Other languages

German (de)

English (en)

French (fr)

Other versions

EP3263768A1 (fr

Inventor

Fabrice COLLIGNON

Nicolas Rada

Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)

Alstom Transport Technologies SAS

Original Assignee

Alstom Transport Technologies SAS

Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)

2016-06-29

Filing date

2017-06-28

Publication date

2018-11-21

2017-06-28 Application filed by Alstom Transport Technologies SAS filed Critical Alstom Transport Technologies SAS

2017-06-28 Priority to PL17178487T priority Critical patent/PL3263768T3/pl

2018-01-03 Publication of EP3263768A1 publication Critical patent/EP3263768A1/fr

2018-11-21 Application granted granted Critical

2018-11-21 Publication of EP3263768B1 publication Critical patent/EP3263768B1/fr

Status Active legal-status Critical Current

2037-06-28 Anticipated expiration legal-status Critical

Images

Classifications

- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B29/00—Laying, rebuilding, or taking-up tracks; Tools or machines therefor
- E01B29/32—Installing or removing track components, not covered by the preceding groups, e.g. sole-plates, rail anchors

Definitions

the present invention relates to a railway work vehicle, a work train comprising such a work vehicle and a method of manufacturing a railway track without a cross member using such a work vehicle.
EP 1 396 578 A1 describes a construction vehicle according to the preamble of claim 1.
EP-A2-0 803 609 discloses a method of manufacturing a railway track in which a concrete slab having a firm consistency and a solid surface is cast. While the concrete is fresh, stools are placed in rows. Each saddle is introduced into the concrete by being vibrated by means of a vibration device, until it reaches a given position. By vibrating, the concrete surrounds the saddle anchors to secure them with the concrete. The tracks of the railway track are then directly mounted on the saddles, so that one obtains a railroad road devoid of sleepers. Stool vibration is generally performed using a specialized work vehicle comprising a hydraulic cylinder system capable of performing this function.
the present invention seeks to remedy by proposing a new railway work vehicle which, while having a higher productivity than the vehicles of the prior art, facilitates the production of railway tracks, especially when they have a strong transverse slope or that they are located in a railway tunnel.
this railway works vehicle comprises at least one robotic arm mounted on the gantry between the uprights.
This robotic arm is configured to have at least one insert in a fresh concrete slab located in a work area located below the portico.
the gantry includes a roof support which interconnects the uprights with an upper end thereof, while the robotic arm is suspended from the roof support.
the work vehicle of the invention makes it possible to obtain a particularly high productivity, insofar as the robotic arm is able to reach, for a given position of the work vehicle, an extended working area, while working at a speed relatively high. Furthermore, the arrangement of the robotic arm relative to the gantry makes it particularly suitable for inserting inserts in the context of a construction of a railroad with a steep transverse slope.
the follower vehicle comprises means for conveying the inserts stored on the storage tray in the direction of the front end.
the subject of the invention is also a method for manufacturing a railway track without a cross member, according to the invention the method is implemented with a railway working vehicle as described above, or with a work train such as described above.
Work train 1 represented at figure 1 comprises a work vehicle 3, sometimes called an inserter vehicle, and a follower vehicle 5.
Work train 1 is designed for the construction of a railway track for the movement of trains.
a railroad is preferably a so-called "no crosswalk", visible at figures 2 and 4 and comprising a longitudinal concrete slab 11, on which is implanted a pair of rails secured to this slab 11 via inserts 33, sometimes called saddles, implanted in said slab 11.
This type of railway and its inserts are known as such.
the vehicles 3 and 5 are able to move in a direction of advance D1 and in a direction of recoil D2 opposite, represented by arrows in the figures.
each of the vehicles 3 and 5 is provided with several motorized wheels through which they are supported on the ground.
the vehicle 3 comprises two bogies 7 of motorized wheels constituting these means of displacement relative to the ground, the vehicle 5 also comprising two bogies 9 of similar function.
the vehicles 3 and 5 are designed to move over the concrete slab 11 which extends parallel to the direction D1, the bogies 7 and 9 being configured so that the motorized wheels roll on parallel treads between which extends the concrete slab 11, as visible to the figure 4 .
the treads are, in practice, formed on the surface of a civil engineering structure supporting the slab.
the wheels rest directly on the work, preferably without rail or other support that the work itself.
the bogies 7 and 9 are rotatable about vertical axes to adapt to possible curvatures of the future railway that is intended to form the concrete slab 11.
the advance direction D1 is presently defined when the bogies 7 and 9 are oriented in a so-called "right" orientation, for a movement of the train 1 in a straight line, when the track is itself in a straight line.
the vehicles 3 and 5 respectively comprise a box 13 and 15 resting on the bogies 7 and 9.
the box 13 defines a front end 13A of the vehicle 3, directed in the direction D1, and an opposite rear end 13B, as illustrated. to the figure 1 .
the body 15 defines a front end 15A of the vehicle 5, directed in the direction D1, and an opposite rear end 15B.
the ends 13B and 15A are adjacent.
the body 13 comprises, in a central part located between the two bogies 7, a working compartment 17 in which two robotic arms 19 are arranged.
the box 13 also comprises, between the two bogies 7, a gantry 21, which includes four uprights 23, oriented vertically with respect to the ground, each of the uprights 23 rising above one of the bogies 7 in order to constitute a frame for the work compartment 17 and delineate the latter.
the working compartment 17 comprises two side walls 25, mounted on the uprights 23, the side walls 25 extending at a distance from each other and being directed in planes parallel to the direction of advance D1.
the side walls 25 each form a panel which forms a part of the outer casing of the box 13, covering at least a portion of the height of the box 13.
the side walls 25 each extend in a plane substantially orthogonal to the axis of the wheels when the bogies 7 are in their right orientation.
the robotic arms 19 extend between the uprights 23 of the gantry 21 and between the side walls 25.
the gantry 21 further comprises a roof support 27, consisting of a set of beams interconnecting the uprights 23 at one end. superior of these.
the robotic arms 19 are suspended from this roof support 27 so as to be enclosed and protected in the working compartment 17.
the latter comprises a lower opening 29 opposite the roof support 27 and visible in particular to the figure 5 .
the robotic arms 19 are configured to reach a working area 31 located under the body 13 between the two bogies 7 via the opening 29 which opens at this location.
the robotic arms 19 can thus have the inserts 33 at this working area 31 in the concrete slab 11, when the concrete of the slab 11 is still fresh, to build the aforementioned railway track.
the vehicle 3, and in particular the body 13, is equipped with a detection system, not shown, configured to detect metal elements in the concrete slab 11 and in particular the presence of reinforcements in the concrete of the slab 11.
the detection system is particularly suitable for determining a position of the detected metal elements.
each of the robotic arms 19 is positioned close to and the plumb of one of the future rails of the railway track under construction, that is to say, in line with the position of implantation of the inserts 33.
Each robotic arm 19 comprises a basic rotary actuator 35 through which it is implanted in the roof support 27 of the gantry 21.
This basic rotary actuator 35 comprises in particular a support structure of the robotic arm 19 and an engine. , and is schematically represented on the figure 3 by a square.
Each robotic arm 19 is thus suspended from the roof support 27, via its respective base rotary actuator 35, and projects downwards towards the concrete slab 11.
Each robotic arm 19 comprises a first member 37 which is mounted on the base rotary actuator 35, so that the basic rotary actuator 35 rotates the first member 37 about a base axis X35 substantially perpendicular to the direction of advance D1 and parallel in the sagittal plane P1. This particular configuration gives the robotic arms 19 the ability to reach a particularly extensive work area 31.
the first member 37 comprises a first rotary actuator 39 about an axis X39, a second member 41 of the robotic arm 19.
the axis X39 is perpendicular to the axis X35.
the second member 41 forms an arm extending from the first rotary actuator 39, perpendicular to the axis X39, to a second rotary actuator 43 of the robotic arm 19.
the second rotary actuator 43 is configured to support and drive in rotation a third member 45 of the robotic arm 19 about an axis X43 parallel to the axis X39.
the third member 45 includes a third rotary actuator 49 supporting and rotating a fourth member 51 of the robotic arm 19, about an axis X49 orthoradial with respect to the axis X43.
the fourth member 51 forms an arm that extends along the axis X49 and is provided with a fourth rotary actuator 53 disposed at an end opposite to the third rotary actuator 49. Via the fourth rotary actuator 53, the fourth member 51 supports and rotates a fifth member 55 about an axis X53 perpendicular to the axis X49.
the fifth member 55 forms an arm and comprises a fifth rotary actuator 57 through which it supports and rotates a gripping member 59 of the robotic arm 19 about an axis X57.
the axis X57 is perpendicular to the axis X53 and coaxial with the fifth member 55.
the gripping member 59 forms a terminal member of the robot 19.
the gripping member 59 is able to grip the inserts 33 and the robotic arm 19 to move its gripping member 59 through the various members and rotary actuators described above to insert them in the portion of the slab 11 which is located in the working area 31.
the robotic arm 19 With its six actuators rotating and at its different members, the robotic arm 19 has six degrees of freedom and is able to vibrate the insert 33 in the working area 31 during the insertion of this insert 33 in the fresh concrete of the slab
the rotary actuators 35, 39, 43, 49, 53 and 57 are formed by electric servomotors.
the two robotic arms are controlled completely independently and are mechanically independent of each other.
the robotic arms are adapted to insert the inserts completely independently and following six degrees of freedom and that in any position and with any inclination in the working area 31. It is therefore particularly possible to install support inserts for a third rail including power supply or for safety rails or against rails or for anti-derailment devices or for other types of railway equipment, such as signaling beacons.
the robotic arm 19 is preferably controlled by an automaton.
This controller is configured to operate the robotic arm 19 automatically.
the robot and the robotic arm 19 can be remotely controlled from a remote control station.
this control station is located on the work train 1, or even the work vehicle 3. This control station is not shown in the figures.
the detection system is able to communicate to the automaton the position where the metallic elements are detected in the concrete of the plate 11.
the automaton is then configured to determine the insertion position of the inserts 33 as a function of the position of the metal elements.
the automaton is, for example, able to shift a predetermined insertion position of one of the inserts by a certain distance in the longitudinal direction, if metal elements are detected at this predetermined position.
the works vehicle 3 furthermore comprises a feed module 61 for the robotized arms 19 in inserts 33.
This feed module 61 comprises an inserts storage compartment 33, which extends within the body 13 from the rear end 13B to the work compartment 17, as can be seen in figure 2 .
the compartment 63 contains a stock of inserts 33 and communicates with the working compartment 17 so that the robotic arms 19 can recover by themselves the inserts 33 contained in the compartment 63.
the supply module 61 also includes a ramp 65 located at the rear end 13B and protruding outside the compartment 63 in the direction D2, so that the ramp 65 can be fed inserts 33 from outside the vehicle 3. The compartment 63 is thus fed with inserts 33 by the ramp 65.
the vehicle 3 also comprises a generator group 67 capable of generating energy, for supplying the robotic arms 19 as well as auxiliary equipment of the work train 1.
the generator group 67 extends from the working compartment 17 to the front end 13A.
the vehicle 3 is adapted to be electrically powered from the vehicle 5 which is for example equipped with a generator. This eliminates the vibrations inherent in the use of a generator on the vehicle 3 and ensures a better accuracy of the positioning of the inserts in the slab 11.
the body 15 of the follower vehicle 5 includes an inserts storage tray 33 which rests on the bogies 9.
the plate 69 advantageously extends from the front end 15A to the rear end 15B.
the box 15 also includes side walls 71 and a roof 72 which form a tunnel with the plate 69, this tunnel being directed in the direction of advance D1.
Reserve inserts 33 are stored within this tunnel in buckets 73, sometimes called "big-bags", resting on the plate 69.
Each bucket 73 preferably forms a flexible container of large capacity, provided with straps.
the follower vehicle 5 is provided with means for conveying the buckets 73, of the traveling crane type, symbolized by the square 75 on the figure 2 .
the crane 75 is able to move the buckets 73 within the body 15, in particular to bring them close to the front end 15A.
the inserts 33 are then transferred by an operator, manually, to the ramp 65 to supply the vehicle 3.
a crane or crane can be provided to perform this transfer automatically or assist the operator in this transfer operation.
the vehicle 3 is thus able to be supplied with inserts from the vehicle 5 without it being necessary to stop the operation of the work train 1 to refuel the vehicle 5 in inserts.
the vehicle 5 is adapted to be refueled inserts while the vehicle 3 operates and performs the installation of inserts in the concrete of the slab 11.
the follower vehicle 5 is provided with an automatic control module 77 of the bogies 9.
the control module 77 forms, for example, a controller, which is configured to automatically control the movement of the vehicle 5 along the directions D1 and D2 via bogies 9, so that the vehicle 5 follows the movement of the vehicle 3.
the control module 77 moves the vehicle 5 so that the front end 15A of the vehicle 5 is maintained at a distance of predetermined tracking of the rear end 13B of the vehicle 3.
This tracking distance d is measured parallel to the direction of advance D1, from the end 15A to the end 13B, and is preferably between 30 and 400 cm .
the works vehicle 3 and the follower vehicle 5 are designed to move in a coordinated manner without however being coupled.
the absence of coupling between the vehicles 3 and 5 makes it possible, when necessary, to desynchronize in a particularly easy way the movement of the vehicles 3 and 5.
the vehicle 3 can carry out work on the railway track while the vehicle 5 can be detached and sent to an insert replenishment area 33.
a conventional coupling is provided between the vehicles 3 and 5 to provide a similar function.
the work train 1 thus described is therefore particularly suitable for the manufacture of a railway track without a cross member.
the works vehicle 3 comprises a second pair of robotic arms disposed in the working compartment 17 or in a second working compartment of the vehicle 3.
This second pair of robotic arms is arranged so that the robotic arms are aligned with the future rails of the railway track, that is to say on both sides of the sagittal plane P1 of the vehicle 3.
the vehicle 3 comprises more pairs of robotic arms.
the vehicle 3 comprises only one robotic arm, which is then preferably disposed in the sagittal plane P1.
the vehicle 3 comprises a pair of robotic arms according to the foregoing description, and an additional robotic arm disposed in the sagittal plane P1, so that the vehicle 3 is particularly suitable for the construction of a track railway with three rails.
the vehicles 3 and 5 of the displacement means are formed by crawler trains or a wheel system adapted to roll on metal rails.

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Engineering & Computer Science (AREA)
Architecture (AREA)
Civil Engineering (AREA)
Structural Engineering (AREA)
Machines For Laying And Maintaining Railways (AREA)
On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Conveying And Assembling Of Building Elements In Situ (AREA)
Manipulator (AREA)

EP17178487.9A 2016-06-29 2017-06-28 Véhicule de travaux ferroviaires et procédé de fabrication d'une voie ferroviaire Active EP3263768B1 (fr)

Priority Applications (1)

Application Number	Priority Date	Filing Date	Title
PL17178487T PL3263768T3 (pl)	2016-06-29	2017-06-28	Pojazd do robót torowych i sposób budowy toru kolejowego

Applications Claiming Priority (1)

Application Number	Priority Date	Filing Date	Title
FR1656075A FR3053367B1 (fr)	2016-06-29	2016-06-29	Vehicule de travaux ferroviaires, train de travaux comprenant un tel vehicule de travaux et procede de fabrication d'une voie ferroviaire

Publications (2)

Publication Number	Publication Date
EP3263768A1 EP3263768A1 (fr)	2018-01-03
EP3263768B1 true EP3263768B1 (fr)	2018-11-21

Family

ID=57396546

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
EP17178487.9A Active EP3263768B1 (fr)	2016-06-29	2017-06-28	Véhicule de travaux ferroviaires et procédé de fabrication d'une voie ferroviaire

Country Status (8)

Country	Link
EP (1)	EP3263768B1 (pl)
AU (1)	AU2017204414B2 (pl)
CA (1)	CA2972087A1 (pl)
DK (1)	DK3263768T3 (pl)
ES (1)	ES2712126T3 (pl)
FR (1)	FR3053367B1 (pl)
PL (1)	PL3263768T3 (pl)
SG (1)	SG10201705314XA (pl)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
CN109305178B (zh) *	2018-09-14	2023-10-27	湖北时瑞达重型工程机械有限公司	一种机械手立杆平车
DE102019205764A1 (de)	2019-04-23	2020-10-29	Robel Bahnbaumaschinen Gmbh	Bearbeitungsanlage und Verfahren zum Durchführen von Gleisarbeiten
DE102019212186A1 (de) *	2019-08-14	2021-02-18	Robel Bahnbaumaschinen Gmbh	Bearbeitungsanlage und Verfahren zum Durchführen von Gleisarbeiten
FR3107880A1 (fr) *	2020-03-04	2021-09-10	Geismar	Procédé d’installation ou de dépose d’un équipement pour exploitation d’une voie ferrée

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NL1024214C2 (nl) *	2002-09-04	2004-03-18	Volker Stevin Rail & Traffic B	Werken aan een spoorbaan.
FR2941973B1 (fr) *	2009-02-12	2011-04-08	Alstom Transport Sa	Procede et systeme de guidage par laser pour l'insertion d'elements dans le sol
US8468948B2 (en) *	2010-04-06	2013-06-25	Doug Delmonico	Railroad tie plate handling machine

2016
- 2016-06-29 FR FR1656075A patent/FR3053367B1/fr not_active Expired - Fee Related
2017
- 2017-06-28 AU AU2017204414A patent/AU2017204414B2/en active Active
- 2017-06-28 PL PL17178487T patent/PL3263768T3/pl unknown
- 2017-06-28 CA CA2972087A patent/CA2972087A1/fr active Pending
- 2017-06-28 SG SG10201705314XA patent/SG10201705314XA/en unknown
- 2017-06-28 EP EP17178487.9A patent/EP3263768B1/fr active Active
- 2017-06-28 ES ES17178487T patent/ES2712126T3/es active Active
- 2017-06-28 DK DK17178487.9T patent/DK3263768T3/en active

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number	Publication date
PL3263768T3 (pl)	2019-05-31
DK3263768T3 (en)	2019-03-18
FR3053367B1 (fr)	2019-07-05
ES2712126T3 (es)	2019-05-09
FR3053367A1 (fr)	2018-01-05
EP3263768A1 (fr)	2018-01-03
CA2972087A1 (fr)	2017-12-29
SG10201705314XA (en)	2018-01-30
AU2017204414B2 (en)	2022-07-21
AU2017204414A1 (en)	2018-01-18

Publication	Publication Date	Title
EP3263768B1 (fr)	2018-11-21	Véhicule de travaux ferroviaires et procédé de fabrication d'une voie ferroviaire
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CA1324990C (fr)	1993-12-07	Ensemble unitaire porteur a plateaux individuels mobiles en mouvements composes multiples pour vehicules porte-voitures
FR3048235A1 (fr)	2017-09-01	Outillage pour l'integration d'un module dans un aeronef et procede d'integration associe
EP2239377A1 (fr)	2010-10-13	Machine motorisée pour creuser une tranchée dans le sol et pour poser dans ladite tranchée des objets allongés
FR2483481A1 (fr)	1981-12-04	Machine de construction des voies ferrees comprenant des supports pour outils de levage et de dressage
EP0026147A1 (fr)	1981-04-01	Dispositif d'emperchage automatique d'un véhicule électrique du genre trolleybus
CN104093908B (zh)	2016-06-08	在机架与传送器之间具有枢转式连接的机器
FR2553124A1 (fr)	1985-04-12	Machine roulante de bourrage, de nivellement, et de dressage de voie ferree
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EP1818453A1 (fr)	2007-08-15	Dispositif et procédé d'insertion d'éléments dans le sol, mécanisme pour ce dispositif et système utilisant ce procédé
FR2808871A1 (fr)	2001-11-16	Dispositif de mesure de chassis et procede pour mesurer un chassis
WO2006111620A1 (fr)	2006-10-26	Conteneurs speciaux a roues leurs camions de transport et leurs applications
EP0919509A1 (fr)	1999-06-02	Dispositif de manutention de conteneurs
EP0589792B1 (fr)	1997-05-07	Dispositif de manutention de faisceaux tubulaires pour échangeurs thermiques
CH653072A5 (fr)	1985-12-13	Machine ferroviaire pour la pose et la depose de troncons ou d'appareils de voie montes.
FR2863237A1 (fr)	2005-06-10	Vehicule d'intervention sur des equipements ferroviaires et procede de positionnement sur des rails de ce vehicule
FR2987338A1 (fr)	2013-08-30	Ossature de preparation mecanique comprenant un chassis reglable pour le montage d'un reservoir sur un vehicule
EP0861350A1 (fr)	1998-09-02	Installation mobile d'entretien et de reparation de voies ferrees
FR2868743A1 (fr)	2005-10-14	Conteneurs speciaux a roues, leurs camions de transport et leurs applications
FR3129730A1 (fr)	2023-06-02	Procédé d'inspection, par un instrument d’inspection, d'un ou plusieurs colis répartis dans un couloir à inspecter et Installation d’inspection associée

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