Apparatus for track machining

Abstract

The invention relates to an apparatus (1) for track machining comprising: a fastening device (13); at least one machining device (14); and at least one vibration decoupler (15a) which operates between the at least one machining device (14) and the fastening device (13) and has an adjustable stiffness and / or an adjustable damping for at least partially decoupling the movement of the fastening device (13) from the movement of the at least one machining device (14).

Description

[0001] This patent application claims priority to German patent application DE 10 2020 207 437.2, the content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present invention relates to a device for track processing. Furthermore, the present invention also relates to a method for operating a device for track processing. The present invention also relates to a tamping assembly for track bed treatment. BACKGROUND

[0003] A tamping assembly for tamping sleepers of a track is known from WO 2017 / 097 390 Al. The tamping assembly comprises tamping picks, each of which is connected to a tamping lever and mounted on a tool carrier so as to be able to be turned about a pivot axis. Each tamping lever is associated with an angle sensor for detecting the pivot angle relative to the tool carrier. This can improve the service life and the use of the tamping assembly.

[0004] DE 1 904 121 A discloses a device having screwdriver tools for tightening and loosening threaded connections. In order for the respective screwdriver tools to engage firmly with the threaded connections in terms of positional tolerances, they are elastically mounted on a housing by means of springs having a predetermined stiffness. The screwdriver tools are thus mounted in such a way 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 screwdriver tools, in particular when vibrations caused by a motor or actuator cause the elastically mounted screwdriver tools to vibrate. A further disadvantage is that the tightening torque and the tightening accuracy that can be achieved on the threaded connections is reduced as a result of the elastic mounting of the screwdriver tools. SUMMARY

[0005] It is an object of the present invention to provide a simple, robust and flexible to use device for track bed treatment.

[0006] This object is achieved by a device having the features of claim 1. Due to the device having at least one vibration decoupler having an adjustable stiffness and / or an adjustable damping and operating between at least one machining device and a fastening device, on the one hand, the at least one machining device can be precisely guided and positioned. On the other hand, the at least one machining device and the fastening device can be decoupled to a desired extent. The decoupling of the movement of the fastening device from the movement of the at least one machining device and / or the decoupling of the movement of the at least one machining device from the movement of the fastening device can be adjusted by the at least one vibration decoupler. Thereby, the transmission of vibrational movements from the at least one machining device to the fastening device can be reduced. Thus, the device can be used flexibly and is very robust. The device is particularly suitable for partially automated and / or fully automated rail machining. In particular, the device is designed as a rail machining device which is able to move on a rail.

[0007] It is preferred that 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 second stiffness which is different, in particular lower, from the first coupling state and / or a second damping which is different, in particular lower, 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. Thus, the positioning of the at least one machining device by the fastening device can be carried out particularly precisely and reliably. For rail machining, the at least one vibration decoupler can be set to the second coupling state with the lower stiffness. Movements occurring during rail machining, in particular oscillation and / or vibrational movements of the at least one machining device, can be decoupled from the movement of the fastening device to a desired or greater extent in the second coupling state. Thus, the load acting on the fastening device is reduced. Due to the reduction of the load, the device is particularly robust and economic in operation.

[0008] The adjustability of the at least one vibration decoupler in terms of its stiffness and / or damping is understood to mean that by changing at least one actuating variable, a corresponding property can be changed, in particular reversibly. Thus, the integrity of the at least one vibration decoupler is preferably completely preserved. In particular, the vibration decoupler can be adjusted without the need to remove one of its components and / or to replace this component with another component, in particular of a different stiffness and / or damping. The at least one vibration decoupler is preferably switchable between different stiffness and / or damping values, in particular without the need for tools.

[0009] The vibration isolator can be designed such that the stiffness and / or the damping can be changed at least once, in particular each orbiting cycle, in particular at least comprising the positioning of the at least one processing device and the orbiting. Advantageously, this ensures that the stiffness and / or the damping of the at least one vibration isolator can be adjusted within the time period between the positioning of the at least one processing device on the orbit and the orbiting.

[0010] Preferably, the at least one vibration isolator can be remotely adjusted in its stiffness and / or damping. To this end, the vibration isolator can have an interface, in particular a connection, for signal communication. The interface and / or the signal connection is preferably designed to be able to conduct fluid 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 enables the vibration isolator to be operated particularly efficiently and economically.

[0011] According to one aspect of the application, the at least one vibration isolator is configured to release a relative movement between the at least one processing 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 a joining direction, of the at least one processing device and / or in at least one direction perpendicular to the feed direction, in particular in all directions. The at least one vibration isolator can be designed to allow a rotational movement about the vertical direction and / or about the feed direction of the at least one processing device relative to the fastening device and / or about at least one direction perpendicular to the vertical direction and / or the feed direction. Advantageously, this enables a particularly comprehensive reduction in the transmission of vibrations between the processing device and the fastening device.

[0012] The vibration isolator can have one or more isolating members which can be adjusted in their stiffness or damping, in particular reversibly changed in these properties.

[0013] According to a further aspect of the application, the at least one vibration isolator is capable of adjusting between different stiffness values and / or damping values, each of which differs by at least 20%, in particular by at least 50%, in particular by at least 100%, and / or by at most 500%. By this, a particularly high processing flexibility can be achieved.

[0014] Preferably, the at least one processing device is designed such that an adjustment of the stiffness and / or the damping, in particular 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.

[0015] The at least proportional decoupling of the movements in particular means that the decoupling takes place at least proportionally along the individual degrees of freedom of movement and / or along these degrees of freedom of movement. 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 processing device is mounted so as to be displaceable and / or pivotable relative to the fastening device. To this end, the at least one vibration decoupler can have at least one linear bearing and / or a rotational joint, in particular a cardan joint. The at least one vibration decoupler is preferably designed so as to be able to counteract the relative movement of the at least one processing device relative to the fastening device.

[0016] 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 coupling state having a 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 a first coupling state and a second coupling state.

[0017] In order to adjust 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 transmission path between the fastening device and the at least one processing device. The at least one spring member can comprise a coil spring and / or a leaf spring and / or an elastomer, 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 servo motor for reversibly coupling the different stiffnesses.

[0018] 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, 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 reused.

[0019] Preferably, the at least one vibration decoupler is designed such that the stiffness and / or the damping can be adjusted by electrical signals and / or fluidic signals, in particular fluid pressures. Thus, the at least one vibration decoupler can be adjusted and / or switched in particular easily and reliably between the respective coupling states.

[0020] 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 at least two different coupling states. Preferably, the control unit is designed for automatically adjusting the at least one vibration decoupler. Preferably, the control unit comprises an electronic control device for controlling the apparatus.

[0021] The at least one vibration isolator can have passive spring members and / or passive damping members. Passive spring members and / or passive damping members are understood to be spring members and / or damping members that cannot be adjusted in their stiffness and / or damping. For example, the passive spring members and / or passive damping members can be friction bearings. By means of the at least one passive spring member and / or passive damping member, the arrangement of the at least one vibration isolator is reliably ensured in the at least one safe operating coupled state, in particular in the event of a failure of the electrical and / or fluidic power supply.

[0022] According to another aspect of the application, the decoupling of the movement of the fastening device relative to the movement of the at least one machining device is carried out by the at least one vibration isolator in at least two, in particular at least three and / or at most four, in particular at most three, planes along the force path between the at least one machining device and the fastening device.

[0023] The at least one machining device can comprise a machining apparatus and / or a machining tool. In contrast to the machining tool, the machining apparatus comprises a machine motor or drive motor for providing the power required for the orbital machining.

[0024] The fastening device can be designed to be permanently, non-detachably attached to the support structure. Preferably, the fastening device is designed to be detachably attached to the support structure. For example, the fastening device can have a quick-release coupling for being able to reversibly release the connection to the support structure, in particular for being able to automatically connect to the support structure. Preferably, the fastening device comprises a fluid coupling for reversibly releasably establishing at least one fluid connection and / or an electrical current coupling for reversibly releasably establishing at least one electrical connection, in particular to the support structure. The fluid coupling and / or the electrical 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 electrical current connections. These connections are preferably configured to transmit control signals and / or power signals to the at least one vibration isolator and / or the at least one machining device.

[0025] The forces are preferably transmitted by the fastening device in the range from 0.1 kN to 10 kN, in particular from 0.5 kN to 5 kN.

[0026] Preferably, the apparatus comprises a plurality of machining devices. The plurality of machining devices can be associated with a common vibration isolator, a plurality of vibration isolators, and / or in particular with one vibration isolator each. The plurality of machining devices can be associated with a common fastening device, a plurality of fastening devices, and / or with one fastening device each. The apparatus preferably comprises at least two, in particular at least three, 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.

[0027] According to one aspect of the application, the device, in particular the at least one vibration separator, has a housing which covers components which can be moved relative to one another, in particular between the fastening device and the at least one processing device. As a result, it is possible to reliably prevent injuries to persons and damage to the mechanical system by penetrating objects.

[0028] The device according to claim 2 is particularly economical in operation. The regulating device in signal communication with the at least one vibration separator can be arranged directly on the vibration separator or can be spaced apart from the vibration separator. In the spaced-apart arrangement, the regulating device can be controlled remotely. The signal connection can be designed to transmit fluid and / or mechanical and / or electrical signals. The regulating device can be designed as a pressure regulating unit and / or as a switch lever which can be actuated automatically or manually and / or as an electronic control unit.

[0029] The device according to claim 3 is particularly economical in operation. The drive unit is preferably designed to provide the fluid and / or mechanical energy required to adjust the stiffness and / or damping. The drive unit can 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.

[0030] The device according to claim 4 is particularly robust and economical in operation. The chamber filled with fluid allows the stiffness and / or damping of the at least one vibration separator to be adjusted in a particularly simple manner. Preferably, the chamber can be reversibly filled with fluid. In particular, the filling of the chamber can take place in an automatic manner in accordance with a control signal of a control unit. In order to adjust the stiffness and / or damping, the pressure of the fluid in the chamber can be changed.

[0031] The fluid can comprise a liquid, in particular water and / or oil, in particular hydraulic oil, or a gas, in particular air.

[0032] According to one aspect of the application, the at least one vibration separator comprises at least one, in particular at least two, in particular at least three, in particular at least four chambers. Preferably, an overflow channel is provided between the at least two chambers. Preferably, the at least one vibration separator is configured such that, when a force is exerted on the vibration separator, the volume enclosed by at least one chamber increases, wherein, when the force is exerted on the at least one vibration separator, the volume enclosed by the other chamber simultaneously decreases. Fluid can flow between the two chambers via the overflow channel. In this way, it is possible to achieve damping of the relative movement between the fastening device and the at least one processing device.

[0033] The at least one chamber can be designed as a 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 double-acting cylinder-piston unit.

[0034] The device according to claim 5 is robust and operationally economical and ensures the separation of movements in a simple manner. Preferably, the chamber wall is deformed completely in the elastic region. Preferably, the wall thickness of the chamber wall is in the 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 be able to withstand a fluid pressure 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, in the chamber. The chamber wall can 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 and / or a plastic material and / or a metal material, in particular steel, in particular spring steel, having these fibers. In particular, the chamber can be designed as a flexible rubber bellows.

[0035] The chamber design with a deformable chamber wall makes it possible to act simultaneously on a plurality of linear degrees of freedom and / or rotational degrees of freedom. In particular, in comparison with a piston-cylinder unit, the chamber with a deformable chamber wall can act simultaneously on at least two movement components of the relative movement between the fastening device and the at least one machining device, in particular at least two linear movement components and / or at least two rotational movement components perpendicular to one another and / or at least one linear movement component and / or at least one rotational movement component.

[0036] According to another aspect of the application, the at least one vibration separator comprises at least one end stop for limiting the relative movement between the fastening device and the at least one machining device. Advantageously, this ensures that the at least one vibration separator is not damaged in the event of a strong deformation 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.

[0037] The at least one vibration separator can have a dimensionally rigid housing which limits the expansion caused by the pre-stressing of the reversibly deformable chamber wall. This makes the device particularly safe in operation.

[0038] The device according to claim 6 ensures that the separation of movements is easily adjustable. The pressure regulation unit can be a component of the at least one vibration separator. Alternatively, the pressure regulation unit can be arranged on the side of the fastening device relative to the at least one vibration separator. Preferably, the pressure regulation unit is in signal communication with the control unit. The pressure regulation unit and / or the control unit can be configured to adjust the pressure of the fluid in the chamber. Since the pressure in the chamber can be adjusted, the stiffness and / or the damping can in particular be continuously adjustable. Preferably, the chamber is designed in the manner of an adjustable gas spring and / or pneumatic muscle.

[0039] The device according to claim 7 is particularly economical in terms of manufacture and ensures a separation of movements in a simple and reliable manner. Preferably, the throttle valve is able to be adjusted electrically and / or fluidically, in particular by means of a signal of the control unit. The throttle valve is preferably arranged in the overflow channel between the two fluid-filled chambers. The fact that the throttle valve can be adjusted means that in particular the characteristic curve of the damping can be adjusted. Depending on the adjustable opening width of the throttle valve, different proportions of the kinetic energy used to move the fastening device relative to the at least one processing device are converted into thermal energy and thus removed from the movement system.

[0040] The device according to claim 8 enables the stiffness and / or the damping of the at least one vibration separator to be adjusted in a particularly simple and flexible manner. The brake unit can be actuated by means of fluid and / or electricity. To this end, the brake unit can have components which can be actuated by means of fluid and / or electricity. The brake unit can have an electromagnet and / or a piezoelectric component and / or a piston-cylinder unit for implementing a braking force. According to one particularly preferred embodiment, the brake unit comprises an eddy current brake. Since the braking effect of the brake unit is adjustable, it is possible to influence the damping and / or the stiffness of the at least one vibration separator. The brake unit is preferably in signal communication with the control unit. For example, the braking effect can be adjusted in dependence on a force signal provided on a force sensor and / or in dependence on a displacement signal provided on a displacement sensor. The force signal is preferably related to the force transmitted between the fastening device and the at least one processing device. The displacement sensor is preferably designed to detect the variable position of the at least one processing device relative to the fastening device.

[0041] The device according to claim 9 enables a vibration separation to be implemented in a simple manner. Since a machine motor is arranged in the at least one processing device, it is possible to dispense with a complex, mechanically powered movement separation. Furthermore, the mass of the at least one machine motor acts as an inertial mass on one side of the at least one processing device. Vibrational movements on the at least one processing device are damped by this inertial mass and are therefore only transmitted in proportion to the at least one vibration separator and the fastening device. The machine motor can be a fluid- or electrically powered drive motor. For example, the machine motor can be a vibratory drive, in particular a vibratory drive of a tamping assembly, or a rotary drive, in particular a screw drive, in particular an impact screw drive.

[0042] The device according to claim 10 is operationally robust and economical. The tamper device for track bed treatment is designed to generate a vibration movement in order to compact the track bed. To this end, the tamper unit comprises a vibration generator. In order to penetrate into the track bed, the tamper unit can have at least one, in particular at least two, in particular at least three, in particular at least four penetrators, in particular tamper picks. The tamper unit, in particular the at least one penetrator, generates forces during the vibration process which greatly promote the wear of the device. By arranging at least one vibration decoupler between the at least one tamper unit and the fastening device, the wear of the device on the side of the fastening device can be greatly reduced. The maintenance and manufacturing costs associated with the device can be reduced.

[0043] According to one aspect of the application, the at least one tamper unit is configured as an oscillating tamper unit, which comprises a machine motor, a vibration generator and at least one penetrator and / or a penetrator receptacle. The device preferably has at least two, in particular at least three, in particular at least four tamper units, in particular oscillating tamper units. The oscillating tamper unit may, for example, comprise a drive motor and a vibration generator arranged within a tamper pick tube. The tamper pick tube forms the penetrator.

[0044] Alternatively, the vibration generator can be arranged on the side of the fastening device relative to the at least one vibration decoupler. The at least one processing device can thus be designed to be particularly light. The mass supported by the fastening device is thus reduced.

[0045] The device according to claim 11 is particularly robust in operation. Since the at least one processing device comprises a vibration generator, the vibration movement of the at least one processing device can be particularly effectively decoupled from the movement of the fastening device. Furthermore, the mass of the vibration generator as inert mass contributes to damping the vibration movement on the side of the at least one processing device.

[0046] The device according to claim 12 is particularly robust and economical in operation. The counter forces occurring when tightening and / or loosening screws, for example sleeper screws, have a great influence on the wear of the device. By means of at least one vibration decoupler running 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 designed as an impact wrench and / or as a drill and / or as a drill machine.

[0047] According to one aspect of the application, the at least one screwing unit comprises a torque sensor. Preferably, the control unit is configured to monitor the torque when tightening the threaded connection. The control unit can be configured to memorize and record the tightening torque of the respective threaded connection as well as the specific identification of this threaded connection and / or the position of the respective threaded connection along the respective rail.

[0048] The device according to claim 13 is particularly economical in operation. According to an aspect of the application, the device comprises at least two, particularly at least three, particularly at least four screwing units. Advantageously, this makes it possible for a plurality of threaded connections to be tightened and / or loosened simultaneously.

[0049] The device according to claim 14 is particularly robust and economical in operation. The clamping device is preferably designed to reversibly clamp the at least one machining device to the rail of the track. To this end, the clamping device can comprise a clamping actuator which reversibly provides a clamping force for clamping the track. 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 threaded connection relative to the rail. The forces occurring when tightening and / or loosening the threaded connection can be transmitted to the rail for the clamping device. The fastening device and / or the at least one vibration isolator can thus be relieved mechanically. In particular, particularly high screw torques can be applied to the threaded connection.

[0050] The device according to claim 15 is particularly economical in operation. The threaded components can comprise nuts and / or screws and / or further threaded components required for the threaded connection, such as washers and / or spring washers. Preferably, the feed device is designed to provide the threaded components at a specific location and / or in a predetermined orientation. To this end, the feed device can comprise a swing conveyor and / or a vibration table and / or a vibrating screw conveyor and / or a blister conveyor for handling the threaded components provided in a blister pack. The feed device advantageously ensures that the threaded connection can be assembled as quickly as possible, particularly completely, in an automated manner.

[0051] The device according to claim 16 is particularly economical in operation. By means of the cutting tool, particularly tightly jammed threaded connections, for example threaded connections that cannot be loosened by the at least one screwing unit, can be loosened. The cutting tool preferably comprises a cutting tool motor for providing the power required for cutting. The cutting tool can be designed as a cutting mill, particularly with a cutting wheel, or as a cutting pliers. The cutting tool can be rigidly connected to the at least one screwing unit. Alternatively, the cutting tool can be designed to be movable relative to all screwing units. The possibility of loosening tightly jammed threaded connections by means of the cutting tool means that the device can be operated in an automated manner to the greatest possible extent, particularly completely.

[0052] The device according to claim 17 is particularly economical in operation. Preferably, the displacement device is designed to displace and / or pivot at least one processing device, in particular at least one tamping unit and / or at least one screwing unit, relative to the fastening device. In this way, at least one processing device can be positioned particularly precisely on and / or oriented relative to the respective object to be processed. In particular, two of the processing devices can be oriented and positioned precisely relative to one another depending on the relative position and orientation of the two objects to be processed. Preferably, the displacement device is understood to mean a displacement of at least one processing device, in particular at least one screwing unit, in a vertical direction and / or parallel to a horizontal plane. The displacement device can have an actuator, in particular an actuator in signal communication with the control unit, for implementing the displacement movement. This makes the device particularly easy to operate in an automated manner.

[0053] Preferably, at least one vibration separator is arranged between the fastening device and the displacement device and / or between the displacement device and the at least one processing device. For example, at least two, in particular at least three, in particular at least four and / or at most eight vibration separators can be provided between the displacement device and the at least one processing device. These vibration separators are referred to as processing separation units.

[0054] Preferably, at least one, in particular at least two, in particular at least three, and / or at most four vibration separators are arranged between the displacement device and the fastening device. This at least one vibration separator is referred to as a fastening separation unit.

[0055] The device according to claim 18 is particularly economical in operation. Since the at least two tamping units can be displaced and / or can be pivoted relative to one another, the compacting of the track bed, in particular the compacting of the track bed below the track tie, can be carried out particularly effectively. The displacement device is preferably designed to displace and / or pivot the penetrators that have penetrated the track tie relative to one another. The displacement device can be designed to displace and / or pivot the at least two vibration tamping units relative to one another. The displacement device can be arranged on one side of the at least one processing device and / or on one side of the fastening device for the at least one vibration separator. Preferably, at least two, in particular at least four, in particular at least six tamping units can always be displaced and / or pivoted relative to one another in pairs, in particular in a direction towards one another, by means of the displacement device.

[0056] The displacement device can have a linear guide and / or a linear drive for displacing the at least two tamping units. In order to pivot 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 designed as a hydraulic cylinder. According to one aspect of the application, the displacement device is designed to displace and / or pivot the at least two, in particular all, tamping units independently of one another relative to the fastening device.

[0057] The device according to claim 19 is particularly economical in operation. The positioning device can have a support structure for connection with 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.

[0058] The device according to claim 20 is particularly flexible in use and also economical in operation. The fastening device is preferably attached to a robot head of a multi-axis robot. The fastening device and / or the robot head can be configured to transmit fluid signals and / or electrical signals by means of a connection between the robot head and the fastening device. Preferably, the robot head is configured to be connected to a fastening device configured as a quick-release coupling. Preferably, the multi-axis robot is configured to displace at least one processing device onto a section of the track which comprises at least three, in particular at least four, sleepers.

[0059] The multi-axis robot preferably comprises at least two, in particular at least three, in particular at least four, in particular at least six, and / or at most ten, pivot joints or pivot axes. The multi-axis robot can have an arm portion between each pivot joint.

[0060] According to an aspect of the application, the positioning device comprises at least two, in particular at least three, multi-axis robots, which can in particular be used for track processing simultaneously. Preferably, a fastening device having at least one vibration separator and at least one processing device is attached to each multi-axis robot. The processing performance of the device can thus be increased.

[0061] The device according to claim 21 is particularly flexible in use and also economical in operation. The trolley can be designed as a trailer without a drive motor, or can have a traction drive. Preferably, at least one multi-axis robot is attached to the trolley, in particular in a reversible detachable manner. The at least one multi-axis robot can be displaceable, in particular linearly displaceable, relative to the trolley. In particular, the at least one multi-axis robot is attached to the trolley and / or to a wall inclined relative to the horizontal, in particular a vertical wall, in a suspended manner. The trolley is preferably movable on the track.

[0062] According to an aspect of the application, the trolley is configured as a dual-path vehicle. The trolley can comprise a track running gear for driving on the track and / or a road running gear for driving on a road. Preferably, the height of the at least one trolley is adjustable. This makes it possible for the device, in particular the trolley, to be transferred between adjacent tracks.

[0063] The device according to claim 22 is particularly safe in operation. The fixing unit can be designed to carry at least one processing device in a form-fitting manner, in particular in the form of a carrying clamp and / or a carrying basket. Preferably, the fixing unit is designed such that at least one processing device can be hooked into the fixing unit from above. In the fixing unit, at least one processing device can be reliably held, in particular during displacement of the device along the rails. Thus, it is possible to prevent at least one processing device from entering the track during travel, so that personal injury or property damage can be avoided. Preferably, at least one processing device can be reversibly attached, in particular suspended, to the fixing unit by means of a multi-axis robot.

[0064] The device according to claim 23 is particularly safe and economical in operation. The object to be processed is understood to mean an object to be processed using at least one processing device. The object to be processed is, for example, a track bed and / or a threaded connection, in particular a screw head. In order to detect the position and / or the orientation of the object to be processed and / or in order to monitor 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 present application, the control unit is configured to control the device, in particular the positioning device and / or the displacement device and / or at least one processing device, depending on the signals from the sensor device.

[0065] According to one aspect of the present application, the device comprises a supply unit for supplying electrical power and / or fluid power to the positioning device and / or at least one processing device and / or at least one vibration separator. The supply device is preferably attached to the trolley. This makes it possible for the device to be operated autonomously, in particular independently of a peripheral supply unit.

[0066] It is another object of the present application to provide a method for operating a device for track processing, which makes track processing simple, precise, flexible and economical.

[0067] This object is achieved by a method having the features of claim 24. The advantages of the method correspond to the above-mentioned advantages relating to the device.

[0068] Preferably, first a device according to the above description is provided. Preferably, the at least one processing device is displaceable into a recovery position, in which the at least one processing device is arranged at a distance from the object to be processed, and into a working position, in which the at least one processing device engages the object to be processed. In the working position, the at least one tamping unit, in particular the penetrator, is immersed into the track bed and / or the at least one screwing unit, in particular the spanner, engages the threaded connection, in particular the screw head.

[0069] 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 1 N / cm to 1000 N / cm, in particular 10 N / cm to 100 N / cm, and / or in the range of 0.1 Nm / ° to 100 Nm / °, in particular 1 Nm / ° to 10 Nm / °. Preferably, the movement of the at least one processing device relative to the fastening device is completely locked and / or at least partially locked in the first coupling state and / or completely released and / or partially released in the second coupling state. Preferably, the track processing takes place in the region of a straight section of the track and / or in the region of a turnout.

[0070] According to one aspect of the application, the method is carried out in particular in a partially automated and / or fully automated manner by means of the control unit.

[0071] According to another aspect of the application, the displacement of the at least one processing device takes place at least partially, in particular completely, during a simultaneous monitoring of the working space by means of a 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 device 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.

[0072] The vibrational drive of the tamping unit and / or the rotational drive of the screwing unit is preferably carried out completely when the vibration decoupler is set in the second coupling state.

[0073] The method according to claim 25 ensures a particularly precise track processing. Since the displacement between the recovery position and the working position takes place with the vibration decoupler set in the first, more rigid coupling state, the at least one processing device can be positioned particularly precisely on the object to be processed.

[0074] The method according to claim 26 ensures a reduction in the load acting on the device. By setting the vibration decoupler in the second coupling state with lower stiffness during the track processing, a stronger decoupling of the movement of the at least one processing device from the movement of the fastening device can be achieved. The wear of the device is reduced and the device can be operated particularly economically.

[0075] The method according to claim 27 can exert particularly high torques on the threaded connections. In particular, the transmission of torques through the fastening device can be avoided. This relieves the fastening device and / or the positioning device and / or the vibration isolator. Since at least two screwing units are simultaneously engaged with the threaded connections, the bearing torque acting on the respective processing device when the respective threaded connection is driven in rotation can be dissipated by the respective other threaded connection. Thus, no or at most a low torque has to be transmitted through the fastening device and / or the vibration isolator.

[0076] According to an aspect of the application, the two threaded connections are tightened or loosened at least partially, in particular completely, simultaneously. Preferably, the screwing units are driven in rotation alternately during the initial loosening and / or the final tightening. Thus, the maximum bearing forces occurring during this process do not overlap one another. The load on the threaded connections is thus reduced.

[0077] The method according to claim 28 is particularly economical. Preferably, at least one processing unit is locked to the track during the tightening and / or loosening of at least one threaded connection. Thus, each screwing unit can be flexibly used independently of the other screwing unit for tightening and / or loosening the threaded connections, wherein the bearing torque resulting from the rotational drive of the screwing unit is transferred to the track. The device, in particular the fastening device and / or the vibration isolator and / or the threaded connections, is not affected by the bearing torque. Preferably, both threaded connections are tightened and / or loosened completely simultaneously, in particular by both screwing units.

[0078] The method according to claim 29 is particularly economical. Preferably, at least one processing device is moved relative to the track in an automated manner, in particular by means of the positioning device, in particular by means of a multi-axis robot. Due to the flexible mobility of the at least one processing device relative to the track, manual track processing in complex regions of the turnout can be avoided. Thus, the method can be carried out particularly economically.

[0079] It is another object of the application to provide a tamper assembly for track bed processing, which is particularly economical to operate and to manufacture.

[0080] This object is achieved by a tamper assembly having the features of claim 30. The advantages of the tamper assembly correspond to the above-mentioned advantages relating to the device and the method.

[0081] Preferably, the at least one tamper unit or oscillating tamper unit comprises a machine motor or drive motor for driving the vibration generator. The tamper unit can have a penetrator, in particular a tamper pick, and / or a penetrator receptacle for the reversible release of the fastening of the penetrator.

[0082] The tamping unit has a tube or tamping pick tube as a penetrator, in which a vibration generator and / or machine motor or drive motor is arranged. Preferably, the vibration generator and / or machine motor is at least partially, and particularly completely, overlapped with the penetrator or tamping pick tube perpendicular to the vertical direction and / or the feed direction. In particular, the vibration generator and / or machine motor can be arranged entirely within the penetrator or tamping pick tube, especially within its minimum convex envelope. Therefore, this tamping assembly is particularly compact in design and energy-efficient in operation.

[0083] The tamping assembly may include at least one vibratory separator. The at least one vibratory separator is preferably arranged between the tamping unit and the shifting device and / or between the tamping unit and the fastening device and / or between the shifting device and the fastening device. This at least one vibratory separator particularly has adjustable stiffness and / or adjustable damping. The tamping assembly may further embody the above-described features related to the equipment, particularly the tamping unit. Attached Figure Description

[0084] Further features, details, and advantages of the invention will become apparent from the following description of several embodiments based on the accompanying drawings, in which:

[0085] Figure 1 A perspective view of an apparatus for track machining is shown, the apparatus having a trolley for traveling on a track, a multi-axis robot attached to the trolley, a fastening device attached to the multi-axis robot, and two machining units, wherein multiple vibration separators act between the fastening device and the machining units.

[0086] Figure 2 It shows Figure 1 A side view of the equipment, in which the processing devices all have tamping units for track bed processing;

[0087] Figure 3 It shows Figure 1 Side view of a multi-axis robot, with a machining device attached to the robot;

[0088] Figure 4 A front view of the fastening device, vibration separator, processing device, and housing is shown, with the vibration separator shown in cross-section.

[0089] Figure 5 It shows that according to Figure 4 A front view of the fastening device, vibration separator, and processing device, excluding the housing, to show a displacement device for pivoting the two processing devices relative to each other, the displacement device being arranged in a through position;

[0090] Figure 6 It shows that according to Figure 5a front view of the fastening device, the vibration isolator and the processing devices, wherein the displacement device is arranged in a feed position;

[0091] Figure 7 a perspective view of an apparatus for track processing is shown, wherein both processing devices have a screwing unit for tightening and / or loosening a threaded connection;

[0092] Figure 8 a perspective view of an apparatus for track processing is shown, wherein both processing devices have a screwing unit for tightening and / or loosening a threaded connection; Figure 7 a front view of the fastening device, the vibration isolator and the two processing devices and the displacement device for moving the processing devices parallel and perpendicular to the tool engagement direction; and

[0093] Figure 9 a perspective view of an apparatus for track processing is shown, wherein both processing devices have a screwing unit for tightening and / or loosening a threaded connection; DETAILED DESCRIPTION

[0094] Reference is made to Figures 1 to 6 A first embodiment of an apparatus 1 for track processing is described. The apparatus 1 comprises a positioning device 2 with a trolley 3 running on a rail 4 and a multi-axis robot 5. The trolley 3 has a traction drive 6 for displacing the trolley 3 along the rail 4. A supply unit 7, a control unit 8 and a support unit 9 are arranged on the trolley 3.

[0095] The multi-axis robot 5 is attached to the support unit 9. The multi-axis robot 5 has six pivot joints 10 for displacing a robot head 11 relative to the support unit 9. An arm portion 12 of the multi-axis robot 5 is arranged between each pivot joint 10.

[0096] 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 processing devices 14 are connected to the fastening device 13. Vibration isolators 15a, 15b act between the processing devices 14 and the fastening device 13. The vibration isolators 15a, 15b are designed to at least partially separate the movement of the fastening device 13 from the movement of the processing devices 14. The stiffness and damping behavior of the vibration isolators 15a, 15b can be set.

[0097] The fastening device 13 comprises a quick-release coupling 16 for reversible connection with the robot head 11. In addition, the fastening device 13 comprises a fluid coupling 17 through which fluids, in particular hydraulic oil and compressed air, can be transmitted.

[0098] Both processing devices 14 comprise 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 motion 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 arranged in the associated penetrator 20. The vibration generator 21 comprises an eccentric mass, which is not shown and is mounted eccentrically with respect to a rotation axis, for generating the vibration motion. Both vibration generators 21 of the tamping unit 18 can be driven in rotation by a machine motor 22 or drive motor of the tamping unit 18, respectively. The machine motor 22 is electrically driven. The required electrical power is provided by means of a current coupler 23 of the fastening device 13. The machine motor 22 is arranged on one side of the tamping unit 18 with respect to the vibration decoupler 15a, 15b.

[0099] The displacement device 24 of the apparatus 1 is designed for pivoting the respective processing device 14, in particular the respective tamping unit 18, with respect to the fastening device 13. For this purpose, the respective processing device 14 is connected to the fastening device 13 by means of a feed joint 25 of the displacement device 24. A piston cylinder unit 26 of the displacement device 24 generates the actuating force F S required for pivoting the respective processing device 14. By means of the displacement device 24, both tamping units 18 can also be pivoted with respect to one another or towards one another.

[0100] The vibration decouplers 15a, 15b comprise a fastening decoupling unit 15a attached to the fastening device 13 and a processing decoupling unit 15b attached to each of the two processing devices 14. Both the fastening decoupling unit 15a and the processing decoupling unit 15b comprise at least one chamber 27, which can be filled with a fluid, for at least proportionally transmitting the reaction force F R between the fastening device 13 and the processing device 14 by means of the fluid.

[0101] The fastening decoupling unit 15a is understood to control the displacement motion of the processing device 14 with respect to the fastening device 13 along a penetration direction 28 of the penetrator 20 into the track bed 19. The processing decoupling unit 15b is understood to control the motion of the respective processing device 14 with respect to the fastening device 13 along the penetration direction 28 and perpendicular to this penetration direction 28. In order to control these relative motions, the pressure pi, p2, p3 of the fluid within the chamber 27 is adjustable. In order to limit the relative motions to linear degrees of freedom of motion, the fastening decoupling unit 15a comprises a linear guide 29. The processing decoupling unit 15b does not comprise such a guide. Both chambers 27 of the two vibration decouplers 15a, 15b comprise reversibly deformable chamber walls 30. Limiting the relative motion between the processing device 14 and the fastening device 13 to certain degrees of freedom is not influenced by the processing decoupling unit 15b.

[0102] The chambers 27 of all vibration separators 15a, 15b are connected with the supply unit 7 via a fluid connection 31, in particular via a fluid coupling 17. The fluid pressure pi, p2, p3 within the respective chamber 27 can be adjusted by a control unit 8 connected to the supply unit 7. The fluid is compressed air.

[0103] The fastening separation unit 15a is designed as a piston cylinder unit. The chambers 27 of the machining separation unit 15b are designed as rubber bellows. Depending on the pressure pi, p2, p3, the stiffness of the respective vibration separator 15a, 15b can be adjusted. With increasing pressure pi, p2, p3, the respective vibration separator 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 separator 15a, 15b arranged in a deflected position generates a restoring force to the rest position which depends on the pressure pi, p2, p3.

[0104] The piston 32 of the fastening separation unit 15a designed as a piston cylinder unit is displaceably mounted in a cylinder 33 and separates the two annular chambers 27 from one another. A helical spring 33a acts between the piston 32 and the cylinder 33. The pressure pi, p2 in the chambers 17 can be adjusted by means of a fluid line 34 which is in fluid-conducting connection with the fluid coupling 17. The two chambers 27 of the fastening separation unit 15a are connected to one another in a fluid-conducting manner by means of an electrically controllable throttle valve 35. The throttle valve 35 is connected to the control unit 8 in a signal-transmitting manner. In particular, the throttle valve 35 is connected to the current coupling 23 by means of a current line 36.

[0105] The device 1 further comprises a sensor arrangement 37 for detecting the position of the sleepers 38 of the track, in particular the arrangement of the machining device 14 relative to the track bed 19. The sensor arrangement 37 is further designed to monitor the working space 39, in particular to detect whether an object or a person is located in the working space 39. To this end, the sensor arrangement 37 comprises two cameras 40 and a ground radar 41. A triangulation unit 42 and a GPS module 43 are used to precisely determine the position of the device 1 along the track 4. The working space 39 is bounded downwards by the track bed 19 and laterally, frontward and rearward by a frame bridge 39a which connects the front of the trolley 3 with the rear of the lower trolley 3.

[0106] In order to firmly fasten the machining device 14 to the trolley 3 when the device 1 is displaced along the track 4, the device 1 comprises a fixing unit 44. The fixing unit 44 is designed as a support frame from which the displacement device 24 can be hooked, in particular by means of the multi-axis robot 5.

[0107] The functional principle of the device 1 is as follows.

[0108] The trolley 3 is arranged on the rails 4. The processing device 14 is suspended in the stationary unit 44 by means of the displacement device 24. The displacement device 24 is in a penetration position. The pressure pi, p2, p3 in the chambers 27 of the vibration isolators 15a, 15b corresponds to the ambient pressure.

[0109] The traction drive 6 is activated and the trolley 3 is displaced along the rails 4 towards the object to be processed, in particular the track bed 19 to be compacted. The arrangement of the device 1 at the area of the track bed 19 to be treated is controlled by the control unit 8. For this purpose, the information obtained by the sensor device 37, in particular the information obtained by the triangulation unit 42 and the GPS module 43, is processed in the control unit 8. The precise determination of the sleepers 38 of the track to be tamped by the processing device 14 is carried out by the camera 40.

[0110] By means of the multi-axis robot 5, the fastening device 13 and the processing device 14 attached to it are moved upwards from the stationary unit 44 and arranged above the part of the track bed 19 to be treated. The two processing devices 14 are arranged mirror-symmetrically with respect to a vertical plane through the central longitudinal axis of the respective sleeper 38. The multi-axis robot 5 is controlled by the control unit 8. The device 1 is in a recovery position.

[0111] By means of the pressure regulating unit 45 of the control unit 8, the chambers 27 of the vibration isolators 15a, 15b are pressurized with compressed air, in particular by means of the fluid line 34. The pressure pi, p2, p3 in the chambers 27 rises, the stiffness of the vibration isolators 15a, 15b increases and the vibration isolators 15a, 15b are arranged in a rest position. For example, the pressure pi, p2 in the chambers 27 of the fastening isolator unit 15a is 100 bar. For example, the pressure p3 in the chambers 27 of the processing isolator unit 15b is 25 bar. The vibration isolators 15a, 15b are in each case set in a first coupled state with a first stiffness.

[0112] According to a signal from the control unit 8, the multi-axis robot 5 lowers the processing device 14 in the vertical direction. The penetrators 20 of the processing device 14 penetrate the track bed 19. Due to the stiffening of the vibration isolators 15a, 15b by the pressure pi, p2, p3 in the chambers 27, the positioning of the penetrators 20 in the track bed 19 can be formed particularly precisely. The device 1 is in a penetration position. Figure 5 The penetration position shown.

[0113] By means of the pressure regulating unit 45, the pressure in the chamber 27 is reduced according to a corresponding signal from the control unit 8. For example, the pressure pi, p2in the chamber 27 of the fastening decoupling unit 15a is 10 bar. For example, the pressure p3in the chamber 27 of the machining coupling unit 15b is 5 bar. In the second coupled state, the respective second stiffness of the vibration decouplers 15a, 15b is reduced compared to the first stiffness upon entry into the track bed 19. The second damping of the fastening decoupling unit 15a in the second coupled state is variable by means of the throttle valve 35 and can be adjusted differently from the first damping in the first coupled state.

[0114] The machine motor 22 of the machining device 14 is supplied with electrical power by the control unit 8, in particular by means of the power coupling 23 and the power line 36. The machine motor 22 drives the vibration generator 21 of the machining device 14. This generates a vibration motion and transmits this vibration motion to the penetrator 20

[0115] The piston cylinder unit 26 of the displacement device 24 is supplied with hydraulic fluid, which is provided by the supply unit 7 and conducted to the piston cylinder unit 26 by means of the fluid coupling 17 and the fluid line 34. The actuating force F S causes a pivoting motion of the machining device 14 about the feed joint 25. The displacement device 24, in particular the machining device 14, is in the Figure 6 feed position shown in Fig. 1.

[0116] When the penetrator 20 is displaced into the track bed 19, a reaction force F R acts on the machining device 14 as a result of the vibration motion and as a result of the pivoting of the penetrator 20 immersed in the track bed 19. The reaction force F R is transmitted to the fastening device 13 by means of the machining decoupling unit 15b, the displacement device 24 and the fastening decoupling unit 15a. In this case, the transmission of the reaction force F R takes place at least proportionally by means of the compressed air introduced into the chamber 27. Since the pressure pi, p2, p3during the pivoting of the machining device 14 about the feed joint 25 is lower than the pressure pi, p2, p3during the penetration of the track bed 19, the force transmitted to the fastening device 13 can be reduced. In particular, the reaction force F R generated by the vibration motion of the penetrator 20 is largely compensated by the vibration decouplers 15a, 15b. In particular, the peak value of the vertical reaction force F Rz is reduced by the vibration decouplers 15a, 15b during the penetration of the track bed 19. The adjustable throttle valve 35 can adjust the damping of the vertical relative motion of the machining device 14 with respect to the fastening device 13.

[0117] The control unit 8 provides a signal for displacing the machining device 14 into the penetration position by means of the piston-cylinder unit 26. The machining device 14 is pivoted about the feed joint 25 back into the penetration position. By means of the multi-axis robot 5, the machining device 14 is moved back into the recovery position in accordance with the signal from the control unit 8. The vibration isolators 15a, 15b are returned to the first coupled state.

[0118] The sensor device 37 provides a signal to the control unit 8 which is related to the position of the adjacent rail tie 38. The multi-axis robot 5 displaces the machining device 14 into a next recovery position above a next portion of the track bed 19 to be treated. Further treatment of the track bed 19 takes place as described above.

[0119] During the entire course of the track machining, the work space 39 is monitored by the sensor device 37. If a person or an object enters the work 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 subsequently interrupts the operation of the apparatus 1. In particular, the movement of the multi-axis robot 5, the displacement device 24 and the vibration generator 21 is interrupted. The operation of the apparatus 1 can thus take place in a particularly safe manner.

[0120] The trolley 3 is designed as a multi-path vehicle. To this end, the trolley 3 comprises, in addition to the rail running gear 46 for driving on the rails 4, an additional running gear 47. The additional running gear 47 can be displaced in the vertical direction, in particular between a position above the rail running gear 46 and a position below the rail running gear 46. The additional running gear 47 is designed to drive on uneven surfaces and roads. In particular, the additional running gear 47 is designed so that the apparatus 1 can be displaced between two adjacent tracks, in particular perpendicular to the longitudinal extension of the rails 4. This greatly increases the flexibility of use of the apparatus 1.

[0121] Since the vibration isolators 15a, 15b act between the machining device 14 and the fastening device 13, the positioning device 2, in particular the trolley 3 with the multi-axis robot 5, is subjected to a greatly reduced mechanical load and its wear is also reduced. The positioning device 2 can therefore be designed particularly material-saving and lightweight and can be produced and operated particularly economically.

[0122] Reference is made to Figure 7 and Figure 8, another embodiment of the application is described. In contrast to the above-described embodiment, the device 1 has two machining devices 14, each of which has a screwing unit 48 for tightening and loosening a threaded connection 49. Each screwing unit 48 comprises a machine motor 22 for rotary driving a screwdriver tool 50 of the screwing unit 48. A socket wrench 51 for rotary driving the threaded connection 49 is reversibly detachably attached to the respective screwdriver tool 50. A displacement device 24, which is only shown schematically, is designed to displace the two machining devices 14 independently of one another along an engagement direction 52 of the screwdriver tools 50. The displacement device 24 is further configured to move the machining devices 14 relative to one another perpendicular to the engagement direction 52. In particular, the displacement device 24 is configured to displace the respective machining device 14 together with the associated machining separation unit 15b in accordance with the previously described embodiment.

[0123] The machining separation units 15b have an elastically deformable chamber wall 30 in the form of a rubber bellows. The structure of these machining separation units 15b is essentially the same as the machining separation units 15b according to the above-described embodiment.

[0124] In contrast to the above-described embodiment, the fastening separation unit 15a comprises a brake unit 53 for an adjustable braking of the movement of the machining device 14 relative to the fastening device 13. The brake unit 53 comprises a brake pad 54, which can be reversibly pressed against a brake body 56 by means of a brake actuator 55. By means of the brake unit 53, the damping of the movement transmitted by the fastening separation unit 15a can be adjusted in accordance with the contact force F A generated by the brake actuator 55. The separation of the movement of the fastening device 13 from the movement of the machining device 14 takes place completely along the engagement direction 52 by the fastening separation unit 15a. Forces oriented perpendicular to the engagement direction 52 are transmitted by the brake unit 53 and the spring member 33a. No movement separation takes place in the direction perpendicular to the engagement direction 52. The respective movement is essentially transmitted rigidly by the linear guide 29 of the fastening separation unit 15a.

[0125] The device 1 comprises a clamping device 57, which is only shown schematically, for reversibly fastening the machining device 14 to the rail 4. The clamping device 57 is attached to the displacement device 24. The clamping device 57 has a not shown adjustment component for reversibly clamping to the rail 4. The adjustment component can be actuated by a signal from the control unit 8.

[0126] Furthermore, the device 1 comprises a cutting tool 58, which is only shown schematically in Figure 8 , for cutting off a bolt 59 of a jammed threaded connection 49, which cannot be loosened any more. To this end, the cutting tool 58 has a cutting grinding wheel 60, which can be driven in rotation by means of a cutting tool motor 61.

[0127] The device 1 has a feed device 62 for providing threaded components, in particular screws and / or nuts. The feed device 62 is designed for handling the blister. Thus, the threaded components can be provided in a determinable position and orientation and thus fed to the machining devices 14 in an automated manner, in particular by the multi-axis robot 5.

[0128] According to the embodiment shown in Figure 7 and Figure 8 The functional principle of the device 1 is as follows according to the embodiment shown.

[0129] According to the embodiment described above, the device 1 is moved onto the object to be machined, in particular onto the threaded connection 49 to be loosened. The device 1 is in the recovery position. The vibration isolators 15a, 15b are set to the first coupled state, which has a higher stiffness compared to the second coupled state.

[0130] The position of the rail 4 and the threaded connection 49 is detected by the sensor device 37. The clamping device 57 rigidly attached to the displacement device 24 engages around the rail 4 under the control of the control unit 8. The actuator of the clamping device 57 is activated by the control unit 8. The rail 4 is clamped between the jaws of the clamping device 57. The machining devices 14 are supported on the rail 4 by the displacement device 24 and the clamping device 57.

[0131] According to a signal from the control unit 8, corresponding to the relative position of the threaded connections 49 relative to each other, the machining devices 14 are positioned relative to each other and perpendicular to the engagement direction 52 by the displacement device 24.

[0132] According to a further signal from the control unit 8, the machining devices 14 are lowered in the engagement direction 52 by the multi-axis robot 5. The socket wrench 51 is guided into engagement with the threaded head of the bolt 59. The vibration isolators 15a, 15b are set to the second coupled state, which has a lower stiffness compared to the first coupled state.

[0133] The machine motor 22 is activated and the socket wrench 51 is driven in rotation by the screwdriver tool 50. The screwdriver tool 50 is designed as an impact wrench. Thus, the jammed threaded connection 49 can be loosened particularly reliably.

[0134] The vibration isolators 15a, 15b decouple the movement of the fastening device 13 from the movement of the two machining devices 14. The vertical reaction force F RzThe force peaks of the impact can be eliminated by the fastening decoupler 15a. Due to the vertically resilient mounting of the linear guide 29 and the spring member 33a, an impact-like stress can be prevented from being transmitted to the fastening device 13 when the threaded connection 49 is contacted during the lowering of the machining tool 14. Thus, the impact-like stress can be counteracted by the mass inertia of the pre-designed components of the device 1, in particular of the machining device 14 and the displacement device 24. The braking unit 53 dampens the vertical movement of the machining device 14 relative to the fastening device 13, which further reduces the forces acting on the fastening device 13.

[0135] The design of the screwing unit 48 as an impact screwing unit enables it to loosen stuck threaded connections 49 particularly reliably. The vibrations occurring during the impact screwing process in particular result in reaction forces F Rx , F Ry in the horizontal plane. The force peaks of these reaction forces F Rx , F Ry are counteracted in the machining decoupler 15b. The movement of the machining device 14 is at least decoupled from the movement of the displacement device 24 by the machining decoupler 15b in a scaleable manner.

[0136] After loosening the threaded connections 49, the clamping device 57 is decoupled from the rail 4. The vibration decouplers 15a, 15b are set in a first coupling state, which has a higher stiffness than the second coupling state. By means of the multi-axle robot 5, the machining device 14 is lifted above the fastening device 13.

[0137] By means of the sensor device 37, it can be checked whether the threaded connections 49 have been loosened. If at least one threaded connection 49 is stuck so that it cannot be loosened by means of the screwdriver tool 50, the corresponding bolt 59 is cut off. To this end, the cutting tool 58 is displaced to the corresponding threaded connection 49 by means of the multi-axle robot 5. The vibration decouplers 15a, 15b are set in the first coupling state here. The cutting tool motor 61 is activated, and the cutting grinding wheel 60 is fed in the direction of the bolt 59. The bolt 59 is cut through. The cutting process is completed, and the device 1 is moved back to the rest position.

[0138] The device 1 can also be used for production, in particular for assembling and fastening threaded connections 49. For this purpose, the screwing unit 48 is moved by the multi-axle robot 5 to the feeding device 62. The vibration isolators 15a, 15b are set here in the first coupled state. The sleeve wrench 51 is inserted into the blister filled with screws. The screws are held in the sleeve wrench 51, for example, by a clamping connection, in particular by a push element and / or by a magnet, in particular an electromagnet. When the machining device 14 is displaced in the direction of the threaded connection 49 to be produced, the screws are removed from the blister. Depending on the signals from the control unit 8, in particular on the measured values provided by the sensor device 37, the screws are inserted into the predetermined screw holes.

[0139] By means of the clamping device 57, the machining device 14 is fastened to the rail 4. The vibration isolators 15a, 15b are set in the second coupled state. The machine motor 22 is activated. The threaded connections 49 are tightened, in particular simultaneously.

[0140] According to a further embodiment, not shown, the device 1 does not have a clamping device 57, unlike the last-mentioned embodiment. When the threaded connections 49 are tightened and / or loosened, the two screwing units 48 of the machining device 14 rest against each other. In particular, the torques transmitted to the respective threaded connections 49 are counteracted by the respective counter forces F R , which in each case act on the other threaded connection 49.

[0141] In order to reduce the load on the threaded connections 49 caused by these counter forces F R , during initial loosening and / or final tightening, the two machining units 14 are not activated simultaneously, but the screwing units 48 are operated alternately. On the other hand, during initial tightening and / or final loosening of the threaded connections 49, the two screwing units 48 are operated simultaneously.

[0142] It is preferable for the screwing units 48 to have force sensors, in particular torque sensors. The switching between simultaneous operation and alternating operation of the screwing units 48 is preferably carried out using the signals from the respective force sensors, in particular by the control unit 8.

[0143] With reference to Figure 9 , a further embodiment of the application is described. Unlike the above-mentioned embodiments, the device 1 has two multi-axle robots 5, each of which is attached by means of a fastening device 13 with two machining devices 14. The machining devices 14 are designed as screwing units 48. In addition, the machining devices 14 can also be designed as ramming units 18. The control unit 8 and the supply unit 7 are designed to operate the two multi-axle robots 5 and the machining devices 14. Since the device 1 is designed with two multi-axle robots 5 and four machining devices 14, the track machining can be carried out simultaneously on both rails 4 of the track. Thus, the work efficiency of the device 1 is increased again.

[0144] In contrast to the arrangement of a single support unit 9 in the central region between the rails 4, in the present embodiment two support units 9 are provided for supporting the multi-axle robots 5, which are attached to the trolley 3. The frame bridge 39a is replaced by a central frame support 39b, which extends in particular at the center between the rails 4. The feeding device 62 is arranged on the frame support 39b. Thus, the feeding device 62 can be reached by all the machining devices 14.

[0145] The camera 40 of the sensor device 37 is arranged in the lateral region of the trolley 3. According to the above-described embodiment, two workspaces 39 are monitored by the sensor device 37.

[0146] The functional principle of the apparatus 1 is in line with the functional principle of the apparatus 1 according to the above-described embodiment.

[0147] Due to the apparatus 1 having the vibration separators 15a, 15b, the movement of the fastening device 13 is at least decoupled proportionally to the movement of the at least one machining device 14. Thus, the load transferred to the fastening device 13, in particular to the positioning device 2, can be greatly reduced. The apparatus 1 is particularly robust and reliable in operation and can be particularly economically manufactured and operated.

[0148] The features of the individual embodiments can be combined as desired.

Claims

1. A device (1) for track processing, the device (1) comprising: - a fastening apparatus (13); and - at least one processing apparatus (14) for compacting a track bed (19) and / or for tightening and / or loosening a threaded connection (49), characterized in that the device comprises at least one vibration decoupler (15a, 15b) having an adjustable stiffness and / or an adjustable damping for at least partially decoupling the fastening apparatus (13) and the at least one processing apparatus (14).

2. The device (1) according to claim 1, characterized in that the device has an adjustment apparatus in signal communication with the at least one vibration decoupler (15a, 15b) for adjusting the stiffness and / or the damping.

3. The device (1) according to claim 2, characterized in that the device has a drive unit (7) connected to the adjustment apparatus for providing a fluid and / or mechanical signal to automatically adjust the stiffness and / or the damping.

4. The device (1) according to claim 1 or 2, characterized in that the at least one vibration decoupler (15a, 15b) has a chamber (27) filled with a fluid for at least proportionally transferring forces between the fastening apparatus (13) and the at least one processing apparatus (14) by means of the fluid.

5. The device (1) according to claim 4, characterized in that the chamber (27) has a chamber wall (30) that can be reversibly deformed.

6. The device (1) according to claim 4, characterized in that the device has a pressure adjustment unit (45) for controlling a pressure (pi, p2, p3) of the fluid in the chamber (27).

7. The device (1) according to claim 4, characterized in that the at least one vibration decoupler (15a, 15b) has an adjustable throttle (35) for limiting a flow of the fluid.

8. The device (1) according to claim 1 or 2, characterized in that the at least one vibration decoupler (15a, 15b) has a brake unit (53) for an adjustable braking of the at least one processing apparatus (14) relative to the fastening apparatus (13).

9. The device (1) according to claim 1 or 2, characterized in that the device has at least one machine motor (22) for providing a power required for operating the at least one processing apparatus (14). The machine motor (22) is arranged on one side of the at least one processing apparatus (14) relative to the at least one vibration decoupler (15a, 15b).

10. The device (1) according to claim 9, characterized in that 11. The device (1) according to claim 1 or 2, characterized in that the at least one processing apparatus (14) has a tamping unit (18) for track bed processing.

12. The device (1) according to claim 11, characterized in that the at least one processing apparatus (14) has a vibration generator (21) for generating a vibration movement. ​ 13. The device (1) according to claim 1 or 2, characterized in that, The at least one processing device (14) has a screwing unit (48) for tightening and / or loosening threaded connections (49).

14. The device (1) according to claim 13, characterized in that, The at least one processing device (14) includes a plurality of turning units (48).

15. The device (1) according to claim 13, characterized in that, The device has a clamping device (57) for reversibly fastening the at least one processing device (14) to the rail (4).

16. The device (1) according to claim 13, characterized in that, The device has a feeding device (62) for providing threaded components.

17. The device (1) according to claim 1 or 2, characterized in that, The at least one processing device (14) includes a cutting tool (58) for cutting off bolts (59).

18. The device (1) according to claim 1 or 2, characterized in that, The device has a displacement device (24) for displacing and / or pivoting the at least one processing device (14) relative to the fastening device (13).

19. The device (1) according to claim 18, characterized in that, The at least one processing device (14) has at least two tamping units (18) for track bed processing, and at least two of the tamping units (18) are capable of being displaced relative to each other and / or pivoted relative to each other by means of the displacement device (24).

20. The device (1) according to claim 1 or 2, characterized in that, The device has a positioning device (2), to which the fastening device (13) is attached for positioning the at least one processing device (14) on the track.

21. The device (1) according to claim 20, characterized in that, The positioning device (2) has a multi-axis robot (5), and the fastening device (13) is attached to the multi-axis robot (5).

22. The device (1) according to claim 20, characterized in that, The positioning device (2) has a trolley (3).

23. The device (1) according to claim 22, characterized in that, The device has a fixing device (44) for detachably fixing the at least one processing device (14) to the trolley (3).

24. The device (1) according to claim 1 or 2, characterized in that, The device has a sensor unit (37) for detecting the position and / or orientation of the object to be processed (19, 49) on the track and / or for monitoring the workspace (39).

25. A method for operating equipment (1) for track machining, the method comprising the steps of: - Provide at least one processing device (14), said at least one processing device (14) being arranged on a vibration separator (15a, 15b), - Adjust the vibration separator (15a, 15b) between the following states: -- a first coupling state in which the vibration isolator (15a, 15b) has a first stiffness and / or a first damping, and -- a second coupling state in which the vibration isolator (15a, 15b) has a second stiffness different from the first stiffness and / or a second damping different from the first damping, and - compacting a track bed (19) and / or tightening and / or loosening a threaded connection (49) by means of the at least one processing device (14).

26. The method according to claim 25, characterized in that the method comprises displacing the at least one processing device (14) from a recovery position to a working position, in which the vibration isolator (15a, 15b) is set to the first coupling state.

27. The method according to claim 25, characterized in that the method comprises processing the track, in which the vibration isolator (15a, 15b) is set to the second coupling state.

28. The method according to claim 25, characterized in that the method comprises tightening and / or loosening two threaded connections (49) of the track one after the other and / or simultaneously, in which two rotatably drivable screwing units (48) are engaged with one threaded connection (49) each simultaneously.

29. The method according to claim 25, characterized in that the method comprises locking the at least one processing device (14) to at least one rail (4) when processing the track.

30. The method according to claim 25, characterized in that the processing of the track is carried out on a frog of a turnout.

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