Track maintenance device

Description

[0001] The present patent application claims priority from German patent application DE 10 2020 207 437.2.

[0002] The invention relates to a device for track maintenance. Furthermore, the invention relates to a method for operating a device for track maintenance.

[0003] From WO 2017 / 097 390 A1, a tamping unit for tamping under the sleepers of a track is known. The tamping unit comprises tamping picks, each connected to a tamping lever and pivotally mounted on a tool carrier about a pivot axis. Each tamping lever is assigned an angle sensor to detect the pivot angle relative to the tool carrier. This improves the operation and service life of the tamping unit.

[0004] DE 1 904 121 A discloses a device with screwdrivers for tightening and loosening screw connections. To ensure that each screwdriver engages the screw connection robustly against positional tolerances, it is elastically mounted to a housing via springs with predetermined stiffness. The screwdrivers are thus movably mounted relative to the housing and relative to each other. However, these additional degrees of freedom make positioning the screwdrivers more difficult, especially when vibrations caused by motors or actuators excite the elastically mounted screwdrivers to oscillate. Furthermore, the elastic mounting of the screwdrivers reduces the tightening torques and tightening precision achievable on the screw connections.

[0005] Devices for track processing are known from GB 994 905 A, JP 2020-84439 A, GB 1 270 306 A and AT 316 615 B.

[0006] The invention is based on the objective of creating a simple, robust and flexibly applicable device for track bed processing.

[0007] This problem is solved by a device with the features of claim 1. Because the device includes at least one vibration decoupler with adjustable stiffness and / or adjustable damping, which acts between the at least one machining unit and the mounting device, the at least one machining unit can be precisely guided and positioned. Furthermore, the at least one machining unit and the mounting device can be decoupled to a desired degree. The decoupling of a movement of the mounting device from a movement of the at least one machining unit and / or a movement of the at least one machining unit from a movement of the mounting device is adjustable by means of the at least one vibration decoupler.This reduces the transmission of vibrations from the at least one processing unit to the mounting device. The device is therefore flexible and robust. It is particularly suitable for semi-automated and / or fully automated track maintenance. Specifically, it is designed as a track maintenance machine that can travel on rails.

[0008] Preferably, the at least one vibration decoupler is adjustable between a first coupling state, in which the vibration decoupler has a first stiffness and / or a first damping, and a second coupling state, in which the vibration decoupler has a second stiffness and / or a second damping that differs from the first coupling state, and in particular is lower. 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. Positioning the at least one machining device via the mounting device can thus be carried out with particular precision and safety. For track machining, the at least one vibration decoupler can be set to the second coupling state with the lower stiffness.During track processing, movements, particularly oscillations and / or vibrations, of at least one processing unit can be decoupled from the movement of the fastening device to a desired or significant extent in the second coupling state. The stresses acting on the fastening device are thus reduced. Due to these reduced stresses, the device is particularly robust and economical to operate.

[0009] The adjustability of the at least one vibration decoupler with respect to its stiffness and / or damping means that by changing at least one control variable, a change in corresponding properties can be effected, in particular reversibly. The integrity of the at least one vibration decoupler is preferably fully preserved. In particular, the vibration decoupler is adjustable without requiring the removal of any of its components and / or their replacement with another component, especially one with 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 tools.

[0010] The vibration decoupler can be configured so that the stiffness and / or damping can be changed at least once within a track maintenance cycle, in particular every cycle, and especially encompassing at least the positioning of the at least one maintenance unit and the track maintenance itself. Advantageously, this allows the stiffness and / or damping of the at least one vibration decoupler to be adjusted temporally between the positioning of the at least one maintenance unit on the track and the track maintenance itself.

[0011] Preferably, the at least one vibration decoupler is remotely adjustable with respect to its stiffness and / or damping. For this purpose, the vibration decoupler can have an interface, in particular a connector, for a signal connection. The interface and / or the signal connection are preferably designed to transmit fluidic and / or mechanical and / or electrical signals. In particular, the adjustment of the stiffness and / or damping can be automated. This allows the vibration decoupler to be operated particularly efficiently and economically.

[0012] According to one aspect of the invention, the at least one vibration decoupler is configured to allow relative movement between the at least one machining device and the fastening device in the vertical direction and / or in at least one horizontal direction, in particular in each horizontal direction, and / or along a feed direction, in particular a penetration direction or an engagement direction, of the at least one machining device and / or in at least one direction, in particular in all directions, perpendicular to the feed direction. The at least one vibration decoupler can be configured to allow rotational movements about the vertical direction and / or about the feed direction and / or about at least one direction perpendicular to the vertical direction and / or to the feed direction of the at least one machining device relative to the fastening device.The advantage of this is that the transmission of vibrations between the machining device and the fastening device is reduced particularly comprehensively.

[0013] The vibration decoupler can have one or more decoupling elements that are adjustable with respect to their stiffness or damping, and in particular can be changed reversibly with respect to these properties.

[0014] According to a further aspect of the invention, the at least one vibration decoupler is adjustable between different stiffness values ​​and / or damping values, which differ by at least 20%, in particular at least 50%, in particular at least 100%, and / or a maximum of 500%. This allows for particularly high machining flexibility.

[0015] Preferably, the at least one processing device is designed so that the adjustment of the stiffness and / or damping, in particular the switching between different stiffness and / or damping values, can be carried out within a 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. Track processing can thus be carried out in a particularly time-efficient manner.

[0016] Partial motion decoupling is understood to mean, in particular, that the decoupling occurs at least along individual degrees of freedom and / or along these degrees of freedom at least partially. For example, decoupling can occur with respect to at least one linear degree of freedom and / or one rotational degree of freedom. The at least one machining device is preferably mounted so as to be displaceable and / or pivotable relative to the mounting device. The at least one vibration decoupler can, for this purpose, have at least one linear bearing and / or a pivot joint, in particular a universal joint. The at least one vibration decoupler is preferably designed such that it counteracts any relative movement of the at least one machining device with respect to the mounting device.

[0017] Preferably, the at least one vibration decoupler is adjustable between at least two, in particular at least three, in particular at least four, in particular at least five coupling states, each with different stiffness and / or damping. The at least one vibration decoupler is preferably reversibly adjustable. Even more preferably, the at least one vibration decoupler is continuously adjustable, in particular between the first coupling state and the second coupling state.

[0018] The at least one vibration decoupler can include a coupling unit for reversibly coupling different stiffnesses, in particular several spring elements, and / or different regions of a single spring element in the force transmission path between the mounting device and the at least one machining device. The at least one spring element can comprise a coil spring and / or a leaf spring and / or an elastic body, in particular made of a soft elastic material, in particular a rubber material, in particular acrylonitrile butadiene rubber. Preferably, the coupling unit includes an actuator for reversibly coupling the different stiffnesses.

[0019] The at least one vibration decoupler can have a fluidic damping element, in particular a liquid damper and / or a gas damper and / or a throttle valve, and / or a mechanical damping element, in particular a mechanical brake, and / or an electrical damping element, in particular an eddy current brake, for adjusting the damping. Preferably, the damping element is reusable.

[0020] Preferably, the at least one vibration decoupler is configured such that its stiffness and / or damping can be adjusted by means of an electrical signal and / or a fluidic signal, in particular a fluid pressure. The at least one vibration decoupler is thus particularly easy and reliable to adjust and / or switch between the individual coupling states.

[0021] Preferably, the device comprises a control unit for adjusting the stiffness and / or damping of the at least one vibration decoupler, in particular for adjusting the at least one vibration decoupler between the at least two different coupling states. Preferably, the control unit is designed for automated adjustment of the at least one vibration decoupler. The control unit preferably comprises an electronic control device for controlling the device.

[0022] The at least one vibration decoupler can include a passive spring element and / or a passive damping element. Passive spring elements and passive damping elements are defined as spring elements and damping elements whose stiffness and / or damping are not adjustable. The passive spring element and / or passive damping element can, for example, be a rubber bearing. The at least one passive spring element and / or passive damping element ensures that the arrangement of the at least one vibration decoupler remains reliably coupled in at least one operationally safe state, particularly in the event of a failure of the electrical and / or fluidic power supply.

[0023] According to a further aspect of the invention, the movement of the fastening device is decoupled from movements of the at least one machining device by means of the at least one vibration decoupler in at least two, in particular at least three and / or in a maximum of four, in particular a maximum of three planes along the force path between the at least one machining device and the fastening device.

[0024] The at least one processing unit may comprise a processing machine and / or a processing tool. Unlike the processing tool, the processing machine includes a machine motor or drive motor to provide the power required for track processing.

[0025] The fastening device can be designed for permanent, non-removable attachment to a support structure. Preferably, the fastening device is designed for removable attachment to a support structure. For example, the fastening device can have a quick-release coupling for reversibly detachable, and in particular automated, connection to the support structure. Preferably, the fastening device comprises a fluid coupling for reversibly detachable establishment of at least one fluid connection and / or an electrical coupling for reversibly detachable establishment of at least one electrical connection, in particular with the support structure. The fluid coupling and / or the electrical 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 connections.These connections are preferably designed to transmit control signals and / or power signals to the at least one vibration decoupler and / or to the at least one processing device.

[0026] The fastening device preferably transmits forces in the range of 0.1 kN to 10 kN, in particular from 0.5 kN to 5 kN.

[0027] Preferably, the device comprises several machining units. These multiple machining units can be assigned to a common vibration decoupler, multiple vibration decouplers, and / or, in particular, to individual vibration decouplers. The multiple machining units can be assigned to a common mounting device, multiple mounting devices, and / or individual mounting devices. The device preferably comprises at least two, in particular at least three, and in particular at least four machining units, and / or at most eight, in particular at most six, and in particular at most four machining units.

[0028] According to one aspect of the invention, the device, in particular the at least one vibration decoupler, has a housing that conceals moving parts relative to each other, especially those between the mounting device and the at least one machining device. This reliably prevents personal injury and damage to the mechanism caused by intruding objects.

[0029] The device is particularly economical in operation due to an actuating device connected to the at least one vibration decoupler, which allows for adjusting the stiffness and / or damping. This actuating device can be located directly on the vibration decoupler or at a distance from it. In the case of a distanced arrangement, adjustment can be performed remotely. The signal connection can be configured to transmit fluidic, mechanical, and / or electrical signals. The actuating device can be designed as a pressure regulating unit, an automatically or manually operated switching lever, or an electronic control unit.

[0030] A device according to claim 2 is particularly economical in operation. The drive unit is preferably designed to provide the fluidic and / or mechanical energy required for adjusting 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.

[0031] A device according to claim 3 is robust and economical in operation. The fluid-filled chamber allows for particularly simple adjustment of the stiffness and / or damping of the at least one vibration decoupler. Preferably, the chamber can be reversibly filled with the fluid. In particular, filling the chamber can be automated based on a control signal from the control unit. The pressure of the fluid in the chamber can be changed to adjust the stiffness and / or damping.

[0032] The fluid can comprise a liquid, in particular water and / or oil, in particular hydraulic oil, or a gas, in particular air.

[0033] According to one aspect of the invention, the at least one vibration decoupler comprises at least one, in particular at least two, in particular at least three, in particular at least four, chambers. Preferably, an overflow channel is provided between at least two of the chambers. Preferably, the at least one vibration decoupler is designed such that the volume enclosed by the at least one chamber increases when a force is applied to the vibration decoupler, while the volume enclosed by a further chamber decreases simultaneously when the force is applied to the at least one vibration decoupler. The fluid can flow between these two chambers via the overflow channel. This allows damping of the relative movement between the fastening device and the at least one machining device to be achieved.

[0034] The at least one chamber can be configured as the displacement chamber of a piston-cylinder unit and / or as a bellows and / or as an elastic bladder. The piston-cylinder unit is preferably configured as a two-way cylinder-piston unit.

[0035] According to a further aspect of the invention, the chamber has a reversibly deformable chamber wall. This makes the device robust and economical in operation and ensures the decoupling of movements in a simple manner. Preferably, the chamber wall is deformed exclusively within an elastic range. Preferably, the wall thickness of the chamber wall is in the range of 2 mm to 6 mm, particularly from 0.5 mm to 4 mm, and more particularly from 1 mm to 2 mm. Preferably, the chamber wall is designed to withstand a fluid pressure within the chamber of at least 2 bar, particularly at least 5 bar, particularly at least 10 bar, particularly at least 50 bar, and more particularly at least 100 bar.The chamber wall can comprise an elastic material, in particular a rubber material, and / or a fibrous material, in particular carbon fibers and / or glass fibers and / or natural fibers and / or synthetic fibers, in particular polyamide fibers, and / or a textile material with such fibers and / or a plastic material and / or a metallic material, in particular steel, in particular spring steel. In particular, the chamber can be designed as a flexible rubber bellows.

[0036] The design of the chamber with the deformable chamber wall makes it possible to act on several linear degrees of freedom and / or rotational degrees of freedom simultaneously. In particular, unlike a piston-cylinder unit, the chamber with the deformable chamber wall can act on at least two motion components of the relative motion between the mounting device and the at least one machining device simultaneously, in particular on at least two linear motion components perpendicular to each other and / or on at least two rotational motion components and / or on at least one linear motion component and / or at least one rotational motion component.

[0037] According to a further aspect of the invention, the at least one vibration decoupler comprises at least one end stop for limiting relative movement between the mounting device and the at least one machining device. This advantageously ensures that the at least one vibration decoupler is not damaged by large deflections of the mounting device relative to the at least one machining device. In particular, damage to the reversibly deformable chamber wall can thus be avoided.

[0038] The at least one vibration decoupler can have a rigid housing, which limits pressure-induced expansion of the reversibly deformable chamber wall. This makes the device particularly safe to operate.

[0039] According to a further aspect of the invention, the device comprises a pressure regulating unit for controlling the fluid pressure in the chamber. This ensures easy adjustment of the motion decoupling. The pressure regulating unit can be a component of the at least one vibration decoupler. Alternatively, the pressure regulating unit can be arranged on the mounting device side with respect to the at least one vibration decoupler. The pressure regulating unit is preferably in signal communication with the control unit. The pressure regulating unit and / or the control unit can be configured to control the fluid pressure in the chamber. The adjustable pressure in the chamber allows for stepless adjustment of the stiffness and / or damping. Preferably, the chamber is configured as an adjustable gas spring and / or a pneumatic muscle.

[0040] According to a further aspect of the invention, the at least one vibration decoupler has an adjustable throttle valve for limiting the flow of fluid. This makes the device particularly economical to manufacture and ensures simple and reliable motion decoupling. Preferably, the throttle valve is electrically and / or fluidically adjustable, in particular by means of a signal from the control unit. The throttle valve is preferably arranged in the overflow channel between two chambers filled with fluid. Because the throttle valve is adjustable, the damping characteristic is also adjustable. Depending on the adjustable opening width of the throttle valve, a varying proportion of the kinetic energy used to move the mounting device relative to the at least one machining device is converted into heat energy and thus removed from the motion system.

[0041] A device according to claim 4 enables the stiffness and / or damping of the at least one vibration decoupler to be adjusted in a particularly simple and flexible manner. The brake unit can be fluidically and / or electrically actuated. For this purpose, the brake unit can have a fluidically and / or electrically actuated actuator. The brake unit can have an electromagnet and / or a piezoelectric element and / or a piston-cylinder unit for generating the braking force. According to a particularly preferred embodiment, the brake unit comprises an eddy current brake. Because the braking effect of the brake unit is adjustable, the damping and / or stiffness of the at least one vibration decoupler can be influenced. The brake unit is preferably in signal communication with the control unit.The braking effect can be adjusted, for example, based on a force signal provided by a force sensor and / or a displacement signal provided by a displacement sensor. The force signal preferably correlates with a force transmitted between the fastening device and the at least one machining device. The displacement sensor is preferably configured to detect the changing position of the at least one machining device relative to the fastening device.

[0042] A device according to claim 5 enables simple vibration decoupling. Because the machine motor is arranged in at least one machining unit, a structurally complex, motion-decoupled mechanical power transmission is unnecessary. Furthermore, the mass of the at least one machine motor acts as an inertial mass on the side of the at least one machining unit. Vibrations in the at least one machining unit are dampened by this inertial mass and thus only partially transmitted to the at least one vibration decoupler and to the fastening device. The machine motor can be a fluidically or electrically driven drive motor. For example, the machine motor can be a vibratory drive, in particular a vibratory drive of a stuffing unit, or a rotary drive, in particular a screw drive, especially an impact screw drive.

[0043] A device according to claim 6 is robust and economical in operation. Tamping units for track bed preparation are designed to generate vibrations for compacting the track bed. For this purpose, the tamping unit has a vibration generator. To penetrate the track bed, the tamping unit can have at least one, in particular at least two, in particular at least three, in particular at least four, penetrating elements, in particular tamping picks. The tamping unit can have a penetrating element receptacle for reversibly releasing the at least one penetrating element. The forces generated during the vibration of the tamping unit, in particular of the at least one penetrating element, contribute significantly to the wear of the device.By arranging at least one vibration decoupler between the at least one packing unit and the fastening device, wear on the fastening device can be significantly reduced. This can lower the maintenance and manufacturing costs associated with the device.

[0044] According to one aspect of the invention, the at least one stuffing unit is designed as a vibrating stuffing unit with a motor, a vibration generator, and at least one injector and / or an injector receptacle. The device preferably has at least two, in particular at least three, and in particular at least four, stuffing units, especially vibrating stuffing units. The vibrating stuffing unit can, for example, comprise a drive motor and a vibration generator arranged in a stuffing tube. The stuffing tube forms an injector.

[0045] Alternatively, the vibration generator can be arranged on the side of the mounting device, taking into account the at least one vibration decoupler. This allows the at least one machining device to be designed to be particularly lightweight. The mass supported by the mounting device is thus reduced.

[0046] According to a further aspect of the invention, the at least one machining device includes a vibration generator for producing a vibration. This makes the device particularly robust in operation. Because the at least one machining device includes the vibration generator, its vibrations can be decoupled particularly effectively from any movement of the mounting device. Furthermore, the mass of the vibration generator, acting as an inertial mass, contributes to damping the vibrations on the side of the at least one machining device.

[0047] A device according to claim 7 is particularly robust and economical in operation. The reaction forces occurring when tightening and / or loosening screws, for example, sleeper screws, contribute significantly to the wear of the device. Because the at least one vibration decoupler acts between the at least one screw unit and the fastening device, the forces transmitted to the fastening device can be reduced. Preferably, the screw unit is designed as an impact wrench and / or as a drill driver and / or as a drilling machine.

[0048] According to one aspect of the invention, the at least one screw unit comprises a torque sensor. The control unit is preferably configured to monitor the torque during tightening of the screw connection. The control unit can be configured to store and document a tightening torque of the respective screw connection together with a specific identifier of this screw connection and / or the position of the respective screw connection along the respective rails.

[0049] According to a further aspect of the invention, the at least one machining device comprises several screw units. This makes the device particularly economical to operate. According to another aspect of the invention, the device comprises at least two, in particular at least three, and in particular at least four screw units. Advantageously, this allows several of the screw connections to be tightened and / or loosened simultaneously.

[0050] According to a further aspect of the invention, the device comprises a clamping device for reversibly attaching the at least one machining unit to a rail. This makes the device particularly robust and economical to operate. The clamping device is preferably designed for reversibly clamping the at least one machining unit to a rail of the track. For this purpose, the clamping device can have a clamping actuator that reversibly provides a clamping force for clamping to the rail. The clamping device can be rigidly connected to the at least one machining unit. Preferably, the clamping device is movable relative to the at least one machining unit. Advantageously, this allows the respective screw unit to be displaced relative to the position of the rail, depending on the position of the screw connection.The clamping device can transfer forces generated when tightening and / or loosening the screw connection to the rail. This mechanically relieves the fastening device and / or the at least one vibration decoupler. In particular, very high tightening torques can be applied to the screw connections.

[0051] According to a further aspect of the invention, the device comprises a feeding unit for providing screw elements. This makes the device particularly economical to operate. The screw elements can include nuts and / or bolts and / or other screw elements required for a screw connection, such as washers and / or spring washers. Preferably, the feeding unit is designed to provide the screw elements at a specific position and / or with a predetermined orientation. For this purpose, the feeding unit can include a vibratory feeder and / or a vibrating table and / or a vibratory bowl feeder and / or a blister feeder for handling screw elements provided in blister packs. The feeding unit advantageously ensures that screw connections can be assembled largely, and in particular completely, automatically.

[0052] According to a further aspect of the invention, the at least one processing device comprises a cutting tool for separating a screw bolt. This makes the device particularly economical to operate. The cutting tool can be used to loosen, in particular, seized screw connections that cannot be loosened using, for example, the at least one screw unit. The cutting tool preferably includes a cutting tool motor to provide the power required for the cutting process. The cutting tool can be designed as an angle grinder, in particular with a cutting disc, or as cutting pliers. The cutting tool can be rigidly connected to at least one screw unit. Alternatively, the cutting tool can be designed to be movable relative to all of the screw units.Because stuck screw connections can be loosened using the separating tool, the device can be operated largely, and in particular completely, automatically.

[0053] A device according to claim 8 is particularly economical in operation. The relocation device is preferably designed to move and / or pivot the at least one machining unit, in particular the at least one stuffing unit and / or the at least one screwing unit, relative to the fastening device. This allows the at least one machining unit to be positioned and / or oriented relative to the respective workpiece with particular precision. In particular, two of the machining units can be oriented and positioned relative to each other with precise alignment according to the relative position and orientation of two workpieces. Preferably, the relocation device is designed to move the at least one machining unit, in particular the at least one screwing unit, along the vertical direction and / or parallel to a horizontal plane.The relocation device can include an actuator, which is in signal communication with the control unit, to effect the relocation movement. This makes the device particularly easy to operate automatically.

[0054] Preferably, at least one vibration decoupler is arranged between the mounting device and the displacement device and / or between the displacement device and the at least one machining device. For example, at least two, in particular at least three, in particular at least four and / or a maximum of eight vibration decouplers can be provided between the displacement device and the at least one machining device. These vibration decouplers are referred to as machining decoupling units.

[0055] Preferably, at least one, in particular at least two, in particular at least three, and / or a maximum of four vibration decouplers are arranged between the displacement device and the mounting device. This at least one vibration decoupler is referred to as the mounting-decoupling unit.

[0056] According to a further aspect of the invention, at least two of the tamping units are displaceable and / or pivotable relative to each other by means of the displacement device. This makes the device particularly economical in operation. Because the at least two tamping units are displaceable and / or pivotable relative to each other, the compaction of the track bed, especially under the sleepers, can be carried out particularly efficiently. The displacement device is preferably designed to displace and / or pivot the penetrating elements that have entered the track bed relative to each other. The displacement device can be designed to displace and / or pivot at least two of the vibrating tamping units relative to each other.The displacement device can be arranged with respect to the at least one vibration decoupler on the side of the at least one machining device and / or on the side of the fastening device. Preferably, the at least two, in particular at least four, in particular at least six packing units are always displaceable and / or pivotable relative to each other in pairs by means of the displacement device, in particular in directions directed towards each other.

[0057] The displacement device can include a linear guide and / or a linear drive for moving the at least two plugging units. For pivoting the at least two plugging units, the displacement device can include a pivot joint and a linear drive and / or a rotary drive. The linear drive is preferably designed as a hydraulic cylinder. According to one aspect of the invention, the displacement device is designed to move and / or pivot at least two, and in particular all, of the plugging units independently of one another relative to the fastening device.

[0058] A device according to claim 9 is particularly economical in operation. The positioning device can have a support structure for connection to the fastening device. The positioning device is preferably in signal communication with the control unit. The positioning device can preferably be controlled automatically, for example semi-automatically or fully automatically, by means of the control unit.

[0059] According to a further aspect of the invention, the positioning device comprises a multi-axis robot to which the mounting device is attached. This makes the device particularly flexible and economical to operate. The mounting device is preferably attached to a robot head of the multi-axis robot. The mounting device and / or the robot head can be configured to transmit fluidic and / or electrical signals via the connection between the robot head and the mounting device. Preferably, the robot head is configured for connection to the mounting device, which is designed as a quick-release coupling. The multi-axis robot is preferably configured to move the at least one processing unit over a section along the rails, which comprises at least three, and in particular at least four, track sleepers.

[0060] 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 a maximum of ten pivot joints or pivot axes. The multi-axis robot may have an arm section between each of the pivot joints.

[0061] According to one aspect of the invention, the positioning device comprises at least two, and in particular at least three, multi-axis robots, which can be used, in particular, simultaneously for track processing. Preferably, a mounting device with at least one vibration decoupler and at least one processing unit is attached to each of the multi-axis robots. This increases the processing capacity of the device.

[0062] According to a further aspect of the invention, the positioning device includes a carriage. This makes the device particularly flexible and economical to operate. The carriage can be designed as a trailer without a drive motor or it can have a drive system. Preferably, the at least one multi-axis robot is attached to the carriage, in particular in a reversibly detachable manner. The at least one multi-axis robot can be displaceable relative to the carriage, in particular in a linearly movable position. In particular, the at least one multi-axis robot is suspended from the carriage and / or attached to a wall inclined to the horizontal plane, in particular a vertical wall. The carriage is preferably movable on rails.

[0063] According to one aspect of the invention, the vehicle is designed as a two-way vehicle. The vehicle can have a rail chassis for traveling on rails and / or a road chassis for traveling on roads. Preferably, at least one of the chassis is height-adjustable. This allows the device, in particular the vehicle, to be moved between adjacent rails.

[0064] According to a further aspect of the invention, the device comprises a fixing unit for detachably attaching the at least one processing unit to the carriage. This makes the device particularly safe to operate. The fixing unit can be designed to positively lock the at least one processing unit, in particular in the form of a support clamp and / or a support basket. Preferably, the fixing unit is designed so that the at least one processing unit can be hooked into it from above. The fixing unit reliably holds the at least one processing unit, especially when moving the device along the rails. This prevents the at least one processing unit from getting caught in the track during operation, thereby avoiding personal injury or property damage.Preferably, the at least one processing device can be reversibly attached to the fixing unit by means of the multi-axis robot, in particular by means of a hook.

[0065] A device according to claim 10 is particularly safe and economical to operate. The term "machined object" refers to the object to be machined with at least one machining device. The machined object is, for example, the track bed and / or a bolted connection, in particular a bolt head. To detect the position and / or orientation of the machined object and / or to monitor the work area, the sensor device may comprise a camera unit, in particular a 3D camera, in particular a time-of-flight (TOF) camera, and / or an infrared camera, and / or ground-penetrating 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. The sensor device is preferably in signal communication with the control unit.According to one aspect of the invention, the control unit for controlling the device, in particular the positioning device and / or the transfer device and / or the at least one processing device, is designed on the basis of a signal from the sensor device.

[0066] According to one aspect of the invention, the device comprises a power supply unit for providing electrical and / or fluidic power to the positioning device and / or the at least one processing device and / or the at least one vibration decoupler. The power supply unit is preferably mounted on the carriage. This allows the device to operate autonomously, in particular independently of peripheral power supply units.

[0067] Another object of the invention is to create a method for operating a track maintenance device that enables simple, precise, flexible and economical track maintenance.

[0068] This problem is solved by a method having the features of claim 11. The advantages of the method correspond to the advantages described above in connection with the device.

[0069] Preferably, a device according to the preceding description is first provided. The at least one processing unit is preferably movable into a return position, in which the at least one processing unit is arranged at a distance from the workpiece, and into a working position, in which the at least one processing unit is engaged with the workpiece. In the working position, at least one tamping unit, in particular the indenter, is immersed in the track bed and / or at least one screwing unit, in particular a wrench, is engaged with the screw connection, in particular the screw head.

[0070] Preferably, the second stiffness is lower than the first stiffness and / or the second damping is lower than the first damping. The change in stiffness is preferably in the range of 1 N / cm to 1,000 N / cm, particularly from 10 N / cm to 100 N / cm, and / or in a range of 0.1 Nm / ° to 100 Nm / °, particularly from 1 Nm / ° to 10 Nm / °. Preferably, movement of the at least one processing device relative to the fastening device is completely locked and / or at least partially locked in a first coupling state and / or completely released and / or partially released in the second coupling state. Preferably, the track processing takes place in the area of ​​a straight section of track and / or in the area of ​​a turnout.

[0071] According to one aspect of the invention, the method is carried out semi-automatically and / or fully automatically, in particular by means of the control unit.

[0072] According to a further aspect of the invention, the relocation of the at least one processing unit is carried out, at least partially, and in particular exclusively, while the workspace is simultaneously monitored by means of a sensor device, especially a camera system. If a person and / or an object enters the workspace, the operation of the device can be interrupted. The sensor device preferably detects the entry of the person and / or object automatically and provides a corresponding signal to the control unit.

[0073] The vibration driving of the stuffing unit and / or the rotary driving of the screwing unit preferably takes place exclusively when the vibration decoupler is set to the second coupling state.

[0074] A method according to claim 12 ensures particularly precise track processing. Because the movement between the reset position and the working position occurs when the vibration decoupler is set in the first, stiffer coupling state, the at least one processing device can be positioned particularly precisely on the workpiece.

[0075] A method according to claim 13 ensures a reduction in the loads acting on the device. By setting the vibration decoupler to the second coupling state with the lower stiffness during track processing, a greater decoupling of the movement of the at least one processing unit from the movement of the fastening unit can be achieved. Wear on the device is reduced, and the device can be operated particularly economically.

[0076] A method according to claim 14 enables the application of particularly high torques to the bolted connections. In particular, the transmission of torques via the fastening device can be avoided. This relieves the fastening device and / or the positioning device and / or the vibration decoupler. Because at least two of the screw units are simultaneously engaged with a bolted connection, the bearing torques acting on the corresponding machining device when the respective bolted connection is rotated can be transferred via the other bolted connection. Therefore, no or only minimal torques need to be transmitted via the fastening device and / or the vibration decoupler.

[0077] According to one aspect of the invention, the two screw connections are tightened or loosened simultaneously, at least partially, and in particular completely. Preferably, the screw units are alternately driven by rotation during the initial loosening and / or the final tightening. The resulting maximum bearing forces thus do not overlap. The stress on the screw connections is therefore reduced.

[0078] According to a further aspect of the invention, the at least one processing unit is locked to at least one rail during track processing. This makes the method particularly economical. Preferably, the at least one processing unit is locked to the track during the tightening and / or loosening of at least one screw connection. Thus, each of the screw units can be used independently of any other screw unit to tighten and / or loosen the screw connections, with the bearing torques resulting from the rotation of the screw unit being transferred to the rail. The device, in particular the fastening device and / or the vibration decoupler, and / or the screw connections are not subjected to the bearing torques. Preferably, two of the screw connections are fully tightened and / or loosened simultaneously, particularly by means of two screw units.

[0079] According to a further aspect of the invention, the track is processed at the frog of a turnout. This makes the method particularly economical. Preferably, the at least one processing unit is moved automatically, in particular by means of the positioning device, especially with the multi-axis robot, relative to the track. Manual track processing in the complex area of ​​the turnouts can be avoided due to the flexible repositionability of the at least one processing unit relative to the track. The method is therefore particularly economical.

[0080] Another possibility is to create a tamping unit for track bed maintenance that is particularly economical in operation and manufacture.

[0081] This possibility is solved by a tamping unit for track bed maintenance, featuring a fastening device, at least one stuffing unit, with -- an indenter designed as a stuffing pick tube, and -- a vibration generator, wherein the vibration generator and / or a machine motor of the stuffing unit is arranged in the stuffing pick tube, and a displacement device for moving and / or pivoting the at least one stuffing unit relative to the fastening device.

[0082] The advantages of the stuffing unit correspond to the advantages described above in connection with the device and the method.

[0083] Preferably, the at least one stuffing unit or vibrating stuffing unit comprises a machine motor or drive motor for driving the vibration generator. The stuffing unit can have an indenter, in particular a stuffing pick, and / or an indenter receptacle for reversibly detachable attachment of an indenter.

[0084] The tamping unit comprises a tube or tamping tube as the indenter, in which the vibration generator and / or the machine motor or drive motor are arranged. Preferably, the vibration generator and / or the machine motor are at least partially, and in particular completely, overlapped by the indenter or tamping tube perpendicular to the vertical direction and / or the feed direction. In particular, the vibration generator and / or the machine motor can be arranged completely within the indenter or tamping tube, especially within a smallest convex envelope thereof. The tamping unit is thus particularly compact in design and energy-efficient in operation.

[0085] The packing unit can include at least one vibration decoupler. The at least one vibration decoupler is preferably arranged between the packing unit and the displacement device and / or between the packing unit and the fastening device and / or between the displacement device and the fastening device. The at least one vibration decoupler has, in particular, adjustable stiffness and / or adjustable damping. The packing unit can be further developed with the features described above in connection with the device, in particular with the packing unit.

[0086] Further features, details and advantages of the invention will become apparent from the following description of several exemplary embodiments with reference to the figures. These show Fig. 1 a perspective view of a track maintenance device with a carriage for traveling on rails, a multi-axis robot attached to it, a mounting device attached to the multi-axis robot and two processing devices, wherein several vibration decouplers act between the mounting device and the processing devices, Fig. 2 a side view of the device in Fig. 1 , wherein the processing devices each have a tamping unit for track bed processing, Fig. 3 a side view of the multi-axis robot with the processing devices attached to it in Fig. 1 Fig. 4 shows a front view of the mounting device, the vibration decoupler, the machining devices and a housing, with the vibration decoupler shown in section; Fig. 5 shows a front view of the mounting device, the vibration decoupler and the machining devices accordingly. Fig. 4 without the housing to illustrate a displacement device for pivoting the two machining devices relative to each other, which is arranged in an indentation position, Fig. 6 a front view of the mounting device, the vibration decoupler and the machining devices accordingly Fig. 5 , wherein the relocation device is arranged in a delivery position, Fig. 7 a perspective view of a track processing device according to a further embodiment, wherein the two processing devices each have a screw unit for tightening and / or loosening a screw connection, Fig. 8 a front view of the fastening device, the vibration decoupler and the two processing devices in Fig. 7 and a displacement device for moving the processing devices parallel and perpendicular to a tool engagement direction, and Fig. 9 a perspective view of a device for track processing according to a further embodiment with a carriage, two multi-axis robots attached thereto and each a fastening device attached to the respective multi-axis robot, on which two of the processing devices are arranged via an intervening vibration decoupler.

[0087] Based on the Fig. 1 bis Fig. 6 A first embodiment of a device 1 for track maintenance is described. The device 1 comprises a positioning unit 2 with a carriage 3 for traveling on rails 4 and a multi-axis robot 5. The carriage 3 has a drive unit 6 for moving the carriage 3 along the rails 4. A power supply unit 7, a control unit 8, and a storage unit 9 are arranged on the carriage 3.

[0088] The multi-axis robot 5 is attached to the bearing unit 9. The multi-axis robot 5 has six pivot joints 10 for moving a robot head 11 relative to the bearing unit 9. An arm section 12 of the multi-axis robot 5 is arranged between each of the pivot joints 10.

[0089] The device 1 has a mounting device 13, which is reversibly detachable from the positioning device 2, in particular from the robot head 11. Two machining units 14 are connected to the mounting device 13. Vibration decouplers 15a, 15b act between the machining units 14 and the mounting device 13. The vibration decouplers 15a, 15b are designed to decouple at least a portion of the movement of the mounting device 13 from the movement of the machining units 14. The stiffness and damping characteristics of the vibration decouplers 15a, 15b are adjustable.

[0090] The fastening device 13 includes a quick-release coupling 16 for reversible connection to the robot head 11. Furthermore, the fastening device 13 includes a fluid coupling 17, through which fluids, in particular hydraulic oil and compressed air, can be transmitted.

[0091] The two processing devices 14 each comprise a tamping unit 18 for track bed processing, in particular for compacting the track bed 19. Each tamping unit 18 has a penetrator 20 for penetrating the track bed 19 and a vibration generator 21 for generating a vibration at the penetrator 20. The penetrator 20 is designed as a tube, also referred to as a tamping tube. The respective vibration generator 21 is arranged in the associated penetrator 20. For generating the vibration, the vibration generator 21 comprises a (not shown) eccentrically mounted element.

[0092] The eccentric mass is mounted on the axis of rotation. The two vibration generators 21 of the stuffing units 18 are each rotatably driven by a machine motor 22, or drive motor of the stuffing units 18. The machine motors 22 are electrically driven. The required electrical power is supplied via a current coupling 23 of the fastening device 13. The machine motors 22 are arranged on the side of the stuffing units 18 with respect to the vibration decouplers 15a, 15b.

[0093] A displacement device 24 of the device 1 is designed to pivot the respective machining unit 14, in particular the respective stuffing unit 18, relative to the fastening device 13. For this purpose, the respective machining unit 14 is connected to the fastening device 13 via a feed joint 25 of the displacement device 24. A piston-cylinder unit 26 of the displacement device 24 generates the actuating force FS required to pivot the respective machining unit 14. By means of the displacement device 24, the two stuffing units 18 can also be pivoted relative to each other or pivoted towards each other.

[0094] The vibration decouplers 15a, 15b comprise a mounting-decoupling unit 15a attached to the mounting device 13 and a machining-decoupling unit 15b each attached to the two machining devices 14. The mounting-decoupling unit 15a and the machining-decoupling units 15b each comprise at least one chamber 27 that can be filled with a fluid for at least partially transmitting reaction forces FR between the mounting device 13 and the machining devices 14 via the fluid.

[0095] The mounting-decoupling unit 15a is designed to control a displacement movement of the machining device 14 relative to the mounting device 13 along a penetration direction 28 of the indenters 20 into the track bed 19. The machining-decoupling units 15b are designed to control the movements of the respective machining device 14 relative to the mounting device 13 along and perpendicular to the penetration direction 28. To control these relative movements, the pressure p1, p2, p3 of the fluid within the chambers 27 is adjustable. To limit the relative movements to a linear degree of freedom, the mounting-decoupling unit 15a includes a linear guide 29. The machining-decoupling units 15b do not have such a guide. The chambers 27 of both vibration decouplers 15a and 15b include a reversibly deformable chamber wall 30.The machining decoupling unit 15b does not restrict the relative movement to certain degrees of freedom between the machining devices 14 and the fastening device 13.

[0096] All chambers 27 of the vibration decouplers 15a, 15b are connected to the supply unit 7 via fluid connections 31, in particular via the fluid coupling 17. The fluid pressure p1, p2, p3 within the respective chamber 27 can be adjusted by means of the control unit 8 connected to the supply unit 7. The fluid is compressed air.

[0097] The mounting and decoupling unit 15a is designed as a piston-cylinder unit. The chambers 27 of the machining and decoupling units 15b are designed as rubber bellows. Depending on the pressure p1, p2, p3, the stiffness of the respective vibration decoupler 15a, 15b is adjustable. With increasing pressure p1, p2, p3, the respective vibration decoupler 15a, 15b is more strongly pre-tensioned into a rest position in which the volume V enclosed by the respective chamber 27 is at its maximum. The vibration decouplers 15a, 15b, arranged in a deflection position, exert a restoring force to the rest position that is dependent on the pressure p1, p2, p3.

[0098] A piston 32 of the mounting-decoupling unit 15a, designed as a piston-cylinder unit, is slidably mounted in a cylinder 33 and separates two annular chambers 27 from each other. A coil spring 33a acts between the piston 32 and the cylinder 33. The pressure p1, p2 in the chambers 17 can be adjusted via a fluid line 34, which is in fluid-conducting connection with the fluid coupling 17. The two chambers 27 of the mounting-decoupling unit 15a are fluid-conductingly connected to each other via an electrically controlled throttle valve 35. The throttle valve 35 is in signal-transmitting communication with the control unit 8. In particular, the throttle valve 35 is connected to the electrical coupling 23 via a current line 36.

[0099] The device 1 further comprises a sensor device 37 for detecting the position of sleepers 38 of the track, in particular the arrangement of the processing devices 14 relative to the track bed 19. The sensor device 37 is further configured to monitor a work area 39, in particular to detect whether objects or persons are located in the work area 39. For this purpose, the sensor device 37 comprises two cameras 40 and a ground-penetrating radar 41. A triangulation unit 42 and a GPS module 43 serve to precisely determine the position of the device 1 along the rails 4. The work area 39 is bounded below by the track bed 19 and laterally, forwards, and backwards by a frame bridge 39a, which connects a front part of the carriage 3 with a rear part of the carriage 3.

[0100] To securely fasten the processing device 14 to the carriage 3 when moving the device 1 along the rails 4, the device 1 includes a fixing unit 44. The fixing unit 44 is designed as a support frame in which the moving device 24 can be suspended from above, in particular by means of the multi-axis robot 5.

[0101] The operation of the device 1 is as follows: The carriage 3 is arranged on the rails 4. The processing devices 14 are suspended in the fixing unit 44 via the displacement device 24. The displacement device 24 is in the indentation position. The pressure p1, p2, p3 in the chambers 27 of the vibration decouplers 15a, 15b corresponds to the ambient pressure.

[0102] The drive unit 6 is activated and the carriage 3 is moved along the rails 4 to the object being processed, in particular to the track bed 19 to be compacted. The position of the device 1 at the area of ​​the track bed 19 to be processed is controlled by the control unit 8. For this purpose, the information acquired by the sensor device 37, in particular by the triangulation unit 42 and the GPS module 43, is processed in the control unit 8. The precise determination of the sleeper 38 of the track to be tamped by the processing devices 14 is carried out by means of the cameras 40.

[0103] Using the multi-axis robot 5, the fastening device 13 and the attached processing devices 14 are lifted from the fixing unit 44 and positioned above the section of the track bed 19 to be processed. The two processing devices 14 are arranged symmetrically to a vertical plane through a central longitudinal axis of the corresponding sleeper 38. The multi-axis robot 5 is controlled by the control unit 8. The device 1 is in its return position.

[0104] The chambers 27 of the vibration decouplers 15a, 15b are supplied with compressed air via a pressure regulating unit 45 of the control unit 8, in particular via the fluid lines 34.

[0105] The pressure p1, p2, p3 in chambers 27 increases, the stiffness of the vibration decouplers 15a, 15b increases, and the vibration decouplers 15a, 15b are in their rest position. For example, the pressure p1, p2 in chambers 27 of the mounting-decoupling unit 15a is 100 bar. The pressure p3 in chambers 27 of the machining-decoupling unit 15b is, for example, 25 bar. The vibration decouplers 15a, 15b are set to the first coupling state with their respective first stiffness values.

[0106] Based on a signal from the control unit 8, the multi-axis robot 5 lowers the processing devices 14 vertically downwards. The indenters 20 of the processing devices 14 penetrate the track bed 19. Because the vibration decouplers 15a, 15b are stiffened by the pressure p1, p2, p3 in the chambers 27, the positioning of the indenters 20 in the track bed 19 can be carried out with particular precision. The device 1 is located in the Fig. 5 Illustrated penetration position or penetration orientation.

[0107] The pressure in the chambers 27 is reduced by means of the pressure regulating unit 45 based on a corresponding signal from the control unit 8. For example, the pressure p1, p2 in the chambers 27 of the mounting-decoupling unit 15a is 10 bar. The pressure p3 in the chambers 27 of the machining-decoupling unit 15b is 5 bar. The respective second stiffness of the vibration decouplers 15a, 15b is reduced in the second coupling state compared to the first stiffness when penetrating the track bed 19. A second damping of the mounting-decoupling unit 15a in the second coupling state can be varied by means of the throttle valve 35 and is adjustable differently from the first damping in the first coupling state.

[0108] The machine motors 22 of the machining devices 14 are supplied with electrical power by the control unit 8, in particular via the power coupling 23 and the power lines 36. The machine motors 22 drive the vibration generators 21 of the machining devices 14. This generates a vibrational motion and transmits it to the indenters 20.

[0109] The piston-cylinder units 26 of the transfer device 24 are supplied with hydraulic fluid, which is provided by the supply unit 7 and routed to the piston-cylinder units 26 via the fluid coupling 17 and the fluid lines 34. The actuating forces FS acting on the piston-cylinder units 26 cause a pivoting movement of the machining devices 14 about the feed joints 25. The transfer device 24, in particular the machining devices 14, is located in the Fig. 6 Illustrated delivery position.

[0110] When the indenters 20 are moved into the track bed 19, reaction forces FR act on the processing device 14 due to the vibration and the pivoting of the indenters 20 immersed in the track bed 19. These reaction forces FR are transmitted to the fastening device 13 via the processing decoupling unit 15b, the moving device 24, and the fastening decoupling unit 15a. The transmission of the reaction forces FR occurs at least partially via the compressed air introduced into the chambers 27. Because the pressure p1, p2, p3 during the pivoting of the processing devices 14 about the access joints 25 is lower than the pressure p1, p2, p3 during penetration into the track bed 19, the forces transmitted to the fastening device 13 can be reduced.In particular, the reaction forces FR resulting from the vibration of the indenters 20 are largely eliminated by the vibration decouplers 15a, 15b. Specifically, peak values ​​of the vertical reaction forces F Rz during penetration into the track bed 19 are reduced by the vibration decouplers 15a, 15b. The adjustable throttle valve 35 allows for adjustable damping of the vertical relative movement of the machining devices 14 with respect to the fastening device 13.

[0111] The control unit 8 provides a signal to move the machining devices 14 into the penetration position by means of the piston-cylinder unit 26. The machining devices 14 pivot back into the penetration position around the feed joints 25. Based on a signal from the control unit 8, the multi-axis robot 5 moves the machining devices 14 back into the return position. The vibration decouplers 15a, 15b are returned to their initial coupling state.

[0112] The sensor device 37 provides a signal to the control unit 8 that correlates with the position of the adjacent sleeper 38. The multi-axis robot 5 moves the processing devices 14 to the next reset position above the next section of the track bed 19 to be processed. Further processing of the track bed 19 is carried out according to the preceding description.

[0113] Throughout the entire track processing operation, the work area 39 is monitored by the sensor device 37. If a person or object enters the work area 39, it is detected by the sensor device 37 and a corresponding signal is sent to the control unit 8. The control unit 8 then interrupts the operation of the device 1. In particular, the movements of the multi-axis robot 5, the displacement device 24, and the vibration generator 21 are stopped. This ensures that the operation of the device 1 is particularly safe.

[0114] The carriage 3 is designed as a multi-directional vehicle. For this purpose, the carriage 3 includes, in addition to a rail bogie 46 for traveling on the rails 4, an auxiliary bogie 47. The auxiliary bogie 47 is movable in the vertical direction, in particular between a position above the rail bogie 46 and a position below it. The auxiliary bogie 47 is designed for traversing uneven surfaces and roads. Specifically, the auxiliary bogie 47 is designed to move the device 1 between two adjacent tracks, in particular perpendicular to the longitudinal extent of the rails 4. This significantly increases the operational flexibility of the device 1.

[0115] Because the vibration decouplers 15a, 15b act between the machining devices 14 and the fastening device 13, the positioning device 2, in particular the carriage 3 with the multi-axis robot 5, is subjected to significantly less mechanical stress and its wear is reduced. The positioning device 2 can therefore be designed to be particularly material-efficient and lightweight, and can be manufactured and operated very economically.

[0116] Based on the Fig. 7 and Fig. 8 A further embodiment of the invention is described. In contrast to the embodiment described above, the device 1 has two machining units 14, each with a screw unit 48 for tightening and loosening a screw connection 49. Each screw unit 48 comprises a machine motor 22 for rotating a screw tool 50 of the screw unit 48. A socket wrench 51 for rotating the screw connection 49 is reversibly detachable from the respective screw tool 50. A displacement device 24, shown only schematically, is designed to displace the two machining units 14 independently of each other along a direction of engagement 52 of the screw tool 50. The displacement device 24 is further designed to move the machining units 14 perpendicular to the direction of engagement 52 relative to each other.In particular, the relocation device 24 is designed, according to the previously described embodiment, to relocate the respective machining device 14 together with the associated machining decoupling unit 15b.

[0117] The machining decoupling units 15b have an elastically deformable chamber wall 30 in the form of a rubber bellows. The design of these machining decoupling units 15b essentially corresponds to the machining decoupling units 15b according to the embodiment described above.

[0118] In contrast to the embodiment described above, the fastening-decoupling unit 15a includes a brake unit 53 for adjustable braking of the movement of the machining devices 14 relative to the fastening device 13. The brake unit 53 comprises brake pads 54, which can be reversibly pressed against a brake body 56 by means of a brake actuator 55. The damping of a movement transmitted via the fastening-decoupling unit 15a is adjustable by means of the brake unit 53 based on the contact force FA generated by the brake actuator 55. The fastening-decoupling unit 15a decouples the movement of the fastening device 13 from the movement of the machining devices 14 exclusively along the direction of engagement 52. Forces oriented perpendicular to the direction of engagement 52 are transmitted via the brake unit 53 and the spring element 33a. No movement decoupling occurs perpendicular to the direction of engagement 52.Corresponding movements are transmitted essentially rigidly via the linear guide 29 of the fastening decoupling unit 15a.

[0119] The device 1 comprises a clamping device 57, shown only schematically, for reversibly attaching the machining devices 14 to the rails 4. The clamping device 57 is mounted on the transfer device 24. The clamping device 57 has an actuating element (not shown) for reversibly clamping it to the rail 4. The actuating element can be operated by means of a signal from the control unit 8.

[0120] Furthermore, the device 1 comprises a [unclear] in the Fig. 8 The cutting tool 58, shown only schematically, is for cutting off a screw bolt 59 from a non-removable, stuck screw connection 49. The cutting tool 58 has a cutting grinding wheel 60 for this purpose, which can be rotated by means of a cutting tool motor 61.

[0121] The device 1 has a feeding unit 62 for providing screw elements, in particular screws and / or nuts. The feeding unit 62 is designed for handling blisters. The screw elements can thus be provided in a definable position and orientation and fed automatically, in particular by means of the multi-axis robot 4, to the processing units 14.

[0122] The functioning of device 1 according to the description in the Fig. 7 and 8 The embodiment shown is as follows: According to the previously described embodiment, the device 1 is moved towards the workpiece, in particular towards the screw connections 49 to be loosened. The device 1 is in the return position. The vibration decouplers 15a, 15b are set to the first coupling state with the higher stiffness compared to the second coupling state.

[0123] The position of the rail 4 and the screw connections 49 is detected by the sensor device 37. Controlled by the control unit 8, the clamping device 57, rigidly attached to the transfer device 24, grips the rail 4. An actuator of the clamping device 57 is activated by the control unit 8. The rail 4 is clamped between the clamping jaws of the clamping device 57. The machining devices 14 are supported on the rail 4 via the transfer device 24 and the clamping device 57.

[0124] Based on a signal from the control unit 8, the machining devices 14 are positioned relative to each other and perpendicular to the direction of engagement 52 by means of the displacement device 24, according to the relative position of the screw connections 49 to each other.

[0125] Based on a further signal from the control unit 8, the machining devices 14 are lowered in the engagement direction 52 by means of the multi-axis robot 5. The socket wrenches 51 are brought into engagement with the screw heads of the bolts 59. The vibration decouplers 15a, 15b are set to the second coupling state with a lower stiffness compared to the first coupling state.

[0126] The machine motors 22 are activated and the socket wrenches 51 are driven by the screwdrivers 50. The screwdrivers 50 are designed as impact wrenches. Seized screw connections 49 can thus be loosened particularly reliably.

[0127] The vibration decouplers 15a, 15b decouple the movement of the mounting device 13 from the movements of the two machining devices 14. Peak vertical reaction forces F Rz are eliminated by the mounting decoupling unit 15a. The vertically resilient bearing, provided by the linear guide 29 and the spring element 33a, prevents the transmission of shock loads to the mounting device 13 when the screw connections 49 are engaged during the lowering of the machining tools 14. The inertia of the pre-designed components of the device 1, in particular the machining devices 14 and the displacement device 24, can thus counteract shock loads. The braking unit 53 dampens the vertical movement of the machining devices 14 relative to the mounting device 13, thereby further reducing the forces acting on the mounting device 13.

[0128] By designing the screw units 48 as impact screw units, seized screw connections 49 can be loosened particularly reliably. The vibrations generated during impact screwing lead in particular to reaction forces FRx, FRy in the horizontal plane. Force peaks of these reaction forces FRx, FRy are eliminated in the machining decoupling devices 15b. The movement of the machining devices 14 is at least partially decoupled from the movement of the displacement device 24 by the machining decoupling device 15b.

[0129] After loosening the screw connections 49, the clamping device 57 is detached from the rail 4. The vibration decouplers 15a, 15b are adjusted to the first coupling state, which has a higher stiffness than the second coupling state. The machining devices 14 are lifted over the fastening device 13 by means of the multi-axis robot 5.

[0130] The sensor device 37 checks whether the screw connections 49 have been loosened. If at least one of the screw connections 49 is so tight that it cannot be loosened using the screwdriver 50, the corresponding bolt 59 is cut off. For this purpose, the cutting tool 58 is moved to the corresponding screw connection 49 by the multi-axis robot 5. The vibration decouplers 15a, 15b are set to the first coupling state. The cutting tool motor 61 is activated and the cutting disc 60 is moved towards the bolt 59. The bolt 59 is cut. The cutting process is complete and the device 1 is moved back to its reset position.

[0131] The device 1 can also be used for manufacturing, in particular for assembling and tightening screw connections 49. For this purpose, the screw units 48 are moved to the loading device 62 by means of the multi-axis robot 5. The vibration decouplers 15a, 15b are set to the first coupling state. The socket wrenches 51 are inserted into the blisters filled with screws. The screws are held in the socket wrenches 51, for example, by means of a clamping connection, in particular by means of a pressure piece, and / or by means of a magnet, in particular an electromagnet. When the processing devices 14 are moved towards the screw connection 49 to be manufactured, the screws are removed from the blister. The screws are inserted into the predetermined screw hole based on a signal from the control unit 8, in particular based on the measured values ​​provided by the sensor device 37.

[0132] The machining devices 14 are attached to the rail 4 by means of the clamping device 57. The vibration decouplers 15a, 15b are set to the second coupling state. The machine motors 22 are activated. The screw connections 49 are tightened, preferably simultaneously.

[0133] According to a further embodiment, not shown, the device 1, unlike the embodiment described last, does not have a clamping device 57. The two screw units 48 of the machining devices 14 support each other when tightening and / or loosening the screw connections 49. In particular, the torques transmitted to the respective screw connection 49 are dissipated by corresponding reaction forces FR acting on the other screw connection 49.

[0134] To reduce the stress on the screw connections 49 caused by these reaction forces FR, both machining units 14 are not activated simultaneously during the initial loosening and / or final tightening; instead, the screw units 48 are operated alternately. However, during the initial tightening and / or final loosening of the screw connections 49, both screw units 48 are operated simultaneously.

[0135] Preferably, the screw units 48 have a force sensor, in particular a torque sensor. Switching between simultaneous and alternating operation of the screw units 48 is preferably carried out on the basis of a signal from the respective force sensor, in particular by the control unit 8.

[0136] Based on the Fig. 9A further embodiment of the invention is described. In contrast to the embodiments described above, the device 1 has two multi-axis robots 5, each with two processing units 14 attached to it via a mounting device 13. The processing units 14 are designed as screw units 48. Alternatively, the processing units 14 can be designed as tamping units 18. The control unit 8 and the supply unit 7 are designed to operate the two multi-axis robots 5 and the processing unit 14. By designing the device 1 with the two multi-axis robots 5 and the four processing units 14, track maintenance can be carried out simultaneously on both rails 4 of the track. This further increases the work efficiency of the device 1.

[0137] In contrast to the arrangement on a single bearing unit 9 in a central area between the rails 4, in this embodiment two bearing units 9 are provided for supporting the multi-axis robot 5, which are attached to the carriage 3. The frame bridge 39a is replaced by a central frame girder 39b, which runs centrally between the rails 4. The loading device 62 is arranged on the frame girder 39b. The loading device 62 is thus accessible to all processing devices 14.

[0138] The cameras 40 of the sensor device 37 are arranged in a side area of ​​the carriage 3. The two work areas 39 are monitored by the sensor device 37 according to the embodiments described above.

[0139] The functioning of device 1 corresponds to the functioning of devices 1 according to the embodiments described above.

[0140] Because the device 1 incorporates the vibration decouplers 15a, 15b, the movement of the fastening device 13 is at least partially decoupled from the movement of the at least one machining device 14. The loads transmitted to the fastening device 13, and in particular to the positioning device 2, can thus be significantly reduced. The device 1 is particularly robust and reliable in operation and can be manufactured and operated very economically.

Claims

1. An apparatus (1) for track machining, comprising - a fastening device (13), and - at least one machining device (14) for compacting a track bed (19) and / or for tightening and / or loosening a screw connection (49), characterized by at least one vibration decoupler (15a, 15b) with an adjustable stiffness and / or an adjustable damping to at least partially decouple the fastening device (13) and the at least one machining device (14), wherein the at least one vibration decoupler (15a, 15b) is arranged between the at least one machining device (14) and the fastening device (13), and by an adjusting means (45) that is in signal communication with the at least one vibration decoupler (15a, 15b), for adjusting the stiffness and / or the damping.

2. An apparatus (1) according to claim 1, characterized by a drive unit (7) connected to the adjusting means (45) for providing a fluidic and / or mechanical signal for automated adjustment of the stiffness and / or the damping.

3. An apparatus (1) according to any one of the preceding claims, characterized in that the at least one vibration decoupler (15a, 15b) has a chamber (27) filled with a fluid for the at least proportional transmission of forces between the fastening device (13) and the at least one machining device (14) via the fluid.

4. An apparatus (1) according to at least one of the preceding claims, characterized in that the at least one vibration decoupler (15a, 15b) has a braking unit (53) for adjustable braking of the at least one machining device (14) relative to the fastening device (13).

5. An apparatus (1) according to at least one of the preceding claims, characterized by at least one machine motor (22) for providing a power required for operating the at least one machining device (14), which machine motor (22) is arranged in particular with respect to the at least one vibration decoupler (15a, 15b) on the side of the at least one machining device (14).

6. An apparatus (1) according to at least one of the preceding claims, characterized in that the at least one machining device (14) has a tamping unit (18) for track bed treatment.

7. An apparatus (1) according to at least one of the preceding claims, characterized in that the at least one machining device (14) has a screwing unit (48) for tightening and / or loosening a screw connection (49).

8. An apparatus (1) according to at least one of the preceding claims, characterized by a displacement device (24) for displacing and / or pivoting the at least one machining device (14) relative to the fastening device (13).

9. An apparatus (1) according to at least one of the preceding claims, characterized by a positioning device (2), to which the fastening device (13) is attached, for positioning the at least one machining device (14) on the track, wherein the positioning device (2) in particular has a multi-axis robot (5) to which the fastening device (13) is attached.

10. An apparatus (1) according to at least one of the preceding claims, characterized by a sensor device (37) for detecting the position and / or the orientation of an object to be machined (19, 49) of the track and / or for monitoring a working space (39).

11. A method for operating an apparatus (1) for track machining comprising the steps of: - providing an apparatus (1) according to at least one of the preceding claims, - adjusting the vibration decoupler (15a, 15b) between -- a first coupling state in which the vibration decoupler (15a, 15b) has a first stiffness and / or a first damping, and -- a second coupling state in which the vibration decoupler (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 screw connection (49) by means of the at least one machining device (14).

12. A method according to claim 11, characterized by displacing the at least one machining device (14) from a restoring position to a working position, wherein the vibration decoupler (15a, 15b) is set to the first coupling state.

13. A method according to claim 11 or 12, characterized by machining the track, wherein the vibration decoupler (15a, 15b) is set to the second coupling state.

14. A method according to at least one of claims 11 to 13, characterized by tightening and / or loosening two screw connections (49) of the track one after the other and / or simultaneously, wherein in particular two rotatably drivable screwing units (48) are engaged simultaneously with one of the screw connections (49) in each case.