Bogie for inspection and / or maintenance of an underframe of a railway convoy, with a setup for overcoming obstacles

Abstract

Bogie (1) for the inspection and / or maintenance of an underframe of a railway convoy, said bogie being of the type suitable for moving on a railway (B) having two rails (R1, R2) placed side-by-side, said bogie comprising a frame (2) having a longitudinal extension (L); a plurality of wheel groups (31, 32, 33, 34, 35, 36, 37, 38) mounted to the frame longitudinally spaced from one another; the wheel groups of said plurality are movable between a retracted position in which they are out of contact with the respective rail and an extracted position in which they are in rolling contact with the respective rail; at least one transverse motion device (41, 42, 43, 44), operatively coupled with the wheel groups of said plurality, to move in transverse extraction and / or retraction with respect to the frame the wheel groups mounted to the frame and longitudinally spaced from one another; at least one synchronizing device, operatively coupled with the at least one transverse motion device, to coordinate the extraction of at least one first wheel group with the retraction of at least one second wheel group, longitudinally spaced with respect to the at least one first wheel group, for overcoming one or more obstacles (W) along the railway.

Description

[0001] "BOGIE FOR INSPECTION AND / OR MAINTENANCE OF AN UNDERFRAME OF A RAILWAY

[0002] CONVOY, WITH A SETUP FOR OVERCOMING OBSTACLES"

[0003] TECHNICAL FIELD

[0004]

[0001] . The object of the present invention is a bogie for inspection and / or maintenance of an underframe of a railway convoy.

[0005] STATE OF THE ART

[0006]

[0002] . Bogies are generally known to move along railways to position themselves under a parked railway convoy in order to proceed with the inspection of the underframe of the railway convoy itself.

[0007]

[0003] . Such known bogies are typically provided with vertical-axis wheel groups to be able to roll on the inner stem or side of the rails, unlike what occurs with railway convoys that instead rest their conical wheels on the upper crown of the rail, i.e., the convex rolling surface facing upwards of the rail. This avoids the bogie having to proceed on the upper crown of the rail with the advantage of avoiding blockages due to the wheels of the railway convey itself.

[0008]

[0004] . For example, the prior art document WO-2018-060945 shows a railway vehicle solution for inspection of the underframe of railway convoys on the tracks having driving wheels with vertical axis to roll on the inner face of the rod or stem of the rails of the railway, and stabilization wheels with subhorizontal axis resting on the lower fence plane of the rail. The driving wheels are elastically preloaded outwards, i.e., towards the rail stem by means of the provision of a transverse spring and a preload regulation device.

[0009]

[0005] . This type of railway vehicle, although satisfactory from some points of view, are not without any drawbacks.

[0010]

[0006] . In fact, where obstacles are present along the railway, and in particular obstacles present along the rail, such a known vehicle would be blocked and no longer capable of proceeding, whereby it would be necessary to intervene manually to remove the vehicle from the railway and place it again between the railway beyond the obstacle. Especially in sections where there are numerous and frequent obstacles, a vehicle according to the prior art becomes practically unusable.

[0011]

[0007] , Since such known bogies take advantage of the internal stem, i.e., the side of the rail that is vertically turned to exert the driving action, avoiding proceeding on the upper crown of the rail where the railway convoys instead travel, it is not uncommon for the presence of an obstacle along the rail to affect only the stem or side, leaving the surface of the crown free. In such a condition, therefore, the railway convoy is not prevented from proceeding while the bogie would be blocked by the presence of the obstacle.

[0012]

[0008] . The need is therefore felt to allow a bogie for inspection and / or maintenance of the underframe of a railway vehicle to overcome any obstacles present along the railway and in particular on the inner side or inner stem of the rails of the railway.

[0013] SUMMARY OF THE INVENTION

[0014]

[0009] . The object of the present invention is therefore to propose a solution that meets the needs complained of with reference to the prior art.

[0015]

[0010] . This and other objects are achieved with a bogie according to claim 1 , as well as with a method according to claim 9.

[0016]

[0011] . Some advantageous embodiments are the object of the dependent claims.

[0017]

[0012] . According to an aspect of the invention, a bogie for inspection and / or maintenance of an underframe of a railway convoy comprises a frame having a longitudinal extension and a plurality of wheel groups mounted to the frame longitudinally spaced from one another, in which the wheel groups of said plurality are movable between a retracted position in which they are out of contact with the respective rail and an extracted position in which they are in rolling contact with the respective rail;

[0018]

[0013] . The bogie further comprises at least one transverse motion device, operatively coupled with the wheel groups of said plurality, to move in transverse extraction and / or retraction with respect to the frame the wheel groups mounted to the frame and longitudinally spaced from one another and a synchronizing device, operatively coupled with the at least one transverse motion device, to coordinate the extraction of at least one first wheel group with the retraction of at least one second wheel group, longitudinally spaced with respect to the at least one first wheel group, for overcoming one or more obstacles along the railway.

[0019]

[0014] . The synchronizing device can comprise a remote portion thereof, i.e., in remote operative coupling and is preferably an automatic synchronizing device, although the synchronizing device can according to an embodiment be controlled by an operator by means of a control interface, for example a remote control or joystick.

[0015] . Preferably, the synchronizing device comprises an electronic control unit, configured to transmit command signals to the at least one transverse motion device, and at least one sensor to detect the presence, and preferably also the position and / or current distance, of an obstacle along the railway.

[0020]

[0016] . The wheel groups of said plurality are preferably arranged in pairs placed side-by-side and transversally opposite with respect to the frame, forming pairs of transversally opposite wheel groups operatively connected to one another by means of at least one transverse motion device.

[0021]

[0017] . The bogie can be formed by a plurality of modular units longitudinally connected to one another, wherein each modular unit comprises a frame thereof and at least one linking element for connecting to an adjacent modular unit. Preferably but not necessarily, each modular unit comprises at least two transversally opposite wheel groups of said plurality and at least one transverse motion device for the at least two opposite wheel groups. Each modular unit can comprise an electronic control unit thereof and preferably the control units are in operative connection with one another to coordinate the retraction and extraction of the wheel groups of adjacent modular units.

[0022]

[0018] . The bogie also preferably comprises at least one articulated arm mounted to the frame and comprising at least one operative portion for inspection and / or maintenance of the railway convoy. The operative portion for inspection and / or maintenance of the railway convoy can comprise one or more cameras. An articulated arm is not necessarily provided, and for example the one or more cameras can be installed on a linearly extendable element, for example vertically and / or a pattern of fixed cameras can be provided on the frame.

[0023] BRIEF DESCRIPTION OF THE DRAWINGS

[0024]

[0019] . Further features and advantages of the invention will appear from the following description of embodiments, given by way of non-limiting example, with reference to the accompanying figures, in which:

[0025] - figure 1 is an axonometric view of a bogie, according to an embodiment, when on a railway;

[0026] - figures 2 to 10 show in top plan view a sequence of a bogie advancing along a railway overcoming an obstacle, according to an embodiment;

[0027] - figure 11 is an axonometric view of a portion of a bogie with a pair of transversally opposite wheel groups, according to an embodiment; - figure 12 is an axonometric view of a portion of a bogie with a pair of transversally opposite wheel groups, according to an embodiment;

[0028] - figure 13 shows a rail in cross-section crossed by a wheel group of a bogie, according to an embodiment;

[0029] - figures 14 to 19 show in top plan view a sequence of a bogie advancing along a railway overcoming an obstacle, according to an embodiment;

[0030] - figure 20 shows an axonometric view of a bogie, according to an embodiment, when on a railway;

[0031] - figure 21 shows an enlarged view of the detail indicated with the arrow xxi in figure 20;

[0032] - figure 22 shows in axonometric view and in separate parts a bogie comprising several modular units, according to an embodiment, wherein some parts are transparent for clarity;

[0033] - figures 23 A and 23 B are enlarged views of the details indicated with the arrows a and b, respectively, in figure 22;

[0034] - figure 24 is a diagram schematically illustrating a sensor of a bogie, according to an embodiment;

[0035] - figure 25 is a block diagram showing a control unit of a bogie, according to an embodiment.

[0036] DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0037]

[0020] . In accordance with a general embodiment, a bogie 1 is provided for inspection and / or maintenance of an underframe of a railway convoy.

[0038]

[0021] . The bogie 1 is of the type adapted to move along a railway B having two rails R1 , R2 placed side-by-side. Each rail R1 and R2 of the railway B has an inner side or stem G thereof facing the other rail.

[0039]

[0022] . The bogie 1 comprises a frame 2. The frame 2 can have a generally box-like body and can comprise longitudinal beams 23 and transverse beams to form a platform. The frame 2 has a transverse extension T thereof and a longitudinal extension L thereof. The transverse extension T of the frame 2 of the bogie 1 is preferably less than the transverse distance between the rails R1 , R2 placed side-by-side of the railway B, and in particular of the distance between the stems G of the rails facing one another. Longitudinally, the frame 2 extends for a longitudinal extension L thereof, i.e., in the extension direction of the railway B, i.e., in the direction of travel X of the bogie 1 along the railway B.

[0040]

[0023] . The bogie 1 further comprises a plurality of wheel groups 31 , 32, 33, 34, 35, 36, 37, 38. The wheel groups of said plurality are mounted to the frame 2 resulting longitudinally spaced from one another. In other words, the wheel groups are distributed along the longitudinal extension L of the frame 2 of the bogie and are preferably arranged in pairs side-by-side on opposite sides of the frame along the transverse extension T thereof, forming pairs of wheel groups placed transversally side-by- side. In accordance with a preferred embodiment, the bogie 1 comprises eight wheel groups arranged in pairs placed side-by-side with one another, forming four pairs of opposite wheel groups 31-32, 33- 34, 35-36, 37-38 longitudinally spaced from one another along the longitudinal extension of the frame 2.

[0041]

[0024] , At least some wheel groups, 31-32, 33-34, of said plurality can comprise two wheels each, and in particular a first wheel with vertical axis 3, 6 for rolling on the inner stem G of the rail and a second sub-horizontal-axis wheel 4, 5 for rolling on the lower fence plane P of the rail R1 , R2. The wheel can with vertical axis be a driving wheel 3.

[0042]

[0025] , Of course, a wheel group can comprise a single wheel.

[0043]

[0026] . At least some wheel groups of said plurality can be tracked wheel groups and can comprise at least one driving wheel, i.e., traction wheel.

[0044]

[0027] , In accordance with an embodiment, the bogie 1 comprises eight wheel groups arranged in pairs placed side-by-side with one another, forming four pairs of wheel groups 31-32, 33-34, 35-36, 37-38 longitudinally spaced from one another along the longitudinal extension of the frame 2, wherein two pairs of wheel groups 31-32, 33-34 comprise driving wheels 3 or driving wheels 3 with vertical axis configured to roll on the inner side of the stem G of the rail R1 , R2. The other wheel groups 35-36, 37- 38 can exclusively comprise driven wheels 4, 6. The driven wheels 4, 6 can have horizontal or subhorizontal axes, such as the stabilizing driven wheels 4, or vertical axes, such as the centering wheels 6 (or stabilizing wheels).

[0045]

[0028] . The driving wheels can be provided on the longitudinally central wheel groups or the driving wheels (traction wheels) can be provided on the longitudinally end wheel groups of the bogie 1.

[0046]

[0029] . At least some wheel groups can comprise two wheels 3, 4 with a preloading element 39 (e.g., a spring) therebetween for biasing a wheel, e.g., a driving wheel 3 with vertical axis, against the respective rail R1 , R2. For example, the preloading element 39 can be provided between a stabilizing wheel 4 and the driving wheel 3 to bias the driving wheel against the stem G of the rail R1 , R2.

[0047]

[0030] . Some wheel groups, 35-36, 37-38, can comprise conical wheels 5 for rolling on the upper crown F of the rail R1 , R2. The conical wheels 5 can all be driving wheels, all driven wheels, or there can be driving conical wheels 5 and driven conical wheels 5.

[0048]

[0031] . In accordance with an embodiment, all the wheel groups of the bogie comprise at least one driving wheel. For example, two pairs of wheel groups comprise driving wheels 3 with vertical axis and two other pairs of wheel groups comprise horizontal-axis conical driving wheels 5.

[0049]

[0032] . Advantageously, the wheel groups 31 , 32, 33, 34, 35, 36, 37, 38 of said plurality are movable with respect to the frame 2 between a retracted position in which they are out of contact with the respective rail R1 , R2 and an extracted position in which they are in rolling contact with the respective rail R1 , R2.

[0050]

[0033] . Preferably but not necessarily, when in the retracted position, said wheel groups are inside the transverse footprint of the frame 2 and when in the extracted position they project transversally outwards from the frame 2.

[0051]

[0034] , The bogie 1 comprises at least one transverse motion device 41 , 42, 43, 44, operatively connected with the wheel groups of said plurality, to move in transverse extraction and / or retraction with respect to the frame the wheel groups mounted to the frame and longitudinally spaced from one another.

[0052]

[0035] . In accordance with an embodiment, the at least one transverse motion device 41 , 42, 43, 44 comprises a linear actuator mounted between the frame 2 and at least one wheel group 31 , 32, 33, 34, 35, 36, 37, 38 of said plurality. The at least one linear actuator can be a hydraulic and / or pneumatic and / or electromechanical actuator. In accordance with an embodiment, the transverse motion device 41 , 42, 43, 44 comprises a telescopically extendable device comprising a hollow cylinder 45 and a telescopically extendable element 46, for example a piston, operable under the control of the data processing unit 51 .

[0053]

[0036] . The transverse motion device 41 , 42, 43, 44 can comprise a rotary actuator.

[0054]

[0037] , In accordance with a preferred embodiment, the bogie 1 comprises a plurality of pairs of wheel groups placed side-by-side and arranged transversally opposite with respect to the frame 2, said pairs of wheel groups being longitudinally spaced along the frame 2, wherein a transverse motion device is provided for each pair of wheel groups placed side-by-side 31-32, 33-34, 35-36, 37-38 and transversally opposite with respect to the frame 2. Preferably, the retraction and / or extraction action on a pair of side-by-side and transversally opposite wheel groups is simultaneous and coordinated by means of the respective transverse motion device 41 , 42, 43, 44 operatively connected to said pair.

[0055]

[0038] . With further advantage, at least one synchronizing device is provided, for example comprising at least one electronic control unit 51 , for coordinating the extraction of a first wheel group with the retraction of a second wheel group, longitudinally spaced with respect to the first wheel group, for overcoming one or more obstacles along the railway. Each pair of opposite wheel groups can comprise a synchronizing device thereof, i.e., a data processing unit 51 thereof, and all of the data processing units can be in operative connection with one another to coordinate the extraction and retraction of longitudinally adjacent wheel groups.

[0056]

[0039] . As shown for example in figures 2-10, when in operating conditions, the bogie 1 approaching an obstacle W moves the first pair of wheel groups 31 , 32 in retraction, allowing to overcome the obstacle W with the head portion of the bogie 1 ; once the obstacle is overcome, the wheel groups 31 , 32 of the first pair are extracted (figure 4); at this point a second pair of wheel groups 35, 36 is approaching the obstacle W, and then it is moved in retraction (figure 5) allowing also the second pair of wheel groups to overcome the obstacle, thus allowing the advancement of the bogie 1 , and so on until all the pairs of wheel groups 31 , 32, 33, 34, 35, 36, 37, 38 have not overcome the obstacle W (figures 6-10).

[0057]

[0040] . Of course, each wheel group transversally opposite the frame can be independently movable. In other words, in accordance with an embodiment, each wheel group is individually movable and preferably comprises a dedicated actuator thereof, i.e., a dedicated transverse motion device thereof.

[0058]

[0041] . As shown for example in figure 11 , a pair of transversally opposite wheel groups 33, 34 each comprising a driving wheel 3 with vertical axis and a stabilizing driven wheel 4 can be operatively connected to a transverse motion device 44.

[0059]

[0042] , As shown for example in figure 12, a pair of transversally opposite wheel groups 37, 38 each comprising only driven wheels 4, 6 (support wheels 4 and centering wheels 6) can be operatively connected to a transverse motion device 43.

[0060]

[0043] , In accordance with an embodiment, the bogie 1 comprises eight wheel groups arranged in pairs placed side-by-side, forming four pairs of wheel groups 31-32, 33-34, 35-36, 37-38 longitudinally spaced from one another along the longitudinal extension of the frame 2, wherein two pairs of wheel groups 31-32, 33-34 comprise driving wheels 3 with vertical axis and the other wheel groups 35-36, 37-38 exclusively comprise driven wheels, and wherein the wheel groups exclusively comprising driven wheels each comprise one or more horizontal-axis conical wheels 5 for rolling on the upper crown F of the rail R1 , R2. Preferably, the wheel groups 35-36, 37-38 exclusively comprising driven wheels each comprise a single and only conical wheel 5 for rolling on the upper crown F of the rail. Individual transverse motion devices 41 , 44 can be provided for each wheel group 35, 36, 37, 38 with conical wheel 5, and in accordance with an embodiment, said individual transverse motion devices 41 , 44 for each wheel group with conical wheel 5, which can be a driving wheel, comprise an articulated quadrilateral mechanism 47, such as an articulated parallelogram mechanism. The wheel groups 31- 32, 33-34 comprising driving wheels 3 with vertical axis preferably each comprise a driving wheel 3 with vertical axis and a sub-horizontal-axis stabilizing driven wheel 4. Preferably, the wheel groups 35- 36, 37-38 each comprising a single and only conical wheel 5 for rolling on the upper crown F of the rail are arranged at the longitudinal ends of the frame, while the wheel groups 31-32, 33-34 with driving wheel 3 are longitudinally interposed therebetween.

[0061]

[0044] . In an alternative embodiment, the bogie exclusively comprises wheel groups 31-32, 33-34 comprising wheels with vertical axis 3, 6 configured to roll on the rail inner stem G of the rail and / or sub-horizontal-axis wheel 4, 5 configured to roll on the lower fence plane P of the rail R1 , R2. In a different alternative embodiment, the bogie exclusively comprises wheel groups 35-36, 37-38 comprising horizontal-axis conical wheels 5 configured to roll on the upper crown F of the rail R1 , R2.

[0062]

[0045] . As shown for example in figures 14-21 , when in operating conditions, the bogie 1 is moved by the wheel groups 31-32, 33-34 comprising a driving wheel 3, while the wheel groups 35-36, 37-38 comprising a conical wheel 5, which can be a driving wheel, are in retracted configuration; when the bogie 1 approaches the obstacle W, the conical wheels 5 of the wheel groups 35-36, 37-38 are extracted and brought into rolling support on the crown F of the rails R1 , R2; then, the wheel groups 31-32, 33-34, which could impact the obstacle W, are retracted, and the bogie 1 proceeds over the obstacle W.

[0063]

[0046] . As mentioned above, according to a preferred embodiment, four pairs 31-32, 33-34, 35-36, 37-38 of wheel groups are provided placed side-by-side and transversally opposite with respect to the frame 2, and four transverse motion devices 41 , 42, 43, 44, each for each pair of wheel groups placed side-by-side and transversally opposite.

[0064]

[0047] , The synchronizing device, comprising a data processing unit 51 , is preferably configured to coordinate the retraction drive of a transverse motion device with the extraction drive of at least one other transverse motion device. For example, the synchronizing device checks that at least three pairs of wheel groups are always in the extracted configuration, so that, to overcome an obstacle W, the synchronizing device coordinates the extraction of the wheel group that has already overcome the obstacle W so that it is before the retraction of the wheel group in approach to the obstacle W. The retraction of the driving conical wheels 5 of the rear wheel groups 37, 38 can occur before they have overcome the obstacle W.

[0065]

[0048] . Each conical wheel 5, where it is a driving wheel, can comprise a dedicated motor (not shown) thereof operable under the control of a data processing unit 51 .

[0066]

[0049] . In accordance with a preferred embodiment, the synchronizing device comprises an electronic control unit 51 (or data processing unit 51), configured to transmit command signals to the at least one transverse motion device 41 , 42, 43, 44, and at least one sensor 52 to detect the presence, and preferably also the current position and / or the current distance from the bogie, of an obstacle W along the railway B.

[0067]

[0050] . The synchronizing device, as well as the only data processing unit 51 , can be located remotely with respect to the bogie 1 and be in remote operative connection with said transverse motion devices.

[0051] . The at least one sensor 52 can comprise at least one lidar, for example a 2D lidar sensor for external use mounted on the front part of the frame and another 2D lidar sensor for external use mounted on the rear part of the frame, for detecting obstacles on the track in both directions of travel, if necessary. Said lidar sensors can have a viewing angle of at least 180° and preferably of 200° to avoid dead zones, as shown for example in figure 24.

[0068]

[0052] , When in operating conditions, said at least one sensor 52 detects information on the presence and location of an obstacle along the railway that is acquired and processed by the data processing unit 51 to transmit command signals aimed at slowing down, even stopping, the bogie 1 as well as aimed at determining the coordinated extraction and retraction action of the wheel groups 31 , 32, 33, 34, 35, 36, 37, 38 by means of the coordinated activation of the at least one transverse motion device 41 , 42, 43, 44.

[0069]

[0053] . The at least one sensor 52 can comprise at least one camera, for example a wide-angle camera facing forward along the direction of travel X of the bogie and another wide-angle camera facing backward.

[0070]

[0054] . The data processing unit 51 can provide feedback to the operator, for example by means of visual and / or acoustic signaling.

[0071]

[0055] . The operator can be remote and the bogie can comprise a wireless antenna for remote data connection with the operator. The operator can exercise his / her control action with a remote control or remote joystick.

[0072]

[0056] . The bogie 1 preferably comprises at least one articulated arm mounted to the frame 2 and comprising at least one operative portion for inspection and / or maintenance of the railway convoy. The operative portion can comprise a camera and / or a light source. The operative portion can comprise a robotic gripper and / or a robotic tool. An articulated arm is not necessarily provided, and for example the one or more cameras can be installed on a linearly extendable element, for example vertically and / or a pattern of fixed cameras can be provided on the frame.

[0073]

[0057] , In accordance with a preferred embodiment, the bogie 1 is a modular bogie.

[0074]

[0058] . The bogie 1 can comprise a plurality of modular units UM1 , UM2, UM3 longitudinally connected to one another, wherein each modular unit UM1 , UM2, UM3 comprises a frame thereof and at least one linking element 61 , 62 for connecting to an adjacent modular unit. At least some modular units of said plurality comprise at least two transversally opposite wheel groups of said plurality and at least one transverse motion device for the at least two opposite wheel groups, and wherein, preferably, a plurality of electronic control units are arranged between said modular units of said plurality. In accordance with a preferred embodiment, all the modular units of said plurality comprise at least two opposite wheel groups and at least one transverse motion device 41 , 42, 43, 44 for the at least two opposite wheel groups of the modular unit. The modular units UM1 , UM2, UM3 can carry out different functions from one another and can be assembled if necessary on the railway.

[0075]

[0059] . In accordance with an embodiment, the linking elements between the modular units comprise a male linking element 61 which engages with a corresponding female linking element 62 of another adjacent modular unit.

[0076]

[0060] . In accordance with a preferred embodiment, three modular units UM1 , UM2, UM3 are provided, wherein a central modular unit UM2 comprises four wheel groups arranged in transversally opposite pairs and two respective transverse motion devices of the wheel groups. As shown for example in figure 22, openings 24 for the wheel groups can be provided along the longitudinal beams 23 of the frame 2. The modular head unit UM1 can comprise said at least one sensor 52, as well as the modular tail unit UM3. The data processing unit 51 can be mounted to the frame 2 of the modular central unit UM2.

[0077]

[0061] . A plurality of electronic control units 51 (data processing units) can be provided arranged between the modular units. Preferably, an electronic control unit 51 is provided for each pair of opposite wheel groups and / or for each transverse motion device.

[0078]

[0062] . In accordance with an embodiment, the bogie is provided with exactly three total wheel axles (i.e., three pairs of wheel groups placed side-by-side) and has a system for varying the location of the centre of gravity (variable centre of gravity), to allow the device to be retracted without overturning.

[0079]

[0063] . Hereinafter, a method for inspection and / or maintenance of an underframe of a railway convoy which envisages overcoming one or more obstacles will be described.

[0080]

[0064] . A method for inspection and / or maintenance of an underframe of a railway convoy that envisages overcoming of one or more obstacles W present along railway B having two rails R1 , R2 placed side-by-side comprises the step of advancing along the railway a bogie 1 for inspection and / or maintenance of the railway convoy. The bogie 1 can be a bogie 1 according to any one of the embodiments described above. The bogie 1 has a plurality of wheel groups longitudinally spaced from one another and movable between a retracted position in which they are out of contact with the respective rail and an extracted position in which they are in rolling contact with the respective rail.

[0081]

[0065] . The method further comprises the step of approaching an obstacle of said one or more obstacles with at least a first wheel group of said plurality.

[0082]

[0066] . At this point, the method comprises the step of retracting said at least one first wheel group in approach to the obstacle and the step of advancing the bogie until a second wheel group, longitudinally set back with respect to the first wheel group, does not approach the obstacle.

[0083]

[0067] . Advantageously, the method envisages the further step of coordinating a retraction of said at least one second wheel group in approach to the obstacle with an extraction of the first wheel group, bringing it into rolling contact with the respective rail, beyond the obstacle.

[0084]

[0068] . Preferably, the retraction of the at least one second wheel group in approach to the obstacle W occurs subsequent to the extraction of the first wheel group i.e., subsequent to the rolling contact of the first wheel group with the respective rail R1 , R2.

[0085]

[0069] . In accordance with an embodiment of the method, the bogie comprises at least four wheel groups longitudinally spaced from one another, and wherein the coordination step comprises always maintaining at least two pairs of transversally opposite wheel groups in rolling contact with the respective rail. Preferably this step envisages maintaining at least three pairs of transversally opposite wheel groups in rolling contact with the respective rail.

[0086]

[0070] , In accordance with an embodiment of the method, the bogie comprises at least four wheel groups longitudinally spaced from one another, and wherein the coordination step comprises always maintaining at least two pairs of transversally opposite wheel groups and each comprising at least one driving wheel in rolling contact with the respective rail.

[0087]

[0071] . Thanks to the characteristics described above, provided separately or jointly with one another in particular embodiments, it is possible to meet the aforementioned needs, obtaining the aforementioned advantages, and in particular:

[0088]

[0072] , - it allows to overcome obstacles along the railway in an agile and safe manner;

[0089]

[0073] , - the modularity allows the bogie to be built on site, if necessary, with the desired functionalities from time to time, reducing dimensions and weights during transport and manufacture and use;

[0090]

[0074] , - the modularity of the bogie makes it easy to move the bogie from one railway to another, if necessary, to perform inspections and / or maintenance on different railways of the same system, such as near a station and / or an exchange;

[0091]

[0075] , - the bogie can be equipped with optional wheel groups provided with stabilizing driven wheels and a linear movement device for controlled extraction / retraction, so as to be able to overcome obstacles;

[0092]

[0076] , - thanks to this solution, the bogie can overcome, for example, axle counters, larger line ladders, screw connections on the rail core for the electrical continuity of the rails, screw connections for the connection of two rail sections and, more generally, all obstacles that take up the space necessary to operate the driving wheel systems;

[0093]

[0077] , - the extraction and retraction operations for overcoming an obstacle can take about one minute per obstacle;

[0094]

[0078] , - where conical driving wheels are provided, if there is an obstacle to be overcome the bogie can extract the conical wheels and position them on the rails as long as it is not under a railway convoy, since the four conical wheels are brought into contact with the crown F of the rail so that the bogie can unload its weight thereon;

[0095]

[0079] . - the parallelogram mechanism for transversally moving the conical wheels can be operated in addition to lift the frame with respect to the conical wheels 5, if necessary.

[0096]

[0080] . It is understood, however, that the foregoing is of exemplary and non-limiting value, therefore any variations of detail which may become necessary for technical and / or functional reasons, are considered from now on to fall within the same protective scope defined by the following claims.

Claims

CLAIMS1. Bogie (1) for inspection and / or maintenance of an underframe of a railway convoy, said bogie being of the type suitable for moving on a railway (B) with two rails (R1 , R2) that are placed side-by-side, said bogie comprising:-a frame (2) having a longitudinal extension (L);- a plurality of wheel groups (31 , 32, 33, 34, 35, 36, 37, 38) mounted to the frame and longitudinally spaced one another;- the wheel groups of said plurality are movable between a retracted position in which they are out from contact with a respective rail and an extracted position in which they are in rolling contact with the respective rail;- at least one transverse motion device (41 , 43, 43, 44), operatively coupled with the wheel groups of said plurality, to move in transverse extraction and / or retraction with respect to the frame the wheel groups mounted to the frame and longitudinally spaced one another;-at least one synchronizing device, operatively coupled with the at least one transverse motion device, to coordinate the extraction of at least one first wheel group with the retraction of at least one second wheel group, for overcoming one or more obstacles (W) along the railway.

2. Bogie according to claim 1 , wherein the synchronizing device comprises:-an electronic control unit (51), configured to transmit command signals to the at least one transverse motion device (41 , 42, 43, 44);- at least one sensor (52) to detect the presence, and preferably also the position and / or the current distance, of an obstacle (W) along the railway; and wherein, preferably, the bogie comprises a plurality of electronic control unit that are disjointed and spread along the frame of the bogie.

3. Bogie according to claim 1 or 2, wherein the wheel groups of said plurality are arranged in pairs, placed side-by-side and opposite one another with respect to the frame (2), thereby forming pairs of transversally opposite wheel groups (31-32, 33-34, 35-36, 37-38) that are operatively connected one another by means of at least one transverse motion device (41 , 42, 43, 44); wherein preferably said transversally opposite wheel groups are not necessarily equally spaced from a definable centerline of the bogie.

4. Bogie according to any one of the preceding claims, comprising a plurality of modular units (UM1 , UM2, UM3) longitudinally connected to each other, wherein each modular unit comprises an its own frame and at least one linking element (61 , 62) for connecting to an adjacent modular unit; and wherein, at least some modular units of said plurality comprises at least two transversally opposite wheel groups of said plurality and at least one transverse motion device for the at least two transversally opposite wheel groups, and wherein, preferably, a plurality of electronic control units are located between said modular units of said plurality.

5. Bogie according to any one of the preceding claims, wherein at least some wheel groups comprise a driving wheel (3) with vertical axis, and preferably also a stabilizing driven wheel (4) and preferably also a preloading element (39), for example a spring (39), therebetween to bias the driving wheel with vertical axis towards extraction.

6. Bogie according to any one of the preceding claims, wherein at least some wheel groups comprise a conical wheel (5) for rolling on the rail crown (F); wherein preferably each conical wheel is transversally moved individually; and wherein, preferably the conical wheel (5) is a driving wheel that can be extracted for overcoming one or more obstacles.

7. Bogie according to any one of claims 1 to 6, wherein at least some wheel groups comprise exclusively driven wheels, preferably comprising a centering or stabilizing driven wheel with vertical axis.

8. Bogie according to any one of the preceding claims, comprising at least one operative portion for the inspection and / or maintenance of the railway convoy, for example mounted to an articulated robotic arm.

9. Method for inspection and / or maintenance of an underframe of a railway convoy that envisages to overcome one or more obstacles placed along a railway having two rail placed side-by-side, the method comprising the steps of:-advancing along the railway a bogie for inspection and / or maintenance of the railway convoy having a plurality of wheel groups that are longitudinally spaced one another and movable between a retracted position in which they are out from contact with a respective rail and an extracted position in which they are in rolling contact with the respective rail;- approaching an obstacle of said one or more obstacles with at least one first wheel group of said plurality:- retracting said at least one wheel group in approach to the obstacle;- advancing the bogie until a second wheel group, longitudinally set back with respect to the first wheel group, approaches the obstacle;- coordinating retracting said at least one second wheel group in approach to the obstacle with extracting the first wheel group thereby bringing it in rolling contact with the respective rail, beyond the obstacle.

10. Method according to claim 9, wherein the bogie comprises at least four wheel groups that are longitudinally spaced, and wherein the step of coordinating comprises:- always ensuring at least two pairs, and preferably three pairs, of wheel group transversally opposite one another to be in rolling contact with the respective rail; and / or- always ensuring two pairs of wheel group transversally opposite one another and comprising each at least one driving wheel to be in rolling contact with the respective rail.

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