Equipment for track machining

Abstract

An apparatus (1) for orbital machining comprises a clamping device (13), at least one machining device (14), and at least one vibration decoupler (15a) acting between the at least one machining device (14) and the clamping device (13), the vibration decoupler having adjustable stiffness and / or adjustable damping for at least partially decoupling the motion of the clamping device (13) from the motion of the at least one machining device (14).

Description

[Technical Field]

[0001] This patent application claims priority from German Patent Application No. 102020207437.2, the contents of which are incorporated herein by reference.

[0002] The present invention relates to an apparatus for track processing.Furthermore, the present invention relates to a method for operating an apparatus for track processing.The present invention also relates to a tamping assembly for roadbed processing.

[0003] WO 2017097390 A1 discloses a tamping assembly for compacting track sleepers. The tamping assembly has a tamping ice axe, each connected to a tamping lever and pivotable about a pivot axis on a tool support. Each tamping lever is assigned an angle sensor for detecting the pivot angle relative to the tool support. This improves the use and service life of the tamping assembly.

[0004] DE 1904121 A1 discloses an apparatus with screw tools for tightening and loosening screw connections. To ensure that each screw tool engages the screw connection reliably with respect to positional tolerances, the screw tools are resiliently supported in the housing via springs with a predetermined stiffness. The screw tools are therefore movably supported relative to the housing and each other. However, this additional degree of freedom makes positioning the screw tools difficult, especially when vibrations from the motor or actuation drive vibrate the resiliently supported screw tools. Furthermore, the resiliently supported screw tools have the disadvantage of reducing the tightening moment and tightening accuracy achievable with the screw connection.

[0005] The problem underlying the present invention is to provide an apparatus for roadbed processing which is simple, robust and flexible to use.

[0006] This problem is solved by an apparatus having the features of claim 1. The apparatus has at least one vibration decoupler with adjustable stiffness and / or adjustable damping acting between the at least one processing device and the clamping device, which allows, on the one hand, precise guiding and positioning of the at least one processing device. On the other hand, the at least one processing device and the clamping device can be decoupled to a desired degree. The decoupling of the motion of the clamping device from the motion of the at least one processing device and / or the decoupling of the motion of the at least one processing device from the motion of the clamping device can be adjusted by the at least one vibration decoupler. This reduces the transmission of vibrational motion from the at least one processing device to the clamping device. The apparatus is therefore flexible to use and robust. The apparatus is particularly useful for partially and / or fully automated track machining. The apparatus is particularly configured as a track machining machine that can run on rails.

[0007] 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 different from the first stiffness, particularly lower, and different from the first damping, particularly lower. For positioning the at least one processing device, the at least one vibration decoupler can be adjusted to the first coupling state, which has a higher stiffness. This allows for particularly precise and reliable positioning of the at least one processing device via the clamping device. For orbital machining, the at least one vibration decoupler can be adjusted to the second coupling state, which has a lower stiffness. In the second coupling state, the movements of the at least one processing device, particularly vibrational and / or trembling movements, occurring during orbital machining, can be decoupled from the movements of the clamping device to a desired extent or to a large extent. Therefore, the load acting on the clamping device is reduced. This reduced load allows the device to operate particularly robustly and economically.

[0008] The adjustability of the at least one vibration decoupler in terms of stiffness and / or damping means that the corresponding properties can be changed, particularly reversibly, by changing at least one operating variable. In this case, the integrity of the at least one vibration decoupler is preferably fully maintained. In particular, the vibration decoupler can be adjusted for this purpose without having to remove one of its components and / or replace it with another component, in particular a component with a different stiffness and / or damping. The at least one vibration decoupler is preferably switchable between different stiffness and / or damping values, particularly without the use of tools.

[0009] The vibration decoupler may be configured in such a way that its stiffness and / or damping can be changed, in particular at least once within an orbital machining cycle, which includes positioning of the at least one processing device and orbital machining, and in particular at least once within each orbital machining cycle, so that the stiffness and / or damping of the at least one vibration decoupler can be adjusted in time, respectively, between positioning of the at least one processing device in the orbit and orbital machining.

[0010] Preferably, at least one vibration decoupler is adjustable in terms of its stiffness and / or damping by remote control. For this purpose, the vibration decoupler may have an interface, in particular a terminal, for signal connection. The interface and / or the signal connection is preferably configured to guide fluid signals and / or mechanical signals and / or electrical signals. In particular, the adjustment of the stiffness and / or damping may be performed automatically. This allows the vibration decoupler to operate particularly efficiently and economically.

[0011] According to one embodiment of the invention, the at least one vibration decoupler is configured to release relative movement between the at least one processing device and the clamping device in the vertical direction and / or in at least one horizontal direction, in particular in each horizontal direction and / or along the feed direction, in particular the entry or engagement direction, of the at least one processing device and / or in at least one direction perpendicular to the feed direction, in particular in all directions. The at least one vibration decoupler may be configured to allow rotational movement of the at least one processing device relative to the clamping device about the vertical direction and / or about the feed direction and / or about at least one direction perpendicular to the vertical direction and / or the feed direction. Advantageously, this results in a particularly significant reduction in the transmission of vibrations between the processing device and the clamping device.

[0012] The vibration decoupler may have one or more isolation elements that are adjustable in terms of their stiffness or damping, in particular reversibly modifiable in terms of such properties.

[0013] According to one further aspect of the invention, the at least one vibration decoupler is adjustable between various stiffness and / or damping values, each differing by at least 20%, in particular at least 50%, in particular at least 100% and / or up to 500%, thereby achieving a particularly high processing flexibility.

[0014] Preferably, the at least one processing device is configured so that the stiffness and / or damping adjustment, in particular the adjustment between different stiffness and / or damping values, can be carried out within a time period of at most 10 seconds, in particular at most 5 seconds, in particular at most 2 seconds, in particular at most 1 second, and / or at least 0.1 seconds, which allows the track processing to be carried out in a particularly time-efficient manner.

[0015] At least partial motion decoupling particularly means that the decoupling occurs along at least one degree of motion and / or at least partially along this degree of motion. For example, the decoupling can occur along at least one linear degree of motion and / or along at least one rotational degree of motion. The at least one processing device is preferably supported slidably and / or pivotably relative to the holding device. The at least one vibration decoupler may have at least one linear bearing and / or a rotary joint, in particular a universal joint, for this purpose. The at least one vibration decoupler is preferably configured to counteract the relative motion of the at least one processing device relative to the holding device.

[0016] Preferably, the at least one vibration decoupler is adjustable between at least two, in particular at least three, in particular at least four, in particular at least five coupling states, each with a different stiffness and / or damping. The at least one vibration decoupler is preferably reversibly adjustable. More preferably, the at least one vibration decoupler is infinitely adjustable, in particular between a first coupling state and a second coupling state.

[0017] The at least one vibration decoupler may have a coupling unit, in particular a plurality of spring elements, for reversibly coupling different stiffnesses to adjust the stiffness and / or may have different regions of individual spring elements in the force path between the clamping device and the at least one processing device. The at least one spring element may be a coil spring and / or a leaf spring and / or an elastomer, in particular made of a soft elastic material, in particular made of a rubber material, in particular made of acrylonitrile butadiene rubber. Preferably, the coupling unit has an actuating motor for reversibly coupling different stiffnesses.

[0018] The at least one vibration decoupler may have fluidic damping elements, in particular liquid dampers and / or gas dampers and / or throttle valves and / or mechanical damping elements, in particular mechanical brakes, and / or electrical damping elements, in particular eddy current brakes, for adjusting the damping. Preferably, the damping elements are reusable.

[0019] Preferably, the at least one vibration decoupler is configured such that its stiffness and / or damping can be adjusted by an electrical signal and / or a fluid signal, in particular a fluid pressure, so that the at least one vibration decoupler can be adjusted and / or switched between the individual coupling states in a particularly simple and reliable manner.

[0020] 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 at least two different coupling states. Preferably, the control unit is configured for automated adjustment of the at least one vibration decoupler. The control unit preferably comprises an electronic control for controlling the device.

[0021] The at least one vibration decoupler may have a passive spring element and / or a passive damping element. By passive spring element or passive damping element is meant a spring element or damping element that is not adjustable in terms of its stiffness and / or damping. The passive spring element and / or passive damping element may be, for example, a rubber bearing. The at least one passive spring element and / or passive damping element reliably ensures that the at least one vibration decoupler is placed in at least one safe coupling state during operation, especially in the event of a failure of the electrical energy supply and / or the fluid energy supply.

[0022] According to another aspect of the invention, the decoupling of the motion of the clamping device from the motion of the at least one processing device is performed by at least one vibration decoupler in at least two, in particular at least three and / or at most four, in particular at most three planes along the force path between the at least one processing device and the clamping device.

[0023] The at least one processing device may include a processing machine and / or a processing tool, the processing machine being distinct from the processing tool and including a mechanical motor or drive motor for providing the power required for orbital processing.

[0024] The fastening device may be configured to be permanently and permanently attached to the support structure. Preferably, the fastening device is configured to be removably attached to the support structure. For example, the fastening device may have a quick-lock coupling for reversibly detachable, particularly automatable, coupling with the support structure. Preferably, the fastening device has a fluid coupling for reversibly detachable creation of at least one fluid connection, particularly with the support structure, and / or a current coupling for reversibly detachable creation of at least one electrical connection. The fluid coupling and / or current coupling are preferably configured to reversibly create at least one, particularly at least two, particularly at least three, particularly at least four, and / or particularly up to four fluid and / or current connections. These connections are preferably configured to transmit control signals and / or output signals to at least one vibration decoupler and / or to at least one processing device.

[0025] Preferably, a force in the range of 0.1 kN to 10 kN, in particular 0.5 kN to 5 kN, is transmitted via the fixing device.

[0026] Preferably, the apparatus has a plurality of processing devices. The processing devices may be assigned to a common vibration decoupler, to a plurality of vibration decouplers, and / or in particular to each vibration decoupler. The processing devices may be assigned to a common fixing device, to a plurality of fixing devices, and / or to each fixing device. The apparatus preferably has at least two, in particular at least three, in particular at least four processing devices, and / or at most eight, in particular at most six, and in particular at most four processing devices.

[0027] According to an embodiment of the invention, the device, in particular the at least one vibration decoupler, has a housing that covers the parts that are movable relative to one another, in particular between the fixing device and the at least one processing device, thereby reliably preventing injuries to personnel and damage to machinery due to penetrating objects.

[0028] The device of claim 2 operates particularly economically. The adjusting means, which are signal-connected to the at least one vibration decoupler, may be arranged directly on the vibration decoupler or at a distance from the vibration decoupler. In the latter case, the adjustment can be performed by remote control. The signal connections may be configured to transmit fluid and / or mechanical and / or electrical signals. The adjusting means may be configured as a pressure regulating unit and / or as an automated or manually operable switching lever and / or as an electronic control unit.

[0029] The device according to claim 3 operates particularly economically. The drive unit is preferably configured to provide the hydraulic and / or mechanical energy required for adjusting the stiffness and / or damping. The drive unit may comprise a hydraulic pump, in particular a hydraulic and / or pneumatic pump, and / or an electric motor, in particular a torque motor and / or a linear motor.

[0030] The device according to claim 4 operates robustly and economically. The fluid-filled chamber allows particularly easy adjustment of the stiffness and / or damping of the at least one vibration decoupler. Preferably, the chamber can be reversibly filled with fluid. In particular, the filling of the chamber can be automated based on control signals from the control unit. For the adjustment of the stiffness and / or damping, the pressure of the fluid in the chamber can be changed.

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

[0032] According to one embodiment of the present invention, the at least one vibration decoupler has at least one, in particular at least two, in particular at least three, in particular at least four chambers. Preferably, an overflow passage is provided between the at least two chambers. Preferably, the at least one vibration decoupler is configured such that, when a force is applied to the vibration decoupler, the volume enclosed by at least one chamber increases, and simultaneously, when a force is applied to the at least one vibration decoupler, the volume enclosed by another chamber decreases. Fluid can flow between these chambers via the overflow passage. This allows damping of the relative movement between the clamping device and the at least one processing device.

[0033] At least one chamber may be configured as a stroke chamber of a piston-cylinder unit and / or as a bellows and / or as an elastic bubble. The piston-cylinder unit is preferably configured as a two-way cylinder-piston unit.

[0034] The device according to claim 5 operates robustly and economically, ensuring simple motion separation. Preferably, the chamber wall deforms only in the elastic range. Preferably, the wall thickness of the chamber wall is in the range of 2 mm to 6 mm, in particular 0.5 mm to 4 mm, in particular 1 mm to 2 mm. Preferably, the chamber wall is configured to withstand a fluid pressure in the chamber of at least 2 bar, in particular at least 5 bar, in particular at least 10 bar, in particular at least 50 bar, in particular at least 100 bar. The chamber wall may comprise an elastic material, in particular a rubber material, and / or a fiber material, in particular carbon fiber and / or glass fiber and / or natural fiber and / or plastic fiber, in particular polyamide fiber, and / or a textile material containing such fibers, and / or a plastic material, and / or a metal material, in particular steel, in particular spring steel. In particular, the chamber may be configured as a flexible rubber bellows.

[0035] The configuration of the chamber with deformable chamber walls allows for simultaneous action on multiple linear and / or rotational degrees of freedom, in particular, unlike piston-cylinder units, the chamber with deformable chamber walls allows for simultaneous action on at least two motion components of the relative motion between the clamping device and the at least one processing device, in particular at least two linear motion components oriented perpendicular to each other and / or at least two rotational motion components and / or at least one linear motion component and / or at least one rotational motion component.

[0036] According to another aspect of the invention, the at least one vibration decoupler has at least one end stop for limiting the relative movement between the clamping device and the at least one processing device, which advantageously ensures that the at least one vibration decoupler is not damaged in the event of significant displacement of the clamping device relative to the at least one processing device, and in particular, this prevents damage to the reversibly deformable chamber wall.

[0037] The at least one vibration decoupler may have a shape-rigid housing that limits the pressure-induced expansion of the reversibly deformable chamber wall, which makes the device particularly safe to operate.

[0038] The device according to claim 6 ensures easy adjustment of the motion isolation. The pressure adjustment unit may be a component of at least one vibration decoupler. Alternatively, the pressure adjustment unit may be arranged on the side of the fixing device with respect to the at least one vibration decoupler. The pressure adjustment unit is preferably signal-connected to a control unit. The pressure adjustment unit and / or the control unit may be configured for adjusting the pressure of the fluid in the chamber. Due to the controllability of the pressure in the chamber, the stiffness and / or damping can be adjusted in a particularly stepless manner. Preferably, the chamber is configured in the form of an adjustable gas spring and / or pneumatic artificial muscle.

[0039] The device according to claim 7 is particularly economical to manufacture and ensures simple and reliable motion isolation. Preferably, the throttle valve is electrically and / or hydraulically adjustable, particularly based on a signal from a control unit. The throttle valve is preferably arranged in the overflow passage between the two fluid-filled chambers. The adjustable throttle valve, in particular, allows for adjustment of the damping characteristic curve. Depending on the adjustable opening width of the throttle valve, a varying proportion of the kinetic energy of the motion of the clamping device relative to the at least one processing device is converted into heat energy and thus discharged from the motion system.

[0040] The device according to claim 8 allows for particularly simple and flexible adjustment of the stiffness and / or damping of the at least one vibration decoupler. The brake unit may be hydraulically and / or electrically operable. For this purpose, the brake unit may have a hydraulically and / or electrically operable actuating member. The brake unit may 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 has an eddy current brake. The braking action of the brake unit is adjustable, thereby influencing the damping and / or stiffness of the at least one vibration decoupler. The brake unit is preferably signal-connected to a control unit. The braking action can be adjusted, for example, based on a force signal provided by a force sensor and / or a distance signal provided by a distance sensor. The force signal preferably correlates to the force transmitted between the clamping device and the at least one processing device. The distance sensor is preferably configured to detect a change in the position of the at least one processing device relative to the clamping device.

[0041] The device according to claim 9 allows for simple vibration isolation. By arranging the machine motor in the at least one processing device, a constructionally complex, kinematically isolated mechanical power transmission can be omitted. Furthermore, the mass of the at least one machine motor acts as an inertial mass on the side of the at least one processing device. The vibration motion of the at least one processing device is damped by this inertial mass and is therefore only partially transmitted further to the at least one vibration decoupler and the fixing device. The machine motor can be a hydraulically or electrically driven drive motor. The machine motor can be, for example, a vibratory drive, particularly a vibratory drive of a tamping assembly, or a rotary drive, particularly a screw drive, particularly an impact wrench drive.

[0042] The device according to claim 10 operates robustly and economically. The tamping unit for roadbed preparation is configured to generate a vibrating motion for compacting the roadbed. For this purpose, the tamping unit has a vibration generator. To penetrate the roadbed, the tamping unit may have at least one, particularly at least two, particularly at least three, particularly at least four penetrating bodies, particularly tamping picks. The tamping unit may have a penetrating body chuck for reversibly and removably holding the at least one penetrating body. The forces generated during the vibration of the tamping unit, particularly the at least one penetrating body, are a major cause of wear on the device. By arranging at least one vibration decoupler between the at least one tamping unit and the fixing device, wear on the device on the fixing device side can be significantly reduced. This reduces maintenance and manufacturing costs for the device.

[0043] According to one embodiment of the present invention, at least one tamping unit is configured as a vibrating tamping unit including a mechanical motor, a vibration generator, and at least one penetrating body and / or penetrating body chuck. The device preferably has at least two, particularly at least three, and particularly at least four tamping units, especially vibrating tamping units. The vibrating tamping unit may, for example, have a drive motor and a vibration generator arranged in a tamping pick tube. The tamping pick tube forms the penetrating body.

[0044] Alternatively, the vibration generator can be arranged on the side of the at least one vibration decoupler on the side of the fixing device, which allows the at least one processing device to be made particularly lightweight, thus reducing the mass that must be supported via the fixing device.

[0045] The device according to claim 11 operates particularly robustly. By virtue of the at least one processing device having a vibration generator, the vibrational movements of the at least one processing device can be particularly effectively decoupled from the movements of the fixing device. Furthermore, the mass of the vibration generator serves as an inertial mass on the side of the at least one processing device for damping the vibrational movements.

[0046] The device according to claim 12 operates particularly robustly and economically. The reaction forces occurring when tightening and / or loosening screws, e.g., sleeper screws, are a major cause of wear on the device. At least one vibration decoupler acts between at least one screw unit and the fastening device, thereby reducing the forces transmitted to the fastening device. Preferably, the screw unit is configured as an impact driver and / or as a drill and / or as a boring machine.

[0047] According to one embodiment of the invention, at least one screw unit has a torque sensor. The control unit is preferably configured for monitoring the torque during tightening of the screw connection. The control unit may be configured for storing and recording the tightening moment of each screw connection together with a unique identifier of the screw connection and / or the position of each screw connection along each rail.

[0048] The device according to claim 13 operates particularly economically. According to one aspect of the invention, the device has at least two, in particular at least three, in particular at least four screw units, which advantageously allows for simultaneous tightening and / or loosening of several screw connections.

[0049] The device according to claim 14 operates particularly robustly and economically. The clamping device is preferably configured for reversibly clamping at least one processing device to the rail of the track. For this purpose, the clamping device may have a clamping actuator that provides a clamping force for reversibly clamping to the rail. The clamping device may be rigidly connected to the at least one processing device. Preferably, the clamping device is movable relative to the at least one processing device. Advantageously, this allows each screw unit to be moved depending on the position of the screw connection relative to the position of the rail. The clamping device can transmit forces occurring when tightening and / or loosening the screw connection to the rail. This allows mechanical load relief of the fixing device and / or at least one vibration decoupler. In particular, particularly high screw moments can be applied to the screw connection.

[0050] The device according to claim 15 operates particularly economically. The screw elements may include nuts and / or screws and / or other screw elements required for the screw connection, such as washers and / or spring rings. Preferably, the loading device is configured so that the screw elements are provided in a predetermined position and / or in a predefined orientation. For this purpose, the loading device may have a vibrating conveyor and / or a vibrating table and / or a vibrating bowl feeder, and / or a blister feeder for handling screw elements provided in blister packs. The loading device advantageously ensures that the screw connection can be assembled substantially, in particular completely, automatically.

[0051] The device according to claim 16 operates particularly economically. The separating tool can be used to remove, in particular, stuck screw connections that cannot be loosened, for example, by at least one screw unit. The separating tool preferably has a separating tool motor for providing the power required for the separation. The separating tool can be configured as a separating grinder, in particular with a separating disk, or as separating tongs. The separating tool can be rigidly connected to at least one screw unit. Alternatively, the separating tool can be configured to be movable relative to the entire screw unit. By being able to remove stuck screw connections with the separating tool, the device can operate substantially, in particular fully, automatically.

[0052] The apparatus according to claim 17 is particularly economical to operate. The displacement device is preferably configured to slide and / or pivot at least one processing device, particularly at least one tamping unit and / or at least one screw unit, relative to the clamping device. This allows at least one processing device to be positioned and / or oriented with particular precision relative to each workpiece. In particular, two of the processing devices can be precisely oriented and positioned relative to one another depending on the relative positions and orientations of the two workpieces. Preferably, the displacement device is configured to slide at least one processing device, particularly at least one screw unit, along a vertical direction and / or parallel to a horizontal plane. The displacement device may have an actuating drive for generating the displacement movement, which is signal-connected, in particular, to a control unit. This makes the apparatus particularly easy to automate and operate.

[0053] Preferably, at least one vibration decoupler is arranged between the clamping device and the displacement device and / or between the displacement device and the at least one processing device. For example, at least two, in particular at least three, in particular at least four and / or up to eight vibration decouplers may be provided between the displacement device and the at least one processing device. These vibration decouplers are called processing decoupler units.

[0054] Preferably, at least one, in particular at least two, in particular at least three and / or at most four vibration decouplers are arranged between the displacement device and the fixing device, this at least one vibration decoupler being referred to as a fixed decoupler unit.

[0055] The device according to claim 18 operates particularly economically. The ability of at least two tamping units to slide and / or pivot relative to one another allows for particularly efficient compaction of the roadbed, especially below the track sleepers. The displacement device is preferably configured to slide and / or pivot the intruders penetrating into the roadbed relative to one another. The displacement device may be configured to slide and / or pivot at least two of the vibratory tamping units relative to one another. The displacement device may be arranged on the side of the at least one processing device and / or on the side of the fixing device with respect to the at least one vibratory decoupler. Preferably, at least two, in particular at least four, in particular at least six, tamping units are slidable and / or pivotable relative to one another, especially towards one another, by the displacement device, always in pairs.

[0056] The displacement device may have a linear guide and / or a linear drive for sliding the at least two tamping units. For pivoting the at least two tamping units, the displacement device may have a swivel joint and a linear drive and / or a pivoting drive. The linear drive is preferably configured as a hydraulic cylinder. According to one aspect of the invention, the displacement device is configured to slide and / or pivot at least two, in particular all, of the tamping units independently of one another relative to the fixing device.

[0057] The device according to claim 19 operates particularly economically. The positioning device may have a support structure for coupling with the fixing device. The positioning device is preferably signal-connected to a control unit. By means of the control unit, the positioning device can be controlled, preferably automatically, for example partially or fully automatically.

[0058] The device according to claim 20 is particularly flexible in use and economical to operate. The fastening device is preferably attached to the robot head of the multi-axis robot. The fastening device and / or the robot head may be configured to transmit fluid and / or electrical signals via the connection between the robot head and the fastening device. Preferably, the robot head is configured for connection with the fastening device configured as a quick-tightening coupling. The multi-axis robot is preferably configured to displace at least one processing device over a section along the rail, which section includes at least three, in particular at least four, track sleepers.

[0059] The multi-axis robot preferably has at least two, in particular at least three, in particular at least four, in particular at least six, and / or up to 10 pivot joints or pivot axes. The multi-axis robot may have one arm section between each of the pivot joints.

[0060] According to one aspect of the invention, the positioning device has at least two, in particular at least three, multi-axis robots that can be used simultaneously, in particular for orbital machining. Preferably, each multi-axis robot is fitted with a clamping device that includes at least one vibration decoupler and at least one machining device, thereby increasing the machining capacity of the device.

[0061] The device according to claim 21 is particularly flexible in use and economical to operate. The traveling vehicle may be configured as a trailer without a drive motor or may have a traveling drive. Preferably, the at least one multi-axis robot is attached to the traveling vehicle, particularly in a reversible and removable manner. The at least one multi-axis robot may be displaceable relative to the traveling vehicle, particularly be able to move linearly. In particular, the at least one multi-axis robot is suspended from the traveling vehicle and / or attached to a wall oblique to the horizontal plane, particularly a vertical wall. The traveling vehicle is preferably able to move along rails.

[0062] According to one embodiment of the present invention, the vehicle is configured as a two-way vehicle. The vehicle may have a rail travel mechanism for traveling on rails and / or a road travel mechanism for traveling on roads. Preferably, at least one of the travel mechanisms is height-adjustable. This allows for the transfer of the device, particularly the travel mechanism, between adjacent rails.

[0063] The device according to claim 22 is particularly reliably operable. The fastening unit may be configured, in particular in the form of a support clamp and / or a support cage, for form-fit support of the at least one processing device. Preferably, the fastening unit is configured so that the at least one processing device can be suspended from above in the fastening unit. The at least one processing device can be securely held in the fastening unit, in particular when the device moves along a rail. This prevents the at least one processing device from penetrating the track during mobile operation, thereby avoiding damage to persons or objects. Preferably, the at least one processing device can be reversibly secured, in particular suspended, to the fastening unit by the multi-axis robot.

[0064] The device according to claim 23 is particularly reliable and economical to operate. The workpiece refers to an object to be processed by at least one processing device. The workpiece may be, for example, a roadbed and / or a screw joint, particularly a screw head. To detect the position and / or orientation of the workpiece and / or to monitor the workspace, the sensor device may include a camera unit, particularly a 3D camera, particularly a TOF camera and / or an infrared camera, and / or a ground surveillance radar and / or a triangulation unit, particularly a laser triangulation unit, and / or a GPS module and / or a light barrier and / or a distance sensor, particularly an ultrasonic sensor. The sensor device is preferably signal-connected to a control unit. According to one embodiment of the invention, the control unit is configured to control the device, particularly the positioning device and / or the displacement device and / or at least one processing device, based on the signal from the sensor device.

[0065] According to one embodiment of the invention, the apparatus includes a supply unit, preferably mounted on a mobile vehicle, for supplying electrical power and / or fluid power to the positioning device and / or the at least one processing device and / or the at least one vibration decoupler, thereby enabling the apparatus to operate autonomously, in particular independently of surrounding supply units.

[0066] A further object of the invention is to provide a method for operating a device for track machining, which allows for simple, precise, flexible and economical track machining.

[0067] This problem is solved by a method with the features of claim 24. The advantages of the method correspond to the advantages explained above for the device.

[0068] Preferably, first, an apparatus according to the above description is provided, wherein the at least one processing device is displaceable between a return position, in which the at least one processing device is preferably positioned away from the workpiece, and a working position, in which the at least one processing device engages the workpiece. In the working position, the at least one tamping unit, in particular a penetration body, is lowered into the roadbed and / or the at least one screw unit, in particular a screw wrench, engages the screw connection, in particular the screw head.

[0069] Preferably, the second stiffness is lower than the first stiffness and / or the second damping is lower than the first damping. The change in stiffness is preferably in the range of 1 N / cm to 1000 N / cm, in particular 10 N / cm to 100 N / cm and / or 0.1 Nm / ° to 100 Nm / °, in particular 1 Nm / ° to 100 Nm / °. Preferably, the movement of the at least one processing device relative to the fixing device is fully blocked and / or at least partially blocked in the first coupled state and / or fully released and / or partially released in the second coupled state. Preferably, track processing is performed in the area of ​​straight sections of the track and / or in the area of ​​the turnouts.

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

[0071] According to another aspect of the invention, the displacement of the at least one processing device is performed at least partially, in particular exclusively, simultaneously with monitoring of the workspace by a sensor device, in particular by a camera system. When a person and / or an object enters the workspace, the operation of the device can be interrupted. The intrusion of a person and / or an object is detected, preferably automatically, by the sensor device and provides a corresponding signal to the control unit.

[0072] The vibration drive of the tamping unit and / or the rotational drive of the screw unit preferably takes place exclusively with the vibration decoupler adjusted to the second coupled state.

[0073] The method according to claim 25 ensures particularly precise orbital machining: the displacement between the return position and the working position is performed with the vibration decoupler adjusted to the stiffer first coupling state, so that the at least one machining device can be positioned particularly precisely on the workpiece.

[0074] The method according to claim 26 ensures a reduction in the loads acting on the device. The vibration decoupler is adjusted to the second coupling state with lower stiffness during machining of the track, which allows for a stronger decoupling of the movement of the at least one machining device from the movement of the fixing device. This reduces wear on the device and allows it to be operated particularly economically.

[0075] The method according to claim 27 allows particularly high torques to be applied to the screw connection. In particular, torque transmission via the clamping device can be avoided. This relieves the load on the clamping device and / or the positioning device and / or the vibration decoupler. By simultaneously engaging at least two of the screw units with one screw connection, the bearing moment acting on the corresponding processing device during the rotational drive of each screw connection can be eliminated via the respective other screw connection. Therefore, torque does not need to be transmitted, or at any rate only to a small extent, via the clamping device and / or the vibration decoupler.

[0076] According to one embodiment of the present invention, both screw connections are at least partially, in particular completely, tightened or loosened simultaneously. Preferably, the screw unit is rotated alternately when first loosening and / or when finally tightening. Therefore, the maximum bearing forces occurring in this case do not overlap each other. This reduces the load on the screw connection.

[0077] The method according to claim 28 is particularly economical. Preferably, at least one processing device is locked to the track while tightening and / or loosening at least one screw connection. Each screw unit can therefore be used to flexibly tighten and / or loosen the screw connection independently of the other screw unit, and the bearing moment generated during the rotational drive of the screw unit is dissipated to the rail. The devices, in particular the fixing device and / or the vibration decoupler, and / or the screw connection, are not loaded by the bearing moment. Preferably, two screw connections are completely tightened and / or loosened simultaneously, in particular by the two screw units.

[0078] The method according to claim 29 is particularly economical. Preferably, the at least one processing device is automated and is moved relative to the track, in particular by a positioning device, in particular with a multi-axis robot. Manual track processing in complex areas of the turnout can be avoided due to the flexible displacement of the at least one processing device relative to the track. The method is therefore particularly economical to implement.

[0079] A further object of the present invention is to provide a tamping assembly for roadbed preparation which is particularly economical in terms of operation and manufacture.

[0080] This problem is solved by a tamping assembly with the features of claim 30. The advantages of this tamping assembly correspond to the advantages explained above with respect to the device and the method.

[0081] Preferably, at least one tamping unit or vibratory tamping unit has a mechanical or drive motor for driving the vibration generator. The tamping unit may have a penetrating body, in particular a tamping ice axe, and / or a penetrating body chuck for reversibly and detachably attaching the penetrating body.

[0082] The tamping unit has, as an entry body, a tube or tamping pickaxe tube in which a vibration generator and / or a mechanical motor or drive motor are arranged. Preferably, the vibration generator and / or the mechanical motor are at least partially, in particular completely, overlapped by the entry body or tamping pickaxe tube perpendicular to the vertical direction and / or perpendicular to the feed direction. In particular, the vibration generator and / or the mechanical motor may be arranged completely inside the entry body or tamping pickaxe tube, in particular inside the smallest convex envelope of the entry body or tamping pickaxe tube. The tamping assembly is therefore particularly compact in design and energy-efficient in operation.

[0083] The tamping assembly may have at least one vibration decoupler, which is preferably arranged between the tamping unit and the displacement device and / or between the tamping unit and the locking device and / or between the displacement device and the locking device. The at least one vibration decoupler has, in particular, adjustable stiffness and / or adjustable damping. The tamping assembly can be further improved with the features mentioned above with respect to the device, in particular with respect to the tamping unit.

[0084] Further features, details and advantages of the invention will become apparent from the following description of several exemplary embodiments, which are given with reference to the drawings. [Brief explanation of the drawings]

[0085] [Figure 1]FIG. 1 is a perspective view showing a track machining device that includes a traveling vehicle for traveling on rails, a multi-axis robot attached to the traveling vehicle, a fixing device attached to the multi-axis robot, and two machining devices, with multiple vibration decouplers acting between the fixing device and the machining devices. [Figure 2] 2 shows a side view of the device of FIG. 1, in which the processing device has one tamping unit each for processing the roadbed. [Figure 3] FIG. 2 is a side view showing a multi-axis robot with the processing device of FIG. 1 attached thereto. [Figure 4] FIG. 2 is a front view of the fixture, vibration decoupler, processing device, and housing, with the vibration decoupler shown cut away. [Figure 5] 5 is a front view of the fixation device, vibration decoupler and processing device of FIG. 4 shown without the housing to show the displacement device for pivoting both processing devices relative to each other when they are positioned in the approach position. [Figure 6] 6 is a front view of the clamping device, vibration decoupler, and processing device of FIG. 5, showing the displacement device disposed in the infeed position. FIG. [Figure 7] 1 shows a perspective view of an apparatus for orbital machining according to another embodiment, in which both machining devices each have one screw unit for tightening and / or loosening a screw connection; [Figure 8] 8 is a front view of the clamping device, vibration decoupler, and both processing devices of FIG. 7, and a displacement device for sliding the processing devices parallel and perpendicular to the tool engagement direction. FIG. [Figure 9] 1 shows a perspective view of an apparatus for track machining according to another embodiment, comprising a traveling vehicle, two multi-axis robots mounted on the traveling vehicle, and one fixing device mounted on each multi-axis robot, on which two machining devices are arranged, with a vibration decoupler acting between the fixing device and the machining device. DETAILED DESCRIPTION OF THE INVENTION

[0086] A first embodiment of an apparatus 1 for track machining will be described with reference to Figures 1 to 6. This apparatus 1 includes a positioning device 2 equipped with a traveling vehicle 3 for traveling on a rail 4 and a multi-axis robot 5. The traveling vehicle 3 has a travel drive device 6 for moving the traveling vehicle 3 along the rail 4. A supply unit 7, a control unit 8, and a bearing unit 9 are arranged on the traveling vehicle 3.

[0087] The multi-axis robot 5 is mounted on a bearing unit 9. The multi-axis robot 5 has six swivel joints 10 for displacing a robot head 11 relative to the bearing unit 9. Between the swivel joints 10, one arm section 12 of the multi-axis robot 5 is arranged.

[0088] The device 1 comprises a clamping device 13 which is reversibly and detachably attached to the positioning device 2, in particular to the robot head 11. Two processing devices 14 are connected to the clamping device 13. Vibration decouplers 15a, 15b act between the processing devices 14 and the clamping device 13. The vibration decouplers 15a, 15b are configured to at least partially decouple the movement of the clamping device 13 from the movement of the processing devices 14. The vibration decouplers 15a, 15b are adjustable with regard to their stiffness and their damping properties.

[0089] The fixing device 13 comprises a quick-lock coupling 16 for reversible connection with the robot head 11. Furthermore, the fixing device 13 has a fluid coupling 17 capable of transmitting fluids, in particular hydraulic oil and compressed air.

[0090] Each of the two processing devices 14 has a tamping unit 18 for processing the roadbed, in particular for compacting the roadbed 19. Each tamping unit 18 has a tamping body 20 for penetrating the roadbed 19 and a vibration generator 21 for generating a vibrating motion in the tamping body 20. The tamping body 20 is configured as a tube and is also called a tamping pickaxe tube. Each vibration generator 21 is arranged on the associated tamping body 20. To generate the vibrating motion, the vibration generator 21 has an eccentric mass (not shown) mounted eccentrically relative to the axis of rotation. Each of the vibration generators 21 of the tamping units 18 can be driven in rotation by a respective machine motor 22 or drive motor of the tamping unit 18. The machine motor 22 is electrically driven. The required power is provided via a current coupling 23 of the fixing device 13. The machine motor 22 is arranged on the side of the tamping unit 18 relative to the vibration decouplers 15a, 15b.

[0091] The displacement device 24 of the device 1 is configured for pivoting each processing device 14, in particular each tamping unit 18, relative to the fixing device 13. For this purpose, each processing device 14 is connected to the fixing device 13 via an infeed joint 25 of the displacement device 24. A piston-cylinder unit 26 of the displacement device 24 generates an actuating force F required for pivoting each processing device 14. S By means of the displacement device 24, both tamping units 18 can also be pivoted to close relative to each other or to open relative to each other.

[0092] The vibration decouplers 15a and 15b each have a fixed decoupler unit 15a attached to the fixing device 13 and a machining decoupler unit 15b attached to each of the machining devices 14. The fixed decoupler unit 15a and the machining decoupler unit 15b are connected to each other by a reaction force F between the fixing device 13 and the machining device 14. R Each of the fluid-fillable chambers 27 has at least one chamber 27 for at least partially fluidly transmitting the fluid therethrough.

[0093] The fixed decoupler unit 15a is configured to control the displacement movement of the processing device 14 relative to the fixed device 13 along the direction of entry 28 of the entry body 20 into the roadbed 19. The processing decoupler unit 15b is configured to control the movement of each processing device 14 relative to the fixed device 13 along the entry direction 28, perpendicular to the entry direction 28. To control this relative movement, the fluid pressures p1, p2, p3 inside the chambers 27 are adjustable. To limit the relative movement to a linear degree of freedom, the fixed decoupler unit 15a has linear guides 29. The processing decoupler unit 15b does not have such guides. The chambers 27 of both vibration decouplers 15a, 15b have reversibly deformable chamber walls 30. The processing decoupler unit 15b does not limit the relative movement between the processing device 14 and the fixed device 13 to a predetermined degree of freedom of movement.

[0094] Via fluid connections 31, all chambers 27 of the vibration decouplers 15a, 15b are connected to a supply unit 7, in particular via fluid couplings 17. The fluid pressure p1, p2, p3 inside each chamber 27 is adjustable by a control unit 8 connected to the supply unit 7. The fluid is compressed air.

[0095] The fixed decoupler unit 15a is formed as a piston-cylinder unit. The chamber 27 of the working decoupler unit 15b is formed as a rubber bellows. The stiffness of each vibration decoupler 15a, 15b is adjustable depending on the pressures p1, p2, p3. The higher the pressures p1, p2, p3, the more strongly each vibration decoupler 15a, 15b is preloaded towards its rest position, where the volume V enclosed by each chamber 27 is at its maximum. The vibration decouplers 15a, 15b arranged in the displaced position exert a return force towards their rest position depending on the pressures p1, p2, p3.

[0096] The piston 32 of the fixed decoupler unit 15a, which is formed as a piston-cylinder unit, is slidably supported in a cylinder 33 and defines two annular chambers 27 separated from one another. A coil spring 33a acts between the piston 32 and the cylinder 33. The pressures p1 and p2 in the chambers 27 can be adjusted via a fluid line 34, which is fluidly connected to the fluid coupling 17. The two chambers 27 of the fixed decoupler unit 15a are fluidly connected to one another via an electrically controllable throttle valve 35, which is signal-transmittingly connected to the control unit 8. In particular, the throttle valve 35 is connected to the current coupling 23 via a current line 36.

[0097] The device 1 further comprises a sensor device 37 for detecting the position of the track sleepers 38, in particular the positioning of the processing device 14 relative to the roadbed 19. The sensor device 37 is further configured to monitor the working space 39, in particular to detect the presence or absence of objects or people in the working space 39. For this purpose, the sensor device 37 comprises two cameras 40 and a ground monitoring radar 41. A triangulation unit 42 and a GPS module 43 are used to precisely detect the position of the device 1 along the rail 4. The working space 39 is delimited downwardly by the roadbed 19 and laterally, forward and rearward by a frame bridge 39a connecting the front part of the traveling vehicle 3 to the rear part of the traveling vehicle 3.

[0098] For secure attachment of the processing device 14 to the carriage 3 during movement of the device 1 along the rails 4, the device 1 has a fixing unit 44. The fixing unit 44 is configured as a support frame, on which the displacement device 24 can be suspended from above, in particular by a multi-axis robot 5.

[0099] The functional form of device 1 is as follows:

[0100] The traveling vehicle 3 is arranged on rails 4. The processing device 14 is suspended from a fixed unit 44 via a displacement device 24. The displacement device 24 is in an approach position. The pressures p1, p2, p3 in the chambers 27 of the vibration decouplers 15a, 15b correspond to the ambient pressure.

[0101] The travelling drive 6 is activated so that the travelling vehicle 3 moves along the rails 4 towards the workpiece, in particular towards the roadbed 19 to be compacted. The positioning of the device 1 in the area of ​​the roadbed 19 to be processed is controlled by a control unit 8. For this purpose, information detected by the sensor device 37, in particular by a triangulation unit 42 and a GPS module 43, is processed in the control unit 8. The precise location of the track sleepers 38 to be compacted by the processing device 14 is carried out by means of a camera 40.

[0102] The multi-axis robot 5 moves the clamping device 13 and the processing device 14 attached to it upwards from the clamping unit 44 and positions them above the section of the roadbed 19 to be processed. Both processing devices 14 are arranged mirror-symmetrically with respect to a vertical plane passing through the longitudinal center axis of the corresponding sleeper 38. The multi-axis robot 5 is controlled by the control unit 8. The device 1 is in the return position.

[0103] Compressed air is supplied to the chambers 27 of the vibration decouplers 15a, 15b via the pressure regulating unit 45 of the control unit 8, in particular via the fluid line 34. When the pressures p1, p2, p3 in the chambers 27 increase, the stiffness of the vibration decouplers 15a, 15b increases and the vibration decouplers 15a, 15b are placed in the rest position. The pressures p1, p2 in the chambers 27 of the fixed decoupler unit 15a are, for example, 100 bar. The pressure p3 in the chambers 27 of the working decoupler unit 15b is, for example, 25 bar. The vibration decouplers 15a, 15b are each adjusted to a first coupling state with a first stiffness.

[0104] Based on a signal from the control unit 8, the multi-axis robot 5 lowers the processing device 14 vertically downwards. The penetrating body 20 of the processing device 14 enters the roadbed 19. The vibration decouplers 15a, 15b are made rigid by the pressures p1, p2, p3 in the chambers 27, which allows particularly precise positioning of the penetrating body 20 in the roadbed 19. The device 1 is in the approach position or approach position shown in FIG. 5.

[0105] The pressure in the chamber 27 is reduced by the pressure regulating unit 45 based on a corresponding signal from the control unit 8. The pressures p1 and p2 in the chamber 27 of the fixed decoupler unit 15a are, for example, 10 bar. The pressure p3 in the chamber 27 of the processing decoupler unit 15b is, for example, 5 bar. In the second coupled state, the second stiffness of each of the vibration decouplers 15a and 15b is reduced compared to the first stiffness at the time of entry into the roadbed 19. The second damping of the fixed decoupler unit 15a in the second coupled state can be changed by the throttle valve 35 and can be adjusted to be different from the first damping in the first coupled state.

[0106] The mechanical motor 22 of the processing device 14 is supplied with power by the control unit 8, in particular via a current coupling 23 and a current line 36. The mechanical motor 22 drives a vibration generator 21 of the processing device 14, which generates a vibration movement that is transmitted to the penetrating body 20.

[0107] The piston-cylinder unit 26 of the displacement device 24 is supplied with hydraulic fluid, which is provided from the supply unit 7 and introduced into the piston-cylinder unit 26 via the fluid coupling 17 and the fluid line 34. The actuation force F generated in the piston-cylinder unit 26 is S generates a pivoting movement of the processing device 14 about the infeed joint 25. The displacement device 24, and in particular the processing device 14, is in the infeed position shown in FIG.

[0108] Based on the vibration motion and the rotation of the invading body 20 entering the roadbed 19, when the invading body 20 moves into the roadbed 19, a reaction force F is applied to the processing device 14. R is applied. Reaction force F R is transmitted to the fixing device 13 via the machining decoupler unit 15b, the displacement device 24, and the fixing decoupler unit 15a. In this case, the reaction force F R The transmission of forces is at least partly via compressed air provided in the chamber 27. The forces p1, p2, p3 during the rotation of the processing device 14 about the infeed joint 25 are smaller than the forces p1, p2, p3 during the entry into the roadbed 19, which allows a reduction in the forces transmitted to the fixing device 13. In particular, the reaction force F resulting from the vibrational movement of the entry body 20 R is sufficiently absorbed by the vibration decouplers 15a and 15b. In particular, the vertical reaction force F Rz The peak values ​​of are attenuated by the vibration decouplers 15a, 15b. An adjustable throttle valve 35 allows adjustable damping of the vertical relative movement of the processing device 14 with respect to the fixture 13.

[0109] The control unit 8 provides a signal to displace the processing device 14 to the approach position by the piston-cylinder unit 26. The processing device 14 is pivoted back to the approach position around the infeed joint 25. The multi-axis robot 5 moves the processing device 14 to the return position based on the signal from the control unit 8. The vibration decouplers 15a, 15b transition back to the first coupling state.

[0110] The sensor device 37 provides a signal to the control unit 8 relating to the position of the adjacent sleeper 38. The multi-axis robot 5 displaces the processing device 14 to the next return position above the section of the roadbed 19 that is to be processed next. Further processing of the roadbed 19 takes place in accordance with what has been described above.

[0111] Throughout the entire period of the orbital machining, the workspace 39 is monitored by the sensor device 37. If a person or an object enters the workspace 39, this is detected by the sensor device 37 and a corresponding signal is provided to the control unit 8. Based on this, the control unit 8 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. This allows the operation of the device 1 to be carried out in a particularly safe manner.

[0112] The traveling vehicle 3 is configured as a multi-way vehicle. To this end, the traveling vehicle 3 has an auxiliary traveling mechanism 47 in addition to a rail traveling mechanism 46 for traveling on the rails 4. The auxiliary traveling mechanism 47 is vertically displaceable, in particular, between a position above the rail traveling mechanism 46 and a position below the rail traveling mechanism 46. The auxiliary traveling mechanism 47 is configured for traveling on uneven ground and roads. In particular, the auxiliary traveling mechanism 47 is configured for moving the device 1 between two adjacent tracks, in particular perpendicular to the longitudinal extension of the rails 4. This significantly increases the flexibility of use of the device 1.

[0113] The presence of the vibration decouplers 15a, 15b between the processing device 14 and the clamping device 13 significantly reduces the mechanical loads and reduces wear on the positioning device 2, in particular the traveling vehicle 3 with the multi-axis robot 5. The positioning device 2 can therefore be designed to be particularly material-saving and lightweight, and can be manufactured and operated particularly economically.

[0114] 7 and 8, a further embodiment of the invention will be described. Unlike the previously described embodiment, the device 1 has two processing devices 14, each with a screw unit 48 for tightening and loosening a screw connection 49. Each screw unit 48 has a machine motor 22 for rotating a screw tool 50 of the corresponding screw unit 48. A socket wrench 51 for rotating the screw connection 49 is reversibly and detachably attached to each screw tool 50. The displacement device 24, shown only diagrammatically, is configured so that both processing devices 14 are displaced independently of each other along the engagement direction 52 of the screw tools 50. Furthermore, the displacement device 24 is configured so that the processing devices 14 are moved relative to each other perpendicular to the engagement direction 52. In particular, the displacement device 24, like the previously described embodiment, is configured so that each processing device 14 is displaced together with the associated processing decoupler unit 15b.

[0115] The processing decoupler unit 15b has an elastically deformable chamber wall 30 in the form of a rubber bellows. The structure of such a processing decoupler unit 15b substantially corresponds to the processing decoupler unit 15b according to the embodiment described above.

[0116] The fixed decoupler unit 15a differs from the above-described embodiment in that it comprises a brake unit 53 for adjustable braking of the movement of the processing device 14 relative to the fixing device 13. The brake unit 53 comprises brake pads 54 which can be reversibly pressed against a brake body 56 by a brake actuator 55. The damping of the movement transmitted through the fixed decoupler unit 15a by the brake unit 53 is controlled by the pressing force F generated by the brake actuator 55. A . The decoupling of the movement of the clamping device 13 from the movement of the processing device 14 is performed exclusively along the engagement direction 52 by the fixed decoupler unit 15a. Forces directed perpendicular to the engagement direction 52 are transmitted via the brake unit 53 and the spring element 33a. No decoupling of the movement occurs perpendicular to the engagement direction 52. The corresponding movement is transmitted substantially rigidly via the linear guide 29 of the fixed decoupler unit 15a.

[0117] The device 1 has a clamping device 57, shown only diagrammatically, for reversibly fixing the processing device 14 to the rail 4. The clamping device 57 is attached to the displacement device 24. The clamping device 57 has an actuating element, not shown, for reversibly clamping it to the rail 4. This actuating element can be operated by a signal from the control unit 8.

[0118] Furthermore, the device 1 comprises a separating tool 58, shown only diagrammatically in Figure 8, for separating the stud bolts 59 of the now irremovably fixed screw connection 49. For this purpose, the separating tool 58 comprises a separating grinding disk 60 which can be rotated by a separating tool motor 61.

[0119] The device 1 has a loading device 62 for providing screw elements, in particular screws and / or nuts. The loading device 62 is designed to handle blisters, so that the screw elements can be provided in definable positions and locations, so that they can be fed to the processing device 14 in an automated manner, in particular by a multi-axis robot 5.

[0120] The functional form of the device 1 according to the embodiment shown in FIGS. 7 and 8 is as follows.

[0121] According to the embodiment described above, the device 1 is moved towards the workpiece, in particular towards the threaded connection 49 to be released. The device 1 is in the return position. The vibration decouplers 15a, 15b are adjusted to a first coupling state which has a higher stiffness than the second coupling state.

[0122] The positions of the rail 4 and the screw connection 49 are detected by the sensor device 37. A clamping device 57, which is rigidly attached to the displacement device 24, grips the rail 4 under the control of the control unit 8. An actuating drive 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 processing device 14 is supported on the rail 4 via the displacement device 24 and the clamping device 57.

[0123] Based on a signal from the control unit 8, the machining devices 14 are positioned relative to one another by the displacement devices 24 and perpendicular to the engagement direction 52 according to the relative positions of the screw connections 49.

[0124] By another signal from the control unit 8, the processing device 14 is lowered in the engagement direction 52 by the multi-axis robot 5. The socket wrench 51 engages the thread head of the stud bolt 59. The vibration decouplers 15a, 15b are adjusted to a second coupling state which has a lower stiffness than the first coupling state.

[0125] When the machine motor 22 is activated, the socket wrench 51 is driven in rotation via the screw tool 50. The screw tool 50 is configured as an impact wrench, which allows a particularly reliable loosening of a fixed screw connection 49.

[0126] The vibration decouplers 15a, 15b decouple the motion of the clamping device 13 from the motion of both processing devices 14. The vertical reaction force F Rz The force peaks are absorbed by the fixed decoupler unit 15a. The vertical spring support based on the linear guide 29 and the spring element 33a prevents the transmission of shock loads to the clamping device 13 when the processing device 14 comes into contact with the screw connection 49 during its descent. Shock loads can therefore be countered by the inertia of the device 1, in particular the components arranged upstream of the processing device 14 and the displacement device 24. The brake unit 53 damps the vertical movement of the processing device 14 relative to the clamping device 13, thereby again reducing the forces acting on the clamping device 13.

[0127] The screw unit 48 is formed as an impact wrench unit, which allows particularly reliable loosening of stuck screw connections 49. The vibrations that occur when using an impact wrench are generated by a reaction force F Rx ,F Ry These reaction forces F Rx ,F Ry The force peaks are absorbed in the machining decoupler unit 15b. The movement of the machining device 14 is at least partially decoupled from the movement of the displacement device 24 by the machining decoupler unit 15b.

[0128] After loosening the screw connection 49, the fastening device 57 is removed from the rail 4. The vibration decouplers 15a, 15b are adjusted to the first coupling state, which has higher rigidity than the second coupling state. The processing device 14 is lifted via the fixing device 13 by the multi-axis robot 5.

[0129] The sensor device 37 controls whether the threaded connections 49 have been loosened. If at least one threaded connection 49 is stuck so that it cannot be loosened by the screw tool 50, the corresponding stud bolt 59 is cut off. For this purpose, the separation tool 58 is moved towards the corresponding threaded connection 49 by the multi-axis robot 5. The vibration decouplers 15a, 15b are in this case adjusted to the first coupling state. The separation tool motor 61 is activated and the separation grinding disk 60 is fed in towards the stud bolt 59. The stud bolt 59 is cut off. The separation process is then completed and the device 1 moves back to the return position.

[0130] The device 1 can be used for producing the screw connection 49, in particular for assembly and tightening. For this purpose, the screw unit 48 is transferred to the loading device 62 by the multi-axis robot 5. The vibration decouplers 15a, 15b are in this case set in the first coupling position. A socket wrench 51 is introduced into the blister filled with screws. The screws are held in the socket wrench 51, for example, by clamping, in particular by a pressure element, and / or by a magnet, in particular an electromagnet. As the processing device 14 moves in the direction of the screw connection 49 to be produced, the screws are removed from the blister. Based on a signal from the control unit 8 and supported by measured values ​​provided, in particular by the sensor device 37, the screws are introduced into the predefined threaded holes.

[0131] The processing device 14 is fixed to the rail 4 by means of the clamping device 57. The vibration decouplers 15a, 15b are now adjusted to the second coupling state. The machine motor 22 is activated. The screw connection 49 is in particular tightened at the same time.

[0132] According to another embodiment not shown, the device 1 does not have a clamping device 57, unlike the last-mentioned embodiment. The two screw units 48 of the processing device 14 are supported against each other when tightening and / or loosening the screw connections 49. In particular, a torque transmitted to each screw connection 49 generates a corresponding reaction force F acting on the respective other screw connection 49. R is offset by

[0133] Such a reaction force F R In order to reduce the load on the threaded joint 49 due to the torque, when initially loosening and / or when finally tightening, both processing devices 14 are not operated simultaneously, but the screw units 48 are operated alternately. In contrast, when initially tightening and / or when finally loosening the threaded joint 49, both screw units 48 are operated simultaneously.

[0134] Preferably, the screw units 48 have force sensors, in particular torque sensors. The switching between simultaneous and alternating operation of the screw units 48 is preferably performed based on the signals of the respective force sensors, in particular by the control unit 8.

[0135] Another embodiment of the present invention will be described with reference to FIG. 9. Unlike the above-described embodiment, the apparatus 1 has two multi-axis robots 5, each of which has two processing devices 14 attached via fastening devices 13. The processing devices 14 are configured as screw units 48. Alternatively, the processing devices 14 may be configured as tamping units 18. The control unit 8 and the supply unit 7 are configured to operate both multi-axis robots 5 and the processing devices 14. By configuring the apparatus 1 with both multi-axis robots 5 and four processing devices 14, track processing can be performed simultaneously on both rails 4 of the track. This further improves the working efficiency of the apparatus 1.

[0136] Unlike the arrangement of only one bearing unit 9 in the central region between the rails 4, in this embodiment two bearing units 9 are provided for supporting the multi-axis robot 5 and are attached to the carriage 3. The frame bridge 39a is replaced by a central frame support 39b that extends in particular in the middle between the rails 4. The loading device 62 is arranged on the frame support 39b, so that all processing devices 14 can reach the loading device 62.

[0137] The cameras 40 of the sensor device 37 are arranged in the side regions of the vehicle 3. Both workspaces 39 are monitored by the sensor device 37 in the same way as in the embodiments described above.

[0138] The functional form of the device 1 corresponds to the functional form of the device 1 according to the embodiment described above.

[0139] Due to the presence of vibration decouplers 15a, 15b in the device 1, the movement of the clamping device 13 is at least partially decoupled from the movement of the at least one processing device 14. This makes it possible to significantly reduce the loads transmitted to the clamping device 13, and in particular to the positioning device 2. The device 1 is particularly robust and reliable in operation and can be particularly economically manufactured and operated.

[0140] The features of the individual embodiments can be combined with one another in any way necessary. The present invention also includes the following aspects. 1. A device (1) for orbital machining, a fixing device (13); at least one processing device (14) for compacting the subgrade (19) and / or for tightening and / or loosening the threaded joints (49); In an apparatus (1) having The apparatus (1) is characterized in that it is provided with at least one vibration decoupler (15a, 15b) having adjustable stiffness and / or adjustable damping for at least partially separating the fixing device (13) and the at least one processing device (14). 2. The device (1) according to claim 1, characterized in that it is provided with adjusting means (45) in signal connection with said at least one vibration decoupler (15a, 15b) for adjusting said stiffness and / or said damping. 3. The device (1) according to claim 1 or 2, characterized in that a drive unit (7) is provided connected to the adjusting means (45) for providing a fluid and / or mechanical signal for automated adjustment of the stiffness and / or the damping. 4. The device (1) according to any one of claims 1 to 3, characterized in that the at least one vibration decoupler (15a, 15b) has a fluid-filled chamber (27) for at least partial transmission of forces between the fixing device (13) and the at least one processing device (14) via a fluid. 5. The device (1) according to claim 4, characterized in that the chamber (27) has a reversibly deformable chamber wall (30). 6. The pressure (p 1 ,p 2 ,p 3 6. The device (1) according to claim 4 or 5, further comprising a pressure regulation unit (45) for controlling the pressure. 7. The device (1) according to at least one of claims 4 to 6, characterized in that the at least one vibration decoupler (15a, 15b) has an adjustable throttle valve (35) for restricting the flow of the fluid. 8. The device (1) according to at least one of claims 1 to 7, characterized in that the at least one vibration decoupler (15a, 15b) has a brake unit (53) for adjustable braking of the at least one processing device (14) relative to the fixing device (13). 9. The device (1) according to at least one of claims 1 to 8, characterized in that at least one mechanical motor (22) is provided for providing the power required to operate the at least one processing device (14), the mechanical motor (22) being arranged on the side of the at least one processing device (14), in particular with respect to the at least one vibration decoupler (15a, 15b). 10. The device (1) according to at least one of claims 1 to 9, characterized in that the at least one processing device (14) has a tamping unit (18) for processing the roadbed. 11. The device (1) according to claim 10, characterized in that the at least one processing device (14) comprises a vibration generator (21) for generating a vibrating movement. 12. The device (1) according to at least one of claims 1 to 11, characterized in that the at least one processing device (14) has a screw unit (48) for tightening and / or loosening a screw connection (49). 13. The device (1) according to claim 12, characterized in that the at least one processing device (14) has a plurality of screw units (48). 14. The device (1) according to claim 12 or 13, characterized in that it is provided with a fastening device (57) for reversibly fixing the at least one processing device (14) to the rail (4). 15. The device (1) according to at least one of claims 12 to 14, characterized in that a loading device (62) for providing the screw element (49) is provided. 16. The device (1) according to at least one of claims 1 to 15, characterized in that the at least one processing device (14) has a separation tool (58) for separating the stud bolt (59). 17. The device (1) according to at least one of claims 1 to 16, characterized in that a displacement device (24) is provided for sliding and / or pivoting of the at least one processing device (14) relative to the fixing device (13). 18. The device (1) according to claim 17, characterized in that at least two tamping units (18) are slidable relative to one another and / or pivotable relative to one another by means of said displacement device (24). 19. The device (1) according to at least one of claims 1 to 18, characterized in that it is provided with a positioning device (2) to which the fixing device (13) is attached for positioning the at least one processing device (14) in the track. 20. The device (1) according to claim 19, characterized in that the positioning device (2) has a multi-axis robot (5) to which the fixing device (13) is attached. 21. The device (1) according to claim 19 or 20, characterized in that the positioning device (2) has a traveling vehicle (3). 22. The device (1) according to claim 21, characterized in that a fixing unit (44) is provided for removably fixing the at least one processing device (14) to the traveling vehicle (3). 23. The device (1) according to at least one of claims 1 to 22, characterized in that a sensor device (37) is provided for detecting the position and / or orientation of the workpiece (19, 49) on the track and / or for monitoring the working space (39). 24. A method for operating a device (1) for orbital machining, comprising the following steps: Providing at least one processing device (14) disposed on a vibration decoupler (15a, 15b); The vibration decoupler (15a, 15b), a first coupling state in which the vibration decoupler (15a, 15b) has a first stiffness and / or a first damping; 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 adjusting between compacting the subgrade (19) and / or tightening and / or loosening the threaded joints (49) by means of said at least one processing device (14); A method comprising: 25. The method according to claim 24, characterized in that it includes a step of displacing the at least one processing device (14) from a return position to a working position, in which the vibration decouplers (15a, 15b) are adjusted to the first coupling state. 26. The method according to claim 24 or 25, characterized in that it includes a step of machining a track, in which the vibration decoupler (15a, 15b) is adjusted to the second coupling state. 27. The method according to at least one of claims 24 to 26, characterized in that it includes a step of successively and / or simultaneously tightening and / or loosening two threaded couplings (49) of the track, in particular a step in which two rotatably drivable screw units (48) simultaneously engage with each one of the threaded couplings (49). 28. The method according to at least one of claims 24 to 27, characterized in that it includes a step of locking the at least one machining device (14) to the at least one rail (4) during machining of the track. 29. Method according to at least one of claims 24 to 28, characterized in that the processing of the track is carried out by branch crossing. 30. A tamping assembly for roadbed preparation, comprising: a fixing device (13); At least one tamping unit (18), an entry body (20) formed as a tamping pickaxe; and Vibration Generator(21) At least one tamping unit (18) comprising: It has The vibration generator (21) and / or the mechanical motor (22) of the tamping assembly are disposed within the tamping pickaxe tube; a displacement device (24) for sliding and / or pivoting the at least one tamping unit (18) relative to the fixing device (13), Tamping assembly.

Claims

1. An apparatus (1) for orbital machining, comprising: a fixing device (13); at least one processing device (14) for compacting the subgrade (19) and / or for tightening and / or loosening the threaded joints (49); In a device (1) having at least one vibration decoupler (15a, 15b) having adjustable stiffness and / or adjustable damping is provided for at least partially separating the fixing device (13) and the at least one processing device (14); characterised in that adjustment means (45) are provided in signal connection with the at least one vibration decoupler (15a, 15b) for adjusting the stiffness and / or the damping. Device (1).

2. 2. The device (1) according to claim 1, characterized in that a drive unit (7) is provided, connected to the adjusting means (45), for providing a fluid and / or mechanical signal for the automated adjustment of the stiffness and / or the damping.

3. 3. The device (1) according to claim 1 or 2, characterized in that the at least one vibration decoupler (15a, 15b) has a fluid-filled chamber (27) for at least partial transmission of forces between the clamping device (13) and the at least one processing device (14) via a fluid.

4. 4. The device (1) according to claim 3, characterized in that the chamber (27) has a reversibly deformable chamber wall (30).

5. The adjusting means (45) adjusts the pressure (p １ , p ２ , p ３ 5. The device (1) according to claim 3 or 4, characterized in that it is formed as a pressure regulating unit for controlling the pressure of the pressure adjusting unit.

6. 6. The device (1) according to claim 3, wherein the at least one vibration decoupler (15a, 15b) comprises an adjustable throttle valve (35) for restricting the flow of the fluid.

7. 7. The device (1) according to claim 1, wherein the at least one vibration decoupler (15a, 15b) comprises a brake unit (53) for adjustable braking of the at least one processing device (14) relative to the fixing device (13).

8. 8. The device (1) according to claim 1, further comprising at least one mechanical motor (22) for providing the power required to operate the at least one processing device (14), the mechanical motor (22) being arranged on the side of the at least one processing device (14), in particular with respect to the at least one vibration decoupler (15a, 15b).

9. 9. Apparatus (1) according to at least one of claims 1 to 8, characterized in that the at least one processing device (14) comprises a tamping unit (18) for processing the roadbed.

10. 10. Apparatus (1) according to claim 9, characterized in that the at least one processing device (14) comprises a vibration generator (21) for generating a vibrating movement.

11. 11. The device (1) according to at least one of claims 1 to 10, characterized in that the at least one processing device (14) has a screw unit (48) for tightening and / or loosening a screw connection (49).

12. 12. Apparatus (1) according to claim 11, characterized in that the at least one processing device (14) comprises a plurality of screw units (48).

13. 13. Apparatus (1) according to claim 11 or 12, characterized in that a clamping device (57) is provided for reversibly fixing the at least one processing device (14) to the rail (4).

14. 14. The device (1) according to at least one of claims 11 to 13, characterized in that a loading device (62) for providing the threaded element is provided.

15. 15. The device (1) according to at least one of the preceding claims, characterized in that the at least one processing device (14) comprises a separating tool (58) for separating the stud bolt (59).

16. 16. The device (1) according to at least one of claims 1 to 15, characterized in that a displacement device (24) is provided for sliding and / or pivoting of the at least one processing device (14) relative to the fixing device (13).

17. 17. Apparatus (1) according to claim 16, characterized in that at least two tamping units (18) are slidable relative to one another and / or pivotable relative to one another by means of the displacement device (24).

18. An apparatus (1) according to at least one of claims 1 to 17, characterized in that it is provided with a positioning device (2) to which the fixing device (13) is attached for positioning the at least one processing device (14) in the track.

19. 19. Apparatus (1) according to claim 18, characterized in that the positioning device (2) comprises a multi-axis robot (5) to which the fixing device (13) is attached.

20. 20. Apparatus (1) according to claim 18 or 19, characterized in that the positioning device (2) comprises a traveling vehicle (3).

21. 21. Apparatus (1) according to claim 20, characterized in that a fastening unit (44) is provided for removably fastening the at least one processing device (14) to the traveling vehicle (3).

22. An apparatus (1) according to at least one of claims 1 to 21, characterized in that it is provided with a sensor device (37) for detecting the position and / or orientation of the roadbed (19) of the track and / or the screw connection (49) and / or for monitoring the working space (39).

23. A method for operating a device (1) for orbital machining, comprising the following steps: Providing an apparatus (1) for orbital machining according to at least one of claims 1 to 22, and arranging said at least one machining device (14) on said vibration decoupler (15a, 15b), The vibration decoupler (15a, 15b), a first coupling state in which the vibration decoupler (15a, 15b) has a first stiffness and / or a first damping; 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 adjusting between compacting the subgrade (19) and / or tightening and / or loosening the threaded joints (49) by means of said at least one processing device (14); A method comprising:

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