Chassis maintenance vehicle and method for moving along track by using same

Abstract

A chassis service vehicle (1, 100) for servicing a bottom of a train and a method of moving along a track using the chassis service vehicle (1, 100) are provided. The chassis maintenance vehicle (1, 100) comprises a platform (3) having a width (w), a maintenance unit (4) connected to the platform (3) and configured to perform maintenance operations at the bottom of the train, and two pairs of support arms (5) positioned along the length (l) of the platform (3) and extending in the width direction. Each support arm (5) comprises a support wheel (7) that is free to rotate about an axis of rotation, driving wheels (8) that rotate about an axis of rotation, the support arms (5) being arranged to connect the support wheel (7) and the driving wheels (8) to the platform (3), where at least two driving wheels (8) are motorized driving wheels. The driving wheel (8) is configured to contact a bottom (9) of the rail bar (10) of the track (2), the supporting wheel (7) is configured to contact an underside of a rail head (11) of the rail bar (10) of the track (2), and each supporting arm (5) is provided with a retraction mechanism (12) for retracting the supporting arm (5) towards the platform (3).

Description

Technical Field

[0001] The present invention relates to an undercarriage maintenance vehicle for maintaining and / or inspecting the underbody of, for example, a train. Furthermore, the present invention relates to a method of moving along a track using said undercarriage maintenance vehicle.

[0002] The chassis maintenance vehicle is movable on a given track, comprising: a platform having a width narrower than the gauge of the track; a maintenance unit connected to the platform and configured to perform maintenance operations on the bottom of the train, at least two pairs of support arms, each pair of support arms comprising support wheels configured to rotate freely around a rotation axis and drive wheels configured to rotate around the rotation axis. The support arms may extend substantially in the width direction, i.e., perpendicular to the track when used in a track system, wherein the support arms are arranged to connect the support wheels and the drive wheels to the platform, and wherein at least two of the drive wheels are electrically driven wheels, which are spaced apart from each other along the length of the platform. Background Art

[0003] Chassis maintenance vehicles for maintaining the bottom of trains have been designed in the prior art. For example, EP 3519269B1 discloses a self-propelled device for on-condition maintenance of the bottom of a train moving on a track. The device includes a platform with a kinematic mechanism, wherein the kinematic mechanism includes an active group of at least four rolling bodies constrained to the platform and configured to roll on the inner contour of the track rod, and a passive group of at least four rolling bodies consisting of at least four rolling bodies, which are rigidly constrained to the platform and configured to roll on the bottom of the track. The passive group is configured to avoid interference with a fixing provided at the bottom of the track. Since at least one movable wheel on each side of the platform is motorized, the platform can move under the train in the track section including the fixing at the bottom of the track.

[0004] Maintenance of trains is usually carried out in specially built track sections or in maintenance hangars with such track sections. These track sections are designed for maintenance vehicles of the prior art and therefore contain only a few accessories, such as fixings at the bottom of the rails. However, the construction and operation of such maintenance sites are time consuming and expensive compared to operation on conventional track sections, which include many accessories, such as fixings at the inner profile of the rail rods and rail connecting plates. When used on conventional track sections, maintenance vehicles according to the prior art are prone to collisions with the fixings at the inner rods of the rails and the rail connecting plates. Said collisions may damage the maintenance vehicle or prevent it from advancing along the track section, thereby preventing the maintenance of the train located above it. Summary of the invention

[0005] Therefore, in view of the above-mentioned defects, an object of the present invention is to provide a chassis maintenance vehicle that can better avoid obstacles on and near the rails.

[0006] The object is achieved by the chassis maintenance vehicle defined in claim 1 and the method defined in claim 13. According to one aspect of the present disclosure, the driving wheel is configured to contact the foot of the track, the supporting wheel is configured to contact the underside of the rail head of the track, and each supporting arm is provided with a retracting mechanism configured to retract the supporting arm toward the platform.

[0007] The support arm contacts the inner contour of the rail with the driving wheel at the bottom of the rail and contacts the underside of the rail head with the support wheel, ensuring full wheel contact with the rail for safe and efficient propulsion. In addition, on substantially flat ground, the weight of the chassis maintenance vehicle rests on the driving wheel, which further increases the traction of the driving wheel. By contacting the rail at the bottom of the rail and at the bottom of the rail head, interference with the wheels of a train erected or moving on the rail is avoided. This enables the maintenance vehicle to move independently of the train on the track.

[0008] In addition, the support arms of the maintenance vehicle can be retracted toward the platform. Therefore, when the maintenance vehicle moves along the track, each support arm can be reversibly moved toward the platform so that the support arm is no longer in contact with the rail. In other words, each support arm can be retracted and / or extended individually and independently of the other support arms. This is particularly advantageous when the connecting piece of the rail is located in the movement path of the support arm along the rail. In this case, the support arm can be retracted so that further movement along the rail does not cause the support arm to collide with the connecting piece of the rail. By moving the maintenance vehicle along the track, the connecting piece can then be crossed and the support arm can be extended again subsequently to reestablish the contact between the support arm and the rail. The support arms can be retracted and extended independently of each other. This makes it possible to pass an obstacle as described above with one support arm first and then with another support arm. The retractable arrangement of the support arms allows the maintenance vehicle to avoid the rail connecting piece and therefore move on the rail portion including the rail connecting piece. Furthermore, retracting all the support arms simultaneously can release the contact between the wheels of the maintenance vehicle and the two rails of the track to easily remove the maintenance vehicle from the track.

[0009] According to another aspect of the invention, the maintenance unit may include an inspection system suitable for performing an inspection of the underside of the train. The arrangement of the inspection system enables the maintenance vehicle to collect information about the condition of the train to be inspected. The inspection system may be formed, for example, by a sensor system and / or a camera system, which records the underside of the train and evaluates the recordings made. By using such information, the desired condition and the actual condition of the underside of the train may be compared, thereby detecting possible maintenance needs. In a preferred embodiment, the inspection system may also include a mobile device configured to move the inspection system. Since many components are usually arranged on the underside of the train, the arrangement of the mobile device enables the inspection system to be moved so that all areas of the underside of the train can be inspected. In addition, the arrangement of the mobile device may allow the inspection system to be moved to the vicinity of a selected position for closer inspection. Such a mobile device may be, for example, a linear actuator, a movable arm, etc.

[0010] The maintenance unit may also comprise a handling system configured to mechanically interact with the underside of the train. In other words, the handling system may enable the maintenance vehicle to mechanically interact with components of the underside of the train. This allows maintenance operations to be carried out on the train, which may involve mechanical inspections by probing, and may also involve replacement work or repair work. The handling system may be formed by one or more tools, which are preferably arranged in a movable manner. In this context, movable may mean rotatable, or may mean movable in one or more spatial directions. Furthermore, combinations of these forms of movement are also possible. In a preferred embodiment, the handling system may be moved by a moving device.

[0011] In one embodiment, the chassis maintenance vehicle may further comprise a detection unit, which is configured to detect obstacles in the vicinity of the chassis maintenance vehicle. The detection unit may detect possible obstacles, such as rail connections. The detection unit may be formed by sensors and / or cameras which are arranged to collect information about the surroundings. Such sensors may be, for example, tactile sensors or contactless sensors. In particular in the case of contactless sensors, obstacles at a distance of several meters may be detected. The detection unit may be particularly advantageous if the obstacles are irregularly arranged on the track, since in this case it is not possible to conclude that an obstacle is being approached solely based on the distance between the previous obstacle and the travel distance. In a particularly preferred embodiment, the detection unit may be integrated into the inspection system.

[0012] Preferably, the retracting mechanism may comprise a telescopic section with an adjustable overall length. Such a telescopic section may comprise at least two sections which may be moved relative to each other, thereby reducing the overall length of the telescopic section. By providing the telescopic section, the retracting mechanism may be implemented in a space-saving manner. Furthermore, the compactness of the telescopic section may allow the wheels of the support arm to be retracted further, thereby making it easier to bypass the connection on the rail.

[0013] According to another aspect of the present invention, each support arm may further include a vibration reduction device, which is configured to suppress vibrations transmitted from the driving wheel and the supporting wheel to the platform, and vice versa. During movement along the track, vibrations may be generated due to contact between the wheels (i.e., contact between the driving wheel and the supporting wheel and the rail). The vibration reduction device can reduce or completely absorb the vibration. Such a vibration reduction device can be, for example, a shock absorber, a damping elastic material, etc. In this way, it is possible to prevent vibrations from being transmitted to the platform via the support arm, thereby negatively affecting the maintenance of the train and / or the inspection of the train. In addition, the running smoothness and track stability of the maintenance vehicle can also be improved.

[0014] In one embodiment, the vibration reduction device can also be configured to press the support arm against the track when the chassis maintenance vehicle is used in the track system. In this way, sufficient contact between the driving wheel and the support wheel of the support arm and the track can be provided.

[0015] According to another aspect of the present disclosure, the chassis maintenance vehicle may include at least three pairs of support arms, wherein at least two driving wheels spaced apart along the length of the platform are motorized drive wheels. A pair of support arms may be formed by two support arms extending in the width direction of the platform, one support arm being located on one length side of the platform and the other support arm being located on the other length side of the platform. A pair of support arms may be arranged at substantially the same distance in the length direction of the platform. The provision of another pair of support arms increases the number of contact points with the rails, thereby improving the track stability. In addition, the platform can be prevented from tilting when a pair of support arms are retracted. In the state where a pair of support arms are retracted, the maintenance vehicle can still move because at least two driving wheels are driven on each side of the platform. Therefore, at least one driven driving wheel on each side remains in contact with the track, thereby allowing the maintenance vehicle to simultaneously retract a pair of support arms and continue to move along the track. The number of support arms is not limited to an even number. Therefore, as an alternative to providing two or three pairs of support arms, the chassis maintenance vehicle may include five or seven support arms, which may be arranged spaced apart from each other along the length of the platform.

[0016] In one embodiment, the distance between the driving wheel and the support wheel of the support arms that are continuous along the length of the platform may be at least 0.5 meters. Large accessories may be arranged along the track on one or both sides of the track, which may cause obstacles to the maintenance vehicle. Such accessories are formed, for example, by rail connectors, which are usually arranged on both sides of the track and connect the various sections of the track to each other. Specific spacing of the support arms along the length of the platform may make it possible to retract a pair of support arms, to use the retracted pair of support arms to cross the obstacle and to extend the pair of support arms again, without the subsequent pair of support arms contacting the obstacle.

[0017] In one embodiment, the platform may be formed by a first portion including at least two pairs of support arms and a second portion including at least one pair of support arms. Dividing the platform into the first portion and the second portion may allow the maintenance vehicle to be variably designed. For example, the first portion may include a driven driving wheel, while the second portion may not include a driven driving wheel. By designing the platform in this way, manufacturing may be simplified and costs may therefore be reduced.

[0018] Preferably, the connection mechanism between the first part of the platform and the second part of the platform may be configured to fold the second part of the platform on top of the first part of the platform. Providing the connection mechanism so that the first part of the platform and the second part of the platform are foldable may allow the space requirement of the platform to be reduced. Furthermore, the platform may be stowed and stored in a folded state to save space. Furthermore, a maintenance vehicle may be operated in the folded state for maintenance, for example, when the second part does not need to be in contact with the track.

[0019] In one embodiment, the first portion of the platform and the second portion of the platform are configured to be releasably attached to each other. Due to the detachability of the first portion and the second portion of the platform, the number of wheels of the maintenance vehicle can be varied as needed. For example, a maintenance vehicle with four support arms can be operated and expanded to six or more support arms by connecting the second portion.

[0020] The problem defined above is further solved by a method for moving along a track, preferably using a chassis maintenance vehicle as defined above in the track, the track comprising two rails extending substantially parallel to each other and spaced apart by a track gauge, a rail connector or similar obstacle being provided on one of the rails, the method comprising the following steps:

[0021] S1: the chassis maintenance vehicle approaches the rail connector and optionally stops moving near the rail connector;

[0022] S2: the chassis maintenance vehicle retracts the first support arm closest to the rail connector;

[0023] S3: the chassis maintenance vehicle moves forward, and optionally, the chassis maintenance vehicle stops when the subsequent support arm approaches the rail connector;

[0024] S4: the chassis maintenance vehicle extends the currently retracted support arm;

[0025] S5: the chassis maintenance vehicle retracts the subsequent support arm;

[0026] S6: the chassis maintenance vehicle moves forward, and optionally, the chassis maintenance vehicle stops when the currently retracted support arm can be extended without interfering with the rail connector;

[0027] S7: The chassis maintenance vehicle repeats steps S4 to S6 for each subsequent support arm.

[0028] In other words, the maintenance vehicle can bypass an obstacle located on one side of the track by retracting the support arm located on one side of the track and moving the maintenance vehicle forward until the retracted support arm can be safely extended again. The process is repeated for each subsequent support arm in the longitudinal direction of the platform until no further support arms have to pass over an obstacle. At least three support arms are in contact with the track at all times, so that the platform cannot tip over, and at least one driven active wheel ensures the forward movement of the maintenance vehicle. The subsequent support arm is the support arm that follows the currently retracted support arm in the direction opposite to the forward movement direction of the platform.

[0029] The movement of the maintenance vehicle over the rail connector or similar obstacle can be an intermittent, step-by-step movement, including stopping the maintenance vehicle before retracting and / or extending one or more support arms, or alternatively, can be a substantially continuous movement, wherein one or more support arms are retracted and / or extended during the movement of the maintenance vehicle. In the latter case, the speed of the maintenance vehicle can be reduced when approaching the rail connector or similar obstacle, or can be kept substantially constant.

[0030] A method of moving along a track using a chassis maintenance vehicle having at least three pairs of support arms, the track comprising two rails extending substantially parallel to each other and spaced apart by a track gauge, wherein rail connectors or similar obstacles are provided on the two rails, the method comprising the following steps:

[0031] S1: the chassis maintenance vehicle approaches the rail connector of the track, and optionally stops moving near the rail connector;

[0032] S2: the chassis maintenance vehicle retracts the first pair of support arms closest to the rail connector;

[0033] S3: the chassis maintenance vehicle moves forward, and optionally stops when a subsequent pair of support arms is adjacent to the rail connector;

[0034] S4: the chassis maintenance vehicle extends a pair of support arms that are currently retracted;

[0035] S5: the chassis maintenance vehicle retracts the subsequent pair of support arms;

[0036] S6: the chassis maintenance vehicle moves forward, and optionally, the chassis maintenance vehicle stops when the pair of support arms currently retracted are able to not interfere with the rail connector;

[0037] S7: The chassis maintenance vehicle repeats steps S4 to S6 for each subsequent pair of support arms.

[0038] The simultaneous retraction of a pair of support arms allows the passage of the connecting pieces located on both sides of the track. At least four support arms, i.e. two pairs of support arms, are in contact with the rail at all times, so that the maintenance vehicle can be driven by at least two active wheels. In addition, the platform can be safely prevented from tilting.

[0039] According to another aspect of the present disclosure, the method may include positioning a train on a track, wherein when the chassis maintenance vehicle is located below the train, the chassis maintenance vehicle performs maintenance on the bottom of the train by means of a maintenance unit.

[0040] Modifications and advantages described with regard to the device apply correspondingly with regard to the method, and vice versa. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above and other purposes, features and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings, in which preferred embodiments of the present invention are shown by way of illustrative examples. In this document, all features described and / or shown constitute the subject matter of the present invention individually or in any combination, regardless of their summary in the claims or their references.

[0042] Figure 1 A perspective view of a first embodiment of a chassis maintenance vehicle according to the invention is shown.

[0043] Figure 2 Shown is the track system Figure 1 Embodiment of the invention.

[0044] Figure 3 Shows Figure 1 Detailed view of an embodiment of the support arm contacting the track.

[0045] Figure 4 Shows Figure 1 An isolated view of a portion of a support arm of an embodiment.

[0046] Figure 5 A perspective view of a second embodiment of a chassis maintenance vehicle according to the invention is shown.

[0047] Figure 6 Shows the rail connection Figure 5 Embodiment of the invention.

[0048] In the figures, identical elements, elements with the same action or elements of the same kind may be provided with the same reference symbols. DETAILED DESCRIPTION

[0049] Figure 1 A chassis maintenance vehicle 1 according to a first embodiment of the present invention is shown. The maintenance vehicle 1 is formed by a platform 3 having a generally box-like shape. The platform 3 extends a length l in the length direction and a width w in the width direction. At one end of the platform 3 in the length direction, a support arm 5 protrudes from each side of the width direction of the platform 3. The two support arms 5 form a pair of support arms 5. Another pair of support arms 5 is provided at the other end of the platform in the length direction. Each support arm 5 includes a retracting mechanism 12, a driving wheel 8 and a support wheel 7, which will be described in conjunction with the following. Figure 3 and Figure 4 Described in more detail. A detection unit 16 in the form of a sensor array is arranged at one end of the platform 3 in the longitudinal direction. An inspection system 4 is arranged at the other end of the platform 3 in the longitudinal direction. The inspection system 4 has a motorized arm 14, which has a plurality of joints that can move relative to each other. One end of the motorized arm 14 is connected to the platform 3, and the other end is equipped with a camera system 13. In addition, the motorized arm 14 has a tool 15, which is arranged next to the camera system 13 at the free end of the motorized arm 14.

[0050] Figure 2 Shows Figure 1 The chassis maintenance vehicle 1 shown is arranged in a track system 6. The track system 6 is composed of two rails 10 to form a track 2, and the two rails 10 extend parallel to each other and are separated by the track gauge g of the track 2. The track system 6 also includes sleepers 60, which are arranged perpendicular to the rails 10 and the rails are fixed to the sleepers 60 by track fixings 61. The chassis maintenance vehicle 1 is located between the two rails 10 of the track 2. The driving wheel 8 and the supporting wheel 7 of the support arm 5 are in contact with the respective rails 10, so that the chassis maintenance vehicle 1 can move along the track 2. The size of the platform 3 protrudes less than 80 mm from above the rail head 11. Figure 2 As shown, the inspection system also meets this requirement in the folded state.

[0051] Figure 3A detailed view of the support arm 5 in contact with the rail 10 is shown. The support arm 5 extends from the platform 3 in the width direction of the platform 3. The support arm 5 has a retracting mechanism 12, which can reduce the overall length of the support arm 5. The retracting mechanism 12 has a telescopic section 17, which is formed by two elements that can be moved inside the other element. Figure 4 As shown, the elements of the telescopic section 17 are moved by an electric motor 52 which is also housed in the support arm 5. The electric motor 52 is controlled and powered by a motor controller 51. A damper 18 is arranged below the retraction mechanism 12 and the electric motor 52. The damper 18 is preloaded by a spring so that it presses the support arm 5 towards the track 2. The damper 18 also dampens vibrations transmitted along the support arm 5 in the direction of the platform 3 and vice versa. A driving wheel 8 is provided at the end of the support arm 5 away from the platform 3. The driving wheel 8 has a metal core 81 (such as a rubber coating 82) surrounded by a rubber coating 82. Figure 4 A gear 83 is arranged on the side of the driving wheel 8 facing the platform, and the gear 83 is connected to a motor (not shown) through a shaft extending in the support arm 5 and is actively driven thereby. The support wheel 7 is arranged above the driving wheel 8. The support wheel 7 is connected to the support arm 5 through an adjustment mechanism 71. The adjustment mechanism can adjust the position of the support wheel 7 relative to the driving wheel 8 and the support arm 5.

[0052] The rail 10 comprises a wide base 9 which extends vertically as a narrow shank and ends in a wider head section 11 where the wheels of the bogie can contact the rail 10. The base 9 of the rail 10 is fixed on both sides of the rail 10 by means of the above-mentioned rail fixings 61. Figure 3 The rail shown corresponds to the standard rail of EN 13674-1. The support arm 5 with wheels 7, 8 at the ends is similar to an L-shape, which does not interfere with the rail fixing 61 (see Figure 3 The driving wheel 8 contacts the track 10 at a position at the bottom 9 of the track 10, which is close to the rod portion of the track 10. The supporting wheel 7 contacts the track 10 at the lower side of the rail head 11 of the track 10.

[0053] Figure 5 and Figure 6 A second embodiment of a chassis maintenance vehicle 100 according to the invention is shown. The second embodiment 100 is largely identical to the first embodiment, so reference is made to the description of the first embodiment in the same parts. Only the differences from the first embodiment will be highlighted and described in detail below.

[0054] Figure 5 The second embodiment 100 further comprises a maintenance unit 4, which is shown in FIG. Figure 5 and Figure 6 The maintenance unit 4 is not shown in the figure. Compared with the first embodiment 1, the second embodiment 100 includes an additional pair of support arms 5, so that the second embodiment has three pairs of support arms 5. Two pairs of support arms 5 are arranged on the first part 19 of the platform 3. One pair of support arms 5 is arranged on the second part 20 of the platform 3. The first part 19 of the platform 3 is similar to the platform 3 of the first embodiment of the maintenance vehicle 1. The second part 20 of the platform 3 is designed as a frame. The second part 20 is detachably connected to the first part 19.

[0055] Figure 5 and Figure 6 The sections of the track 2 shown include rail connectors 21, by which the sections of each rail 10 are connected to each other. These rail connectors 21, also known in the art as fish plates, have a length of, for example, 820 mm and are screwed in the transition between the sections of the rail 10 and the rail rod. The rail connectors 21 protrude too far from the rail rod, so that when the maintenance vehicle 100 moves along the track 2, the support arm 5 will collide with the rail connectors 21 when the support arm 5 is not retracted towards the platform 3 of the maintenance vehicle 100.

[0056] Figure 6 A maintenance vehicle 100 is shown in the track 2, which comprises a plurality of fish plates 21 located on both sides of the rail 10 and the track 2. The plurality of fish plates 21 are arranged at substantially the same level in the direction of the track 2. The first pair of support arms 5 located at the level of the fish plates 21 is retracted. The support arms 5 are retracted by the retraction mechanism 12 to the extent that the support arms 5 do not collide with the fish plates 21. The other two pairs of support arms 5 extend and drive the maintenance vehicle 100.

[0057] refer to Figure 6 The following describes the sequence of how the maintenance vehicle 100 passes through the arrangement of the fish plates 21 located on both sides of the track 2. First, all the support arms 5 are extended, and the maintenance vehicle 100 moves forward along the track 2 in the portion of the track 2 that does not have the fish plates 21. Then, as Figure 6 As shown, the maintenance vehicle 100 approaches the portion of the track 2 with fish plates 21 on both sides. The detection unit 16 shows that it is close to the fish plates 21, and the motor control of the driving wheel 8 brakes the maintenance vehicle 100 to stop 10 cm in front of the fish plates 21. Next, the two support arms 5 closest to the fish plates 21 are retracted. Then, the maintenance vehicle 100 moves forward and allows the first pair of support arms 5 to pass through the fish plates 21 (see Figure 6 ). Once the fishplate 21f is passed and the first pair of support arms 5 can be extended without interfering with the fishplate 21, the maintenance vehicle 100 stops and extends the first pair of support arms 5. Next, the next pair of support arms 5 is retracted. This is the second pair of support arms 5 located in the middle of the longitudinal direction l of the platform 3. Once the second pair of support arms 5 are retracted, the maintenance vehicle 100 advances to a position where the second pair of support arms 5 can be extended without interfering with the fishplate 21, and then extends the second pair of support arms 5. This process is performed for the third and last pair of support arms 5, so that these support arms are retracted first, then the maintenance vehicle 100 moves past the fishplate 21 and then the third pair of support arms 5 is extended. The maintenance vehicle 100 can then continue to move forward along the track 2.

[0058] However, the maintenance vehicle 1, 100 does not necessarily rely on the detection unit 16 to detect approaching obstacles. If obstacles are arranged regularly along the track 2, ie at a constant distance, the distance travelled by the maintenance vehicle 1, 100 can be used to infer approaching obstacles.

[0059] In addition to the above-mentioned case where the fish plates 21 are arranged on both sides of the track 2, there may also be a case where an obstacle (such as a fish plate 21) is arranged only on one side of the track 2. The following describes the order of how the maintenance vehicle 1, 100 passes through such an obstacle. As described above, it is possible to infer that the obstacle on one side is approaching based on the travel distance combined with information about the distance between obstacles along the track 2. Alternatively or additionally, the obstacle can also be detected by the detection unit 16. The maintenance vehicle 1, 100 determines that a fish plate 21 arranged on one side of the track 2 is approaching and brakes based on the stored information and the travel distance. The maintenance vehicle 1, 100 stops 10 cm in front of the fish plate 21 and retracts one of the support arms 5 closest to the fish plate 21. Subsequently, the maintenance vehicle 1, 100, which contacts the rail 10 of the track 2 with at least three support arms 5, moves forward and passes the fish plate 21 through the retracted support arms 5. When the retracted support arm 5 passes the fish plate 21, the forward movement stops and can be extended without interfering with the fish plate 21. This process is then repeated for each of the other support arms 5 located on this side of the maintenance vehicle 1 , 100 .

[0060] The sequence of the above-described movement process is not limited to this exact sequence. In principle, multiple support arms can be retracted and / or extended simultaneously. It is also possible to reverse the direction of movement before passing an obstacle. Furthermore, it is also possible to retract and extend the support arm 5 while moving at an arbitrary speed, instead of stopping the maintenance vehicle 1, 100 to extend and / or retract the support arm 5.

[0061] Reference numerals:

[0062] 1: Chassis maintenance vehicle

[0063] 2: Track

[0064] 3: Platform

[0065] 4: Maintenance unit

[0066] 5: Support arm

[0067] 6: Track system

[0068] 7: Support wheel

[0069] 8: Driving wheel

[0070] 9: Bottom

[0071] 10: Rails

[0072] 11: Rail head

[0073] 12: Retract mechanism

[0074] 13: Check the system

[0075] 14: Mobile Devices

[0076] 15: Operating System

[0077] 16: Detection unit

[0078] 17: Telescopic section

[0079] 18: Damper

[0080] 19: Part 1

[0081] 20: Part 2

[0082] 21: Connector (fish plate)

[0083] 51: Motor controller

[0084] 52: Electric Motor

[0085] 60:Sleeper

[0086] 61:Fixer

[0087] 71: Adjustment mechanism

[0088] 81:Metal core

[0089] 82: Rubber coating

[0090] 83: Gear

[0091] 100: Chassis maintenance vehicle

[0092] g: track gauge

[0093] l: length of the platform

[0094] w: width of the platform

Claims

1. A chassis maintenance vehicle (1, 100) for maintaining the bottom of a train, the chassis maintenance vehicle (1, 100) being configured to be movable on a track (2) having two rails (10), the rails (10) extending parallel to each other and spaced apart by a track gauge (g), wherein the chassis maintenance vehicle (1, 100) comprises: A platform (3) having a width (w), a maintenance unit (4) connected to the platform (3) and configured to perform maintenance operations on the bottom of the train, and At least two pairs of support arms (5), positioned along the length (1) of the platform (3) and extending substantially in the width direction, each support arm (5) comprising, when used in a track system (6) perpendicular to the track (2): A support wheel (7) is configured to rotate freely around a rotation axis, A driving wheel (8) is configured to rotate about a rotation axis, wherein the support arm (5) is arranged to connect the support wheel (7) and the driving wheel (8) to the platform (3), At least two of the driving wheels (8) are motorized driving wheels, characterized in that: The driving wheel (8) is configured to contact the bottom (9) of the rail (10) of the track (2), the supporting wheel (7) is configured to contact the lower side of the rail head (11) of the rail (10), and Each support arm (5) has a retracting mechanism (12) configured to retract the support arm (5) toward the platform (3).

2. The chassis maintenance vehicle (1, 100) according to claim 1, characterized in that: The maintenance unit (4) comprises an inspection system (13) suitable for inspecting the underside of the train.

3. The chassis maintenance vehicle (1, 100) according to claim 2, characterized in that: The inspection system (13) further comprises a moving device (14) for moving the inspection system.

4. The chassis maintenance vehicle (1, 100) according to claim 1, characterized in that: The maintenance unit (4) comprises a handling system (15) configured to mechanically interact with the underbody of the train.

5. The chassis maintenance vehicle (1, 100) according to claim 1, characterized in that: The chassis maintenance vehicle (1, 100) further comprises a detection unit (16), wherein the detection unit (16) is configured to detect a rail connector (21) or a similar obstacle near the chassis maintenance vehicle (1, 100).

6. The chassis maintenance vehicle (1, 100) according to claim 1, characterized in that: The retracting mechanism (12) comprises a telescopic section (17) with an adjustable total length.

7. The chassis maintenance vehicle (1, 100) according to claim 1, characterized in that: Each support arm (5) further comprises a vibration damper (18) configured to dampen vibrations transmitted from the driving wheel (8) and the support wheel (7) to the platform (3), and vice versa.

8. The chassis maintenance vehicle (100) according to claim 1, characterized in that: The chassis maintenance vehicle (100) comprises at least three pairs of support arms (5), wherein at least two driving wheels (8) spaced apart along the length (1) of the platform (3) are electrically driven wheels.

9. The chassis maintenance vehicle (100) according to claim 8, characterized in that: The distance between the driving wheel (8) and the supporting wheel (7) of the continuous supporting arm (5) along the length (l) of the platform (3) is at least 0.5 meters.

10. The chassis maintenance vehicle (100) according to claim 8, characterized in that: The platform (3) is formed by a first part (19) comprising at least two pairs of support arms (5) and a second part (20) comprising at least one pair of support arms (5).

11. The chassis maintenance vehicle (100) according to claim 10, characterized in that: The connection mechanism between the first part (19) of the platform (3) and the second part (20) of the platform (3) is configured to fold the second part (20) of the platform (3) on top of the first part (19) of the platform (3).

12. The chassis maintenance vehicle (100) according to claim 10, characterized in that: The first portion (19) of the platform (3) and the second portion (20) of the platform (3) are configured to be releasably attached to each other.

13. A method for moving along a track (2) using an undercarriage maintenance vehicle (1, 100) according to any one of claims 1 to 7, the track (2) comprising two rails (10) extending substantially parallel to each other and spaced apart by a track gauge (g), wherein a rail connector (21) or a similar obstacle is provided on one of the rails (10), characterized in that The method comprises the following steps: S1: the chassis maintenance vehicle (1, 100) approaches the rail connector (21); S2: the chassis maintenance vehicle (1, 100) retracts the first support arm (5) closest to the rail connector (21); S3: the chassis maintenance vehicle (1, 100) moves forward; S4: the chassis maintenance vehicle (1, 100) extends the currently retracted support arm (5); S5: the chassis maintenance vehicle (1, 100) retracts the subsequent support arm (5); S6: the chassis maintenance vehicle (1, 100) moves forward; S7: The chassis maintenance vehicle (1, 100) repeats steps S4 to S6 for each subsequent support arm (5).

14. A method for moving along a track (2) using a chassis maintenance vehicle (100) according to any one of claims 8 to 12, wherein the track (2) comprises two rails (10) extending substantially parallel to each other and spaced apart by a track gauge (g), wherein rail connectors (21) or similar obstacles are provided on the two rails (10), characterized in that The method comprises the following steps: S1: The chassis maintenance vehicle (100) approaches the rail connector (21) on the rail (10) of the track (2); S2: the chassis maintenance vehicle (100) retracts the first pair of support arms (5) closest to the rail connector (21); S3: the chassis maintenance vehicle (100) moves forward; S4: the chassis maintenance vehicle (100) extends the pair of support arms (5) that are currently retracted; S5: the chassis maintenance vehicle (100) retracts the subsequent pair of support arms (5); S6: the chassis maintenance vehicle (100) moves forward; S7: The chassis maintenance vehicle (100) repeats steps S4 to S6 for each subsequent pair of support arms (5).

15. Method for moving along a track (2) according to claim 13 or 14, characterized in that The train is located on the track (2), wherein when the chassis maintenance vehicle (1, 100) is located below the train, the chassis maintenance vehicle (1, 100) maintains the bottom of the train through a maintenance unit (4).

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