Processing apparatus and method for carrying out track-working operations

Abstract

The invention relates to a processing apparatus (22) for carrying out track-working operations, said processing apparatus comprising: a support frame (26) having a first support-frame end (34) and a second support-frame end (35); and at least one multi-axis robot (27, 28) arranged on the support frame (26) for carrying out the track-working operations. The processing apparatus (22) also comprises: a positioning device (24) for positioning the second support-frame end (35), which positioning device is arranged on a first rail chassis (9); and a pivoting device (25) for pivoting the first support-frame end (34), which pivoting device is arranged on the first rail chassis (9). As a result, when the support frame (26) is moved from a transport position into a working position, it can be aligned relative to a second rail chassis (16) in a simple, flexible and reliable manner.

Description

[0001] Machining device and method for carrying out track work

[0002] The content of the German patent application DE 10 2024 207 106.4 is incorporated herein by reference.

[0003] The invention relates to a processing device and a method for carrying out track work.

[0004] From DE 10 2021 202 939 A1, a processing device for carrying out track work is known. The processing device comprises a portal support frame and a multi-axis robot mounted on it for carrying out the track work. In a transport position, the portal support frame is arranged with a first support end and a second support end on the chassis of a first railcar, so that the portal support frame with the multi-axis robot mounted on it can be easily transported to a track section to be worked on. In the transport position, the first railcar is connected to a second railcar. At the track section to be worked on, the railcars and the portal support frame are moved from the transport position to a working position.For this purpose, the portal support frame is first moved so that the first support end remains on the chassis of the first railcar, while the second support end is moved onto the chassis of the second railcar. For this, for example, overrun rails are arranged between the chassis. The second support end is then locked relative to the second railcar, and the connection between the railcars is released. By moving the first railcar, a workspace for the multi-axis robot is created between the railcars and below the portal support frame. Within this workspace, the multi-axis robot can perform the necessary track work at the section of track to be serviced.

[0005] The invention is based on the objective of creating a processing device for carrying out track work that enables a simple, flexible, and reliable transfer from a transport position to a working position. In particular, the transfer from the transport position to the working position is intended to create a working space between rail bogies. This transfer should be possible, especially on curves and / or switches, in a simple, flexible, and reliable manner.

[0006] This problem is solved by a processing device for performing track work with the features of claim 1. The at least one multi-axis robot is arranged on the support frame. The support frame extends in a horizontal longitudinal direction x, a horizontal transverse direction y, and a vertical direction z. The longitudinal direction x, the transverse direction y, and the vertical direction z are perpendicular to each other in pairs and preferably form a Cartesian coordinate system. The longitudinal direction x, the transverse direction y, and the vertical direction z define an xy-plane, an xz-plane, and a yz-plane in pairs. The support frame is preferably formed by longitudinal beams that run parallel to the longitudinal direction x, by transverse beams that run parallel to the transverse direction y, and by vertical beams that run parallel to the vertical direction z.Additionally, the support frame can be formed by support beams that extend obliquely in the xz-plane to the longitudinal direction x and the vertical direction z, and / or that extend obliquely in the xy-plane to the longitudinal direction x and the transverse direction y, and / or that extend obliquely in the yz-plane to the transverse direction y and the vertical direction z. The support frame defines an interior space in which the at least one multi-axis robot is arranged. Preferably, the at least one multi-axis robot is suspended, in particular from a top surface of the support frame. The at least one multi-axis robot is arranged in a way that allows it to be displaced or moved along the support frame. Preferably, the at least one multi-axis robot is arranged in a way that allows it to be displaced or moved linearly along the support frame parallel to the longitudinal direction x, and / or parallel to the transverse direction y, and / or parallel to the vertical direction z.

[0007] The at least one multi-axis robot comprises, in particular, at least three, in particular at least four, and in particular at least five axes of motion. Preferably, the at least one multi-axis robot comprises at most seven axes of motion, in particular at most six axes of motion. The axes of motion are designed, in particular, as pivot axes and / or rotary axes. In a transport position, the support frame is mounted on the pivoting device and the positioning device. The pivoting device is designed for placement or attachment in the area of ​​a first chassis end of a first rail chassis. In contrast, the positioning device is designed for placement or attachment in the area of ​​a second chassis end of the first rail chassis. The first chassis end and the second chassis end are spaced apart from each other, in particular in the longitudinal direction x.The support frame comprises, in the longitudinal direction x, a first support frame end and a second support frame end. The support frame is mounted on the pivoting device in the area of ​​the first support frame end, whereas the support frame is mounted on the positioning device in the area of ​​the second support frame end. The first rail chassis is, in particular, part of a railcar or flatcar, or a rail vehicle.

[0008] The swiveling and positioning devices serve to align the support frame in order to move it from the transport position to a working position. In the working position, the support frame is preferably mounted on the first rail chassis at its second end and on a second rail chassis at its first end. Alternatively, in the working position, the support frame can be connected to a further support frame, which is mounted on a second rail chassis. The second rail chassis is, in particular, part of a railcar, flatcar, or rail vehicle.

[0009] The positioning device is designed to position the second end of the support frame in the transverse direction y and / or in the vertical direction z. By positioning the second end of the support frame in the transverse direction y and / or in the vertical direction z using the positioning device, the first end of the support frame is pivoted by means of the pivoting device. The pivoting device is designed to pivot about a horizontal pivot axis and / or about a vertical pivot axis. Using the positioning device and the associated pivoting device, the support frame can be easily and precisely aligned for transferring it from the transport position to the working position. This is particularly relevant when, due to the track layout at a section of track to be serviced, the first rail chassis and the associated second rail chassis are not aligned relative to each other, but rather arranged at an angle to one another.For example, the first rail chassis and the second rail chassis are arranged at an angle to each other in curves and / or in the area of ​​switches. The first rail chassis and the second rail chassis can, for example, be arranged at an angle to each other relative to the xy-plane and / or relative to the xz-plane. Due to the simple and precise alignment of the support frame, the machining device according to the invention can be aligned for any track layout, so that the machining device can be used flexibly and reliably.

[0010] In its working position, the processing device enables track work to be carried out. This track work can be performed fully automatically, semi-automatically, and / or remotely. The interior of the support frame and the space between the rail bogies form a workspace for the at least one multi-axis robot. Preferably, the processing device includes at least one sensor for detecting the section of track to be processed, for detecting a processing task, for monitoring the workspace, and / or for checking the processed section of track. The at least one sensor is, for example, an optical sensor, such as a digital camera. Preferably, at least one sensor is arranged on each multi-axis robot.

[0011] Preferably, the machining device includes a control unit for controlling the at least one multi-axis robot and / or the positioning device and / or the swiveling device. The control unit enables, for example, automatic control and / or semi-automatic control and / or remote control.

[0012] The processing device includes, in particular, a cover for enclosing the interior and / or the space between the components and / or the entire working area. The cover is, in particular, opaque. The cover protects the working area from environmental influences and unauthorized access. Furthermore, the cover prevents emissions, such as light and / or sound, from escaping into the surrounding environment. The cover enables, for example, welding operations to be carried out. The cover is, for example, mounted on the support frame and is at least partially repositionable to cover the space between components. Preferably, the processing device includes at least one locking unit for locking the support frame in the transport position and / or in the working position.

[0013] The processing device includes, in particular, a power supply unit for providing electrical energy.

[0014] A processing device according to claim 2 ensures simple, flexible, and reliable transfer from the transport position to the working position. The positioning base is designed for arrangement or attachment to the first rail chassis. The positioning base is fixed relative to the first rail chassis. The positioning unit can be moved in the transverse direction y and / or in the vertical direction z by means of the at least one positioning drive. The positioning unit comprises, in particular, a first positioning element that can be moved in the transverse direction y and a second positioning element that can be moved in the vertical direction z. A guide for supporting and guiding the support frame is arranged on the positioning unit, in particular on a guide element pivotably mounted on the second positioning element. The guide is, in particular, designed as a linear guide.Preferably, the linear guide comprises at least one slide rail, preferably at least two slide rails running parallel to each other. Preferably, the guide includes a conically shaped receiving section for receiving the support frame. The receiving section serves in particular to receive the second end of the support frame when moving the machining device from the working position to the transport position. The positioning base is preferably attached to a first auxiliary support. The first auxiliary support is designed in particular for attachment to the first rail chassis. The at least one positioning drive comprises in particular at least one electric drive motor.

[0015] A machining device according to claim 3 ensures simple, flexible, and reliable transfer from the transport position to the working position. The positioning unit comprises a first positioning element and a second positioning element arranged thereon. The first positioning drive serves to position the first positioning element relative to the positioning base in the transverse direction y. The first positioning drive comprises, in particular, a y-linear guide and an electric drive motor. The y-linear guide is formed or arranged between the positioning base and the first positioning element. The y-linear guide comprises, for example, y-guide rails and / or a y-spindle drive for positioning and moving the first positioning element in the transverse direction y. The y-spindle drive comprises, in particular, a y-spindle and an associated y-spindle nut.

[0016] Preferably, the second positioning element can be displaced in the vertical direction z relative to the first positioning element and / or relative to the positioning base by means of the second positioning drive. The second positioning drive is preferably located between the first and second positioning elements. Preferably, the second positioning drive comprises a z-linear guide and an electric drive motor. The z-linear guide is located between the first and second positioning elements. The second positioning element is guided along the first positioning element in the vertical direction z by means of the z-linear guide. The z-linear guide preferably comprises z-guide rails and a z-spindle drive. The z-spindle drive comprises, for example, a z-spindle and an associated z-spindle nut. The z-spindle drive is preferably self-locking.The z-axis spindle drive is attached to the first and second positioning elements. The axis of rotation of the z-axis spindle drive runs parallel to the vertical direction z. The axis of rotation of the associated electric drive motor runs parallel or transversely, in particular perpendicularly, to the vertical direction z. The z-axis linear guide prevents rotation of the second positioning element about the axis of rotation of the z-axis spindle drive.

[0017] The second end of the support frame is mounted on a guide, in particular an x-guide of the positioning device. The guide is preferably arranged or formed on a guide element. The guide element is preferably pivotably mounted on the second positioning element about an axis of rotation. The axis of rotation is preferably parallel to the vertical direction z. Preferably, the axis of rotation is coincident with the axis of rotation of the z-spindle drive. Sliding elements are preferably arranged between the guide element and the second positioning element. Due to its pivotability, the guide element aligns itself about the axis of rotation during positioning in the transverse direction y. The guide element can be fixed in the aligned position. Alternatively, instead of the automatic alignment of the guide element, a drive can be provided that rotates the guide element about the axis of rotation according to a displacement in the transverse direction y.

[0018] A processing device according to claim 4 ensures simple, flexible, and reliable transfer from the transport position to the working position. The first guide serves to support and guide the support frame in the longitudinal direction x. The first guide is therefore hereinafter also referred to as the first x-guide. The first guide is in particular designed as a sliding guide and / or as a roller guide. Preferably, the first guide comprises two parallel sliding rails. The first guide in particular comprises a conically extending receiving section for receiving the second end of the support frame during transfer from the working position to the transport position. The receiving section is formed at an end of the first guide facing the pivoting device. The first guide is in particular designed as a linear guide. The first guide is arranged on the positioning unit, in particular on a guide element of the positioning unit.

[0019] A machining device according to claim 5 ensures simple, flexible, and reliable transfer from the transport position to the working position. The at least one first pivoting base support is fixed to the first rail chassis. The at least one first pivoting base support is preferably attached to a first auxiliary support designed for attachment to the first rail chassis. Alternatively, the first pivoting base support can be attached directly to the first rail chassis. Preferably, the first pivoting unit allows pivoting about a first horizontal pivot axis parallel to the transverse direction y, and / or about a first vertical pivot axis parallel to the vertical direction z. The first horizontal pivot axis is hereinafter also referred to as the first B pivot axis. The first vertical pivot axis is hereinafter also referred to as the first C pivot axis.The first pivoting unit comprises, in particular, a first pivoting element that is pivotable about the first horizontal pivot axis, and / or a second pivoting element that is pivotable about the first vertical pivot axis. The first pivoting element is preferably attached to the at least one first pivoting base support. The second pivoting element is preferably arranged on the first pivoting element. Preferably, the pivoting device includes a second guide for supporting and guiding the support frame. The second guide is attached to the first pivoting unit so that the second guide is pivotable about at least one pivot axis. Preferably, the second guide is attached to the second pivoting element.

[0020] A machining device according to claim 6 ensures simple, flexible, and reliable transfer from the transport position to the working position. Preferably, the first pivoting unit comprises a first pivoting element and a second pivoting element. The first pivoting element is pivotable about a first horizontal pivoting axis, whereas the second pivoting element is pivotable about a first vertical pivoting axis. The horizontal pivoting axis is, in particular, parallel to the transverse direction y, whereas the vertical pivoting axis is, in particular, parallel to the vertical direction z. Preferably, the first pivoting element is attached to the first pivoting base. The second pivoting element, on the other hand, is attached to the first pivoting element, so that the second pivoting element is pivotable about the first horizontal pivoting axis and about the first vertical pivoting axis.The swivel mechanism includes, in particular, a second guide for supporting and guiding the support frame. The second guide is specifically arranged on the second swivel element.

[0021] A machining device according to claim 7 ensures simple, flexible, and reliable transfer from the transport position to the working position. The second guide serves to support and guide the support frame along the longitudinal direction x. The second guide is also referred to as the second x-guide. The second guide is preferably designed as a sliding guide and / or as a roller guide. The second guide preferably comprises two sliding rails running parallel to each other. The second guide is arranged on the first pivoting unit, particularly on a second pivoting element of the first pivoting unit. The second guide is preferably designed as a linear guide. Preferably, the second guide comprises at least one conically extending receiving section.

[0022] A machining device according to claim 8 ensures simple, flexible, and reliable transfer from the transport position to a working position. The positioning device and the swiveling device are designed to be spaced apart from each other in the longitudinal direction x on the first rail chassis. For example, the positioning device and the swiveling device are attached to a first auxiliary support, which is arranged on the first rail chassis. The swiveling device is, in particular, oriented towards a further swiveling device, which is arranged on a second rail chassis. The support frame has a length LT in the longitudinal direction x. For a minimum distance Ai between a first guide of the positioning device and a second guide of the swiveling device, the following applies in particular: 0.4 • LT < Ai < LT, in particular 0.5 • LT < Ai < 0.9 • LT, and in particular 0.6 • LT < Ai < 0.8 • LT.

[0023] A machining device according to claim 9 ensures simple, flexible, and reliable transfer from the transport position to the working position. The transfer drive serves to move the support frame in order to transfer the machining device from the transport position to the working position and vice versa. The transfer drive comprises an electric drive motor and a drive mechanism for converting the rotational movement of the electric drive motor into a linear movement of the support frame. Preferably, the drive mechanism comprises at least one rack and at least one associated gear. A gearbox, in particular a bevel gearbox, can be arranged between the electric drive motor and the associated gear. The at least one rack is, for example, attached to the support frame.The electric drive motor and its associated gear, as well as any gearbox, are arranged, in particular, between the positioning device and the swiveling device, preferably attached to a second swiveling element that is pivotable about a horizontal and a vertical pivoting axis. The electric drive motor and its associated gear, as well as any gearbox, are arranged, in particular, on the first swiveling unit such that they are always in the same position relative to the support frame. The support frame can be linearly displaced or moved along guides of the positioning device and the swiveling device by means of the displacement drive.

[0024] A machining device according to claim 10 ensures simple, flexible, and reliable transfer from the transport position to the working position. The first auxiliary support serves for mounting and dismounting the positioning device and the swiveling device on the first rail chassis. The first auxiliary support is preferably designed as a frame, in particular as a lattice frame. The positioning device and the swiveling device can be detachably attached to the first rail chassis by means of the first auxiliary support. The positioning device and the swiveling device can thus be easily and flexibly mounted and dismounted on the first rail chassis using the first auxiliary support. This allows any rail chassis, which are, for example, part of a railcar or flatcar, to be easily and flexibly equipped with the machining device according to the invention.This does not require separate approval for the machining device according to the invention. The first auxiliary support serves, in particular, for detachable attachment to the first rail chassis. For this purpose, a quick-locking device is provided between the first auxiliary support and the first rail chassis. The quick-locking device comprises, in particular, first quick-locking elements attached to the first auxiliary support and associated second quick-locking elements attached to the first rail chassis. The first quick-locking elements interact with the associated second quick-locking elements for the quick and easy attachment of the first auxiliary support to the first rail chassis. The quick-locking device is based, for example, on a twist-lock connection and / or a quick-lock connection.The positioning device and the swiveling device are attached to or pre-assembled on the first auxiliary support at a longitudinal distance x from each other. To assemble the machining device, only the first auxiliary support needs to be attached to the first rail chassis, and the support frame with the at least one multi-axis robot mounted on it needs to be placed on the positioning device and the swiveling device.

[0025] Preferably, a first locking unit for locking the support frame in the transport position is attached to the first auxiliary support. The locking unit is particularly attached to an end of the first auxiliary support that faces the second end of the support frame. This allows the support frame to be locked or fixed to the second end of the support frame in the transport position.

[0026] A processing device according to claim 11 ensures simple, flexible, and reliable transfer from the transport position to the working position. The measuring device serves to measure the orientation of the support frame relative to a second rail chassis or a further swiveling device arranged on the second rail chassis. The measuring device comprises at least one horizontal measuring sensor for measuring a horizontal distance of the support frame relative to the second rail chassis in the longitudinal direction x and / or at least one vertical measuring sensor for measuring a vertical distance of the support frame relative to the second rail chassis in the vertical direction z. Preferably, the at least one horizontal measuring sensor and / or the at least one vertical measuring sensor is designed to be non-contact, for example, as an optical measuring sensor, in particular as a laser measuring sensor.The measuring device comprises, in particular, at least two horizontal measuring sensors arranged side by side in the transverse direction y. From the measured horizontal distances, an angle α between the support frame and the second rail chassis can be determined. The angle α lies, in particular, in the xy-plane. Furthermore, the measuring device preferably has at least two vertical measuring sensors arranged one after the other in the longitudinal direction x. By measuring the at least two vertical distances, an angle β between the support frame and the second rail chassis can be determined. The angle β lies, in particular, in the xz-plane.

[0027] The at least one horizontal measuring sensor is, for example, arranged on the support frame and / or directly or indirectly on the second rail chassis. In particular, the at least one horizontal measuring sensor is arranged on the support frame and / or a second auxiliary support and / or a further or second pivoting device. The at least one vertical measuring sensor is preferably arranged on the support frame and / or directly or indirectly on the second rail chassis. Preferably, the at least one vertical measuring sensor is arranged on the support frame and / or a second auxiliary support and / or a further or second pivoting device. The at least one horizontal measuring sensor and / or the at least one vertical measuring sensor is, in particular, connected to a control unit.The control unit is designed to determine the horizontal and / or vertical alignment of the support frame relative to the second rail chassis from the measured values ​​and to control the positioning device such that the support frame is aligned horizontally and / or vertically as parallel as possible to the second rail chassis. For this purpose, the control unit is in signal communication with the positioning device. The control unit serves in particular to control the at least one positioning drive.

[0028] If the processing device has a further support frame that is arranged on the second rail chassis, the measuring device serves in particular to measure an alignment of the first support frame relative to the further or second support frame.

[0029] A processing device according to claim 12 ensures simple, flexible, and reliable transfer from the transport position to the working position. The second pivoting device is designed for attachment to the second rail chassis. This second pivoting device serves to support the support frame, which is aligned relative to the second rail chassis by means of the positioning device and the first pivoting device. The first pivoting device is arranged in the longitudinal direction x between the first positioning device and the second pivoting device. The second pivoting device is located in the region of a chassis end of the second rail chassis that faces the first rail chassis. The second pivoting device includes a third guide for supporting and guiding the support frame.The first guide of the positioning device and the third guide of the second swivel device have a minimum distance A2 from each other in the longitudinal direction x. The support frame has a length LT in the longitudinal direction x. The distance A2 is particularly suitable for: 0.5 • LT < A2 < LT, especially 0.6 • LT < A2 < 0.95 • LT, and especially 0.7 • LT < A2 < 0.9 • LT.

[0030] Furthermore, in particular 0.5 < A1 / A2 < 0.9, in particular 0.65 < A1 / A2 < 0.85, and in particular 0.7 < A1 / A2 < 0.8, where Ai denotes a minimum distance between the first guide of the positioning device and the second guide of the first swiveling device in the longitudinal direction x.

[0031] Alternatively, the second pivoting device can be used to pivot a further or second support frame. A first support frame end of the second support frame is then arranged on the second pivoting device, whereas a second support frame end of the second support frame is arranged on a further or second positioning device. The second pivoting device and the second positioning device are attached to the second rail chassis, in particular via a second auxiliary support.

[0032] Preferably, the machining device includes a second locking unit for locking the support frame in the working position. The second locking unit is preferably arranged on the second pivoting device, in particular on a second pivoting element of a second pivoting unit.

[0033] A processing device according to claim 13 ensures simple, flexible, and reliable transfer from the transport position to the working position. The at least one second pivoting base support is arranged indirectly and / or directly on the second rail chassis. Preferably, the at least one second pivoting base support is attached to a second auxiliary support, which can be detachably attached to the second rail chassis. The second pivoting unit is attached to the at least one second pivoting base support and forms at least one pivot axis relative to the at least one second pivoting base support. Preferably, the second pivoting unit forms a second horizontal pivot axis that runs parallel to the transverse direction y and / or a second vertical pivot axis that runs parallel to the vertical direction z. Preferably, the further orThe second pivoting device includes at least one return element for returning the second pivoting unit to a neutral position relative to the at least one second pivoting base. This return element is, for example, designed as a return spring. Preferably, the second pivoting device comprises at least one return element for each pivot axis.

[0034] The second pivoting unit preferably comprises a first pivoting element and a second pivoting element. The first pivoting element is pivotably arranged about the second horizontal pivot axis on at least one second pivoting base support. The second horizontal pivot axis runs, in particular, parallel to the transverse direction y. The second horizontal pivot axis is also referred to as the second B pivot axis. The second pivoting element is preferably arranged on the first pivoting element so as to pivot about the second vertical pivot axis. The second vertical pivot axis runs, in particular, parallel to the vertical direction z. The second vertical pivot axis is subsequently also referred to as the second C pivot axis.

[0035] The second pivoting device has, in particular, a third guide for supporting and guiding the support frame. The third guide is, in particular, arranged or formed on the second pivoting element. Between the first pivoting element and the at least one second pivoting base body, at least one first return element is preferably arranged for returning the first pivoting element to a neutral position with respect to the second horizontal pivot axis. Furthermore, at least one second return element is preferably arranged between the second pivoting element and the first pivoting element for returning the second pivoting element to a neutral position with respect to the second vertical pivot axis.

[0036] A processing device according to claim 15 ensures simple, flexible, and reliable transfer from the transport position to the working position. The third guide serves to support and guide the support frame in the longitudinal direction x. The third guide is hereinafter also referred to as the x-guide. The third guide is, in particular, attached to the second pivoting unit, preferably to a second pivoting element. The third guide is, in particular, designed as a linear guide. The third guide preferably forms a sliding guide and / or a roller guide. The sliding guide preferably comprises two parallel guide rails. Preferably, the third guide has a conically extending receiving section for receiving the first end of the support frame during transfer from the transport position to the working position. Alternatively, the third guide can serve to support and guide a further support frame in the longitudinal direction x.

[0037] A machining device according to claim 16 ensures simple, flexible, and reliable transfer from the transport position to a working position. The second pivoting device is attached to the second auxiliary support, which is designed for detachable attachment to the second rail chassis. The second auxiliary support is preferably designed as a frame, in particular as a lattice frame. The second pivoting device is attached to the second auxiliary support at an end facing the first pivoting device or the first rail chassis. Because the second auxiliary support is detachably attached to the second rail chassis, no separate approval is required for the second rail chassis or the machining device according to the invention. The attachment of the second auxiliary support to the second rail chassis is effected in particular by means of a quick-release locking device.The quick-locking device is located between the second auxiliary support and the second rail chassis. The quick-locking device comprises, in particular, first quick-locking elements attached to the second auxiliary support and associated second quick-locking elements attached to the second rail chassis. The first quick-locking elements interact with the associated second quick-locking elements to quickly and easily fasten the second auxiliary support to the second rail chassis. The quick-locking device is based, for example, on a twist-lock connection and / or a quick-lock connection.

[0038] A processing device according to claim 17 ensures simple, flexible, and reliable transfer from the transport position to the working position. In the transport position, the processing device can be easily and flexibly equipped with the at least one supply module. The at least one supply module provides tools and / or work materials required for the intended track processing. After transferring the processing device from the transport position to the working position, the tools and / or work materials provided by the at least one supply module are available for carrying out the track work. The at least one supply module is, in particular, interchangeably attached to the support frame, preferably inside the frame. This interchangeability allows for flexible adaptation of the processing device to the track processing to be carried out.Preferably, the processing device comprises at least one first interchangeable supply module with a first set of tools and / or a first set of work materials, and a second supply module with a second set of tools and / or a second set of work materials. Depending on the track maintenance task, the first supply module and / or the second supply module can be flexibly and interchangeably attached to the support frame. The invention further aims to create a rail-chassis assembly for carrying out track work that enables simple, flexible, and reliable transfer from a transport position to a working position.

[0039] This problem is solved by a rail-chassis assembly with the features of claim 18. The rail-chassis assembly according to the invention can be further developed, in particular, with at least one arbitrary feature that is described in connection with the machining device according to the invention.

[0040] In the transport position, the first rail chassis is detachably connected to the second rail chassis. The positioning device and the swivel device are arranged longitudinally x-spaced on the first rail chassis. The swivel device is located on the first rail chassis at an end facing the second rail chassis, while the positioning device is located on the first rail chassis at an end facing away from the second rail chassis. The support frame, with at least one multi-axis robot mounted on it, is supported on the positioning device and the swivel device.

[0041] To transfer the rail-chassis assembly or the machining device from the transport position to the working position, the support frame is aligned relative to the second rail chassis using the positioning and swiveling devices. The support frame should be aligned as parallel as possible to the second rail chassis, particularly in the transverse direction y and / or in the vertical direction z. After alignment, the first end of the support frame is moved onto the second rail chassis and fixed or locked relative to it. The connection between the rail chassis is then released, and the rail chassis are moved relative to each other in the longitudinal direction x. This movement creates a gap between the rail chassis, which, together with the interior space of the support frame, forms a workspace for at least one multi-axis robot.Within the workspace, track work can be carried out at a specific track section using at least one multi-axis robot. The first and / or second rail chassis can be, in particular, part of a railcar or flatcar and / or part of a rail vehicle, especially a track maintenance vehicle. The rail chassis can be connected by a coupling. The coupling can be operated remotely.

[0042] Preferably, the processing device comprises a further or second pivoting device arranged on the second rail chassis. Thus, in a preferred embodiment of the rail-chassis assembly, a first pivoting device is arranged on the first rail chassis and a second pivoting device on the second rail chassis. The first pivoting device is arranged, in particular, in the longitudinal direction x between the positioning device and the second pivoting device. The second pivoting device serves to receive, support, and guide the support frame during its transfer from the transport position to the working position. The second pivoting device also serves to absorb process forces during the execution of the track work. The transfer from the working position to the transport position is carried out in the reverse manner as described above.

[0043] The invention further aims to create a method for carrying out track work in which a rail-chassis assembly intended for carrying out track work can be easily, flexibly and reliably transferred from a transport position to a working position.

[0044] This problem is solved by a method with the features of claim 19. The advantages of the method according to the invention correspond to the advantages already described of the rail-chassis assembly according to the invention and / or the processing device according to the invention for carrying out track work. The method according to the invention can be further developed, in particular, by at least one arbitrary feature that is described in connection with the rail-chassis assembly according to the invention and / or with the processing device according to the invention for carrying out track work. Further features, advantages, and details of the invention will become apparent from the following description of an exemplary embodiment. The figures show:

[0045] Fig. 1 shows a side view of a rail-chassis assembly with a processing device for carrying out track work, which is in a transport position.

[0046] Fig. 2 shows a side view of the processing device for carrying out track work during the transfer from the transport position to a working position, wherein a support frame is arranged on a positioning device, a first swiveling device and a second swiveling device.

[0047] Fig. 3 shows a side view of the processing device for carrying out track work in the working position in which a first railcar is removed from a second railcar and the support frame is mounted on the first swivel device and the second swivel unit and spans a working space for multi-axis robots.

[0048] Fig. 4 shows an enlarged side view IV of the positioning device in Fig. 3, which is attached to the first rail car by means of a first auxiliary support.

[0049] Fig. 5 shows a sectional view through the positioning device in Fig. 4 along the section line VV.

[0050] Fig. 6 shows a top view of the positioning device in Fig. 4,

[0051] Fig. 7 shows a partially cutaway side view VII of the first pivoting device in Fig. 1, which is arranged on the first auxiliary support on the first railcar and on which the support frame is mounted.

[0052] Fig. 8 is an enlarged side view VIII of a first locking unit in Fig. 3 for locking the support frame in the transport position; Fig. 9 is a top view of the first pivoting device and the second pivoting device in the transport position.

[0053] Fig. 10 shows an enlarged side view X of the second swiveling device in Fig. 1 with a second locking unit attached to it for locking the support frame in the working position, and

[0054] Fig. 11 shows a top view of the first swiveling device and the second swiveling device as well as the support frame mounted on them in the working position.

[0055] Fig. 1 shows a rail-chassis assembly 1 arranged on a track 2. The track 2 comprises two rails 3 arranged side by side and running in a longitudinal direction, which are fastened to sleepers 4 arranged transversely to the longitudinal direction of the rails. The sleepers 4 are supported in a ballast bed 5.

[0056] The rail-chassis assembly 1 comprises a rail vehicle 6, a first railcar 7, and a second railcar 8. The railcars 7 and 8 are designed as flatcars. The rail vehicle 6 is, for example, designed as a track maintenance vehicle.

[0057] The first railcar 7 comprises a first rail chassis 9 and coupling components 11, 12 arranged at its ends. In the transport position shown in Fig. 1, the coupling component 11 is detachably connected to a coupling component 10 of the rail vehicle 6. The first rail chassis 9 comprises a first chassis frame 13 to which bogies 14 with rotatably mounted rail wheels 15 are attached. The rail wheels 15 are arranged and guided on the rails 3.

[0058] The second railcar 8 comprises a second rail chassis 16, to which coupling components 17, 18 are attached at the ends. In the transport position shown in Fig. 1, the coupling component 17 is detachably connected to the coupling component 12 of the first railcar 7. If required, another railcar or flatcar can be attached to the coupling component 18. The second rail chassis 16 comprises a second chassis frame 19, to which bogies 20 with rotatably mounted rail wheels 21 are attached. The rail wheels 21 are arranged and guided on the rails 3.

[0059] The rail-chassis assembly 1 includes a processing device 22 for carrying out track work. The processing device 22 is arranged on the first railcar 7 or the first rail chassis 9 and on the second railcar 8 or the second rail chassis 9. As will be explained in detail below, the processing device 22 is detachably attached to the first rail chassis 9 and the second rail chassis 16.

[0060] The machining device 22 comprises a first auxiliary carrier 23, a positioning device 24, a first swiveling device 25, a support frame 26, a first multi-axis robot 27, a second multi-axis robot 28, a first locking unit 29, a second auxiliary carrier 30, a second swiveling device 31, a second locking unit 32 and a displacement drive 33.

[0061] The first auxiliary support 23 is detachably connected to the first rail chassis 9 or the first chassis frame 13. The dimensions of the first auxiliary support 23 essentially correspond to the dimensions of the first chassis frame 13. A quick-release locking device is provided between the first chassis frame 13 and the first auxiliary support 23 for this detachable connection. For this purpose, matching quick-release locking elements are arranged on both the first chassis frame 13 and the first auxiliary support 23. The quick-release locking elements form, for example, a twist-lock connection or a quick-lock connection. The quick-release locking elements are not shown in detail in the figures.

[0062] The first auxiliary support 23 is designed, for example, as a lattice frame. The first auxiliary support 23 defines a longitudinal direction x, a transverse direction y, and a vertical direction z, which run perpendicular to each other in pairs. The longitudinal direction x runs essentially parallel to the longitudinal direction of the rail, whereas the transverse direction y runs essentially parallel to the sleepers 4. The positioning device 24 is attached to the first auxiliary support 23. The positioning device 24 is arranged in an end region of the first rail bogie 9 that faces away from the second rail bogie 16. For example, the positioning device 24 is arranged between the bogies 14 and adjacent to the bogie 14 that is furthest from the second rail bogie 16.

[0063] The first pivoting device 25 is attached to the first auxiliary support 23. The first pivoting device 25 is arranged in an end region of the first auxiliary support 23 or the first rail chassis 9 that faces the second rail chassis 16. For example, the first pivoting device 25 is arranged above the bogie 20 that faces the second rail chassis 16. The positioning device 24 and the first pivoting device 25 are thus arranged at a longitudinal distance x from each other on the first auxiliary support 23 or the first rail chassis 9.

[0064] The support frame 26 is mounted on the positioning device 24 and the first pivoting device 25 in the transport position shown in Fig. 1. Viewed in the longitudinal direction x, the support frame 26 has a first support frame end 34 and a second support frame end 35. In the transport position, the first support frame end 34 is arranged closer to the first pivoting device 25, whereas in the transport position, the second support frame end 35 is arranged closer to the positioning device 24.

[0065] The positioning device 24 serves to position the second support frame end 35 in the transverse direction y and / or in the vertical direction z when the support frame is to be moved from the transport position shown in Fig. 1 to the working position shown in Fig. 3. The positioning device 24 comprises a positioning base 36, a positioning unit 37, a y-positioning drive 38, a z-positioning drive 39, and a first x-guide 40. The positioning base 36 is attached to the first auxiliary support 23 and is fixed relative to it.

[0066] The positioning unit 37 serves to position the first x-guide 40 relative to the positioning base 36 in the transverse direction y by means of the y-positioning drive 38 and / or in the vertical direction z by means of the z-positioning drive 39. The positioning unit 37 comprises a y-positioning element 41, which is attached to the positioning base 36 by means of the y-positioning drive 38. The y-positioning element 41 is plate-shaped. For attaching the y-positioning element 41, the y-positioning drive 38 has a y-linear guide 42. The y-linear guide 42 comprises two y-guide rails 43, which run parallel to each other and parallel to the transverse direction y. The y-positioning element 41 is attached to the positioning base 36 so as to be displaceable in the transverse direction y by means of the y-guide rails 43.The y-positioning drive 38 further comprises a y-spindle drive 44 with a y-spindle 45 and a y-spindle nut 46, as well as an electric y-drive motor 47. The y-spindle 45 is rotatably mounted on the positioning base 36 about a rotary axis 48 running parallel to the transverse direction y and can be driven by the y-drive motor 47. The y-spindle 45 interacts with the y-spindle nut 46, which is connected to the y-positioning element 41.

[0067] The positioning unit 37 further comprises a z-positioning element 49. The z-positioning element 49 is plate-like. For mounting the z-positioning element 49, the z-positioning drive 39 has a z-linear guide 50, which is arranged between the z-positioning element 49 and the y-positioning element 41. The z-linear guide 50 comprises a total of four z-guide rails 51, which run parallel to each other and parallel to the vertical direction z. The z-positioning element 49 is mounted on the y-positioning element 41 so as to be displaceable in the vertical direction z by means of the z-guide rails 51. The z-positioning drive 39 comprises a z-spindle drive 52 with a z-spindle 53 and a z-spindle nut 54, as well as a right-angle gearbox 114 and an electric z-drive motor 55. The z-spindle drive 52 is self-locking. For this purpose, the z-spindle 53 is designed, for example, as a trapezoidal spindle.The z-spindle 53 is rotatably mounted on the y-positioning element 41 about a rotational axis 56 parallel to the vertical direction z by means of the bevel gear 114. The z-drive motor 55 serves to drive the z-spindle 53 and is attached to the y-positioning element 41. The z-spindle 53 interacts with the z-spindle nut 54, which is attached to the z-positioning element 49, to move the z-positioning element 49 in the vertical direction z.

[0068] The positioning unit 37 comprises a guide element 115 and sliding elements 116. The sliding elements 116 are arranged around the axis of rotation 56 on the z-positioning element 49 and connected to it. The guide element 115 is plate-shaped and has a bearing recess 117. The guide element 115 is mounted on the sliding elements 116 such that the z-spindle 53 extends through the bearing recess 117. The guide element 115 is thus slidably mounted on the sliding elements 116 and can pivot freely around the axis of rotation 56. The angular range through which the guide element 115 can pivot around the axis of rotation 56 is limited only by the design of the z-positioning element 49. The guide element 115 is secured against loosening along the axis of rotation 56. The z-spindle 53 forms a pivot pin for the guide element 115.

[0069] The first x-guide 40 is attached to the guide element 115. The x-guide 40 is designed as an x-linear guide that guides the support frame 26 in the longitudinal x direction. The first x-guide 40 comprises two slide rails 57, which are spaced apart from each other and parallel to each other in the transverse y direction and attached to the guide element 115. The slide rails 57 extend in the longitudinal x direction. At their ends, the slide rails 57 form receiving sections 58 for the support frame 26. For this purpose, the slide rails 57 run obliquely towards each other in the receiving sections 58. The receiving sections 58 are thus conically shaped.

[0070] The first pivoting device 25 serves to pivot the first support frame end 34 when the second support frame end 35 is positioned by means of the positioning device 24 so that the support frame 26 is aligned to the second rail chassis 16 and is then to be transferred from the transport position shown in Fig. 1 to the working position shown in Fig. 3.

[0071] The first pivoting device 25 comprises first pivoting base supports 59, a first pivoting unit 60 for forming a first horizontal pivot axis 61 and a first vertical pivot axis 62, and a second x-guide 63. The first pivoting base supports 59 are spaced apart from each other in the transverse y direction and attached to the first auxiliary support 23. The first pivoting base supports 59 are fixed relative to the first auxiliary support 23 and the first rail chassis 9. The first pivoting unit 60 comprises a first pivoting element 64, which is pivotably mounted on the first pivoting base supports 59 about the first horizontal pivot axis 61. The first pivoting element 64 is plate-like. The first horizontal pivot axis 61 runs parallel to the transverse y direction. The first horizontal pivot axis 61 is hereinafter also referred to as the first B-pivot axis.

[0072] The first pivoting unit 60 further comprises a second pivoting element 65, which is pivotably attached to the first pivoting element 64 about the first vertical pivoting axis 62. The second pivoting element 65 is plate-like. The first vertical pivoting axis 62 is hereinafter also referred to as the first C-pivot axis. The second x-guide 63 is attached to the second pivoting element 65. The second x-guide 63 is designed as an x-linear guide. The second x-guide 63 comprises slide rails 66, which run parallel to each other and, in a non-pivoting state of the first pivoting device 25, parallel to the longitudinal direction x. The slide rails 66 can form receiving sections at their ends, corresponding to the slide rails 57 of the positioning device 24. For this purpose, the slide rails 66 run obliquely towards each other at their ends.

[0073] The support frame 26 is mounted on the positioning device 24 and the first pivoting device 25 in the transport position shown in Fig. 1. The support frame 26 is cuboid in shape. It is designed as a lattice frame comprising longitudinal beams 67 running parallel to the longitudinal direction x, crossbeams 68 running parallel to the transverse direction y, and vertical beams 69 running parallel to the vertical direction z. The longitudinal beams 67, the crossbeams 68, and the vertical beams 69 are connected to each other to form the cuboid support frame 26. For stiffening, the support frame 26 also has support beams 70, which run diagonally between the longitudinal beams 67 and the vertical beams 69 and / or diagonally between the longitudinal beams 67 and the crossbeams 68.

[0074] The support frame 26 defines an interior space 71 in which the multi-axis robots 27 and 28 are arranged. The support frame 26 includes a cover (not shown) that encloses the interior space 71 on its exposed longitudinal sides, exposed end faces, and exposed top surface. The interior space 71, or the support frame 26, is open on its underside in the area of ​​the multi-axis robots 27 and 28. The support frame 26 includes a multi-axis robot linear guide 72, which is attached to the top surface of the support frame 26 within the interior space 71. The multi-axis robot linear guide 72 runs parallel to the longitudinal axis x through the interior space 71. The multi-axis robots 27 and 28 are suspended from the multi-axis robot linear guide 72 and can move independently of each other along the guide 72.

[0075] The multi-axis robots 27 and 28 are designed as industrial robots and each comprise, for example, five axes of motion, configured as pivot axes and / or rotary axes. The multi-axis robots 27 and 28 each include a tool holder 73 for holding tools. Furthermore, the multi-axis robots 27 and 28 each include at least one optical sensor 74 for detecting a track section to be processed, for detecting a processing task, and / or for monitoring the track processing, and / or for monitoring a work area A, and / or for checking the processed track section. The respective optical sensor 74 is arranged, in particular, adjacent to the tool holder 73 on the multi-axis robot 27 or 28. The optical sensor 74 is, for example, configured as a digital camera.

[0076] To perform various track work, the processing device 22 comprises a first supply module 75 for providing various tools and a second supply module 76 for providing various work materials. The supply modules 75 and 76 are interchangeably arranged in the interior space 71 on the support frame 26. The supply modules 75 and 76 can be lifted into the interior space 71 and attached to the support frame 26, for example, through corresponding openings on the top and / or the end faces and / or the longitudinal sides of the support frame 26. The supply modules 75 and 76 are shown only in Fig. 3.

[0077] The support frame 26 has a length LT in the longitudinal direction x. For mounting the support frame 26 in the transport position, the first x-guide 40 of the positioning device 24 and the second x-guide 63 of the first swiveling device 25 have a minimum distance Ai from each other in the longitudinal direction x. The distance Ai is, in particular: 0.4 • LT < Ai < LT, especially 0.5 • LT < Ai < 0.9 • LT, and especially 0.6 • LT < Ai < 0.8 • LT.

[0078] The first locking unit 29 serves to lock the support frame 26 relative to the first auxiliary support 23 or the first chassis frame 13 in the transport position. The first locking unit 29 comprises a stop plate 77, which is attached to the end of the first auxiliary support 23 that faces away from the second rail chassis 16 in the longitudinal direction x. The stop plate 77 extends in the transverse direction y and the vertical direction z. The stop plate 77 serves to stop the second support frame end 35 in the transport position. A centering pin 78 is arranged on the stop plate 77 and extends in the longitudinal direction x. The centering pin 78 serves to center the support frame 26 on the second support frame end 35. For this purpose, the centering pin 78 interacts with a centering opening on the support frame 26 (not shown).

[0079] The first locking unit 29 comprises a first locking bolt 79, which can be displaced in the vertical direction z by means of a first locking drive 80. The first locking bolt 79 and the first locking drive 80 are attached to the stop plate 77. This is illustrated in Fig. 8. The first locking bolt 79 interacts with a locking opening (not shown) formed on the support frame 26.

[0080] The first locking unit 29 further comprises a second locking bolt 81 and a second locking drive 82. The second locking bolt 81 serves to lock the support frame 26 to the first support frame end 34 in the transport position. This is illustrated in Fig. 9. The second locking bolt 81 can be displaced in the transverse direction y by means of the second locking drive 82. The second locking bolt 81 and the second locking drive 82 are attached to the second pivot element 65 of the first pivoting device 25. The second locking bolt 81 interacts with a locking opening (not shown) formed in the support frame 26. The second locking bolt 81 and the second locking drive 82 also serve to lock the support frame 26 in the working position. This is explained in more detail below.

[0081] The displacement drive 33 serves to displace the support frame 26 from the transport position shown in Fig. 1 to the working position shown in Fig. 3 and vice versa. The displacement drive 33 is illustrated in Fig. 7. The displacement drive 33 is arranged between the first pivoting device 25 and the support frame 26. The displacement drive 33 comprises an electric drive motor 83 and an associated drive mechanism 84, which converts a rotational movement of the drive motor 83 into a linear movement of the support frame 26 in the longitudinal direction x. The drive mechanism 84 comprises a bevel gear 85, a gear 86, and a rack 87. The gear 86 can be rotated about a pivot axis 88 by means of the electric drive motor 83 via the bevel gear 85 in a first direction of rotation and an opposite second direction of rotation.The drive motor 83, the angle gear 85, and the gear 86 are attached to the second pivoting element 65 of the first pivoting device 25. In contrast, the rack 87 is attached to a longitudinal beam 67 of the support frame 26. This allows the support frame 26 to be moved from the transport position to the working position and vice versa.

[0082] The second auxiliary support 30 is detachably attached to the second chassis frame 19 or the second rail chassis 16. The second auxiliary support 30 is designed as a lattice frame. The dimensions of the second auxiliary support 30 essentially correspond to the dimensions of the second chassis frame 19. The second auxiliary support 30 is detachably attached to the second rail chassis 16 by means of a quick-release locking device. For this purpose, matching quick-release locking elements are arranged on both the second auxiliary support 30 and the second chassis frame 19. The quick-release locking elements are not shown in detail in the figures. The quick-release locking elements form, for example, a twist-lock connection or a quick-lock connection.

[0083] The second pivoting device 31 is attached to the second auxiliary support 30. The second pivoting device 31 is arranged at one end of the second auxiliary support 30 or the second rail chassis 16, which faces the first pivoting device 25 in the longitudinal direction x. The second pivoting device 31 is, for example, arranged above the bogie 20, which faces the first rail chassis 9 in the longitudinal direction x.

[0084] The second pivoting device 31 serves to receive the support frame 26 at the first support frame end 34 when transferring it from the transport position to the working position, as well as to guide and support the support frame 26. This is illustrated in Fig. 2. The second pivoting device 31 comprises second pivot base supports 89 and a second pivot unit 90 for forming a second horizontal pivot axis 91 and a second vertical pivot axis 92. Furthermore, the second pivoting device 31 comprises a third x-guide 93, first return elements 94, and second return elements 95. The second pivot base supports 89 are spaced apart from each other in the transverse y direction and attached to the second auxiliary support 30. The second pivot unit 90 comprises a first pivot element 96, which is pivotably mounted on the second pivot base supports 89 about the second horizontal pivot axis 91. The first pivot element 96 is plate-shaped.The second horizontal pivot axis 91 runs parallel to the transverse direction y. The second horizontal pivot axis 91 is hereinafter also referred to as the second B-pivot axis. To align the first pivot element 96 in an unpivoted neutral position, the first return elements 94 are attached on both sides of the second horizontal pivot axis 91 between one of the second pivot base supports 89 and the first pivot element 96.

[0085] The second pivoting unit 90 further comprises a second pivoting element 97, which is pivotably mounted on the first pivoting element 96 about the second vertical pivoting axis 92. The second vertical pivoting axis 92 runs parallel to the vertical direction z. The second vertical pivoting axis 92 is hereinafter also referred to as the second C-pivot axis. To align the second pivoting element 27 in an unpivoted neutral position, the second return elements 95 are attached on both sides of the second vertical pivoting axis 92 between the first pivoting element 96 and the second pivoting element 97.

[0086] The third x-guide 93 is attached to the second pivot element 97. The third x-guide 93 serves to guide the support frame 26 in the longitudinal direction x. The third x-guide 93 is designed as a linear guide. The third x-guide 93 comprises two slide rails 98, which are spaced apart from each other in the transverse direction y on the second pivot element 97 and run parallel to each other in the longitudinal direction x. The slide rails 98 have receiving areas 99 at their ends, in which the slide rails 98 run obliquely towards each other.

[0087] The first x-guide 40 and the third x-guide 93 have a minimum distance A2 from each other in the longitudinal direction x. For the distance A2, the following holds in particular: 0.5 • LT < A2 < LT, especially 0.6 • LT < A2 < 0.95 • LT, and especially 0.7 • LT < A2 < 0.9 • LT.

[0088] For a ratio of the distances Ai to A2, the following applies in particular: 0.5 < A1 / A2 < 0.9, in particular 0.65 < A1 / A2 < 0.85, and in particular 0.7 < A1 / A2 < 0.8. The second locking unit 32 serves to lock the support frame 26 in the working position.

[0089] The second locking unit 32 comprises a stop plate 100, a centering pin 101, a third locking pin 102, and a third locking drive 103. The stop plate 100 is attached to one side of the second pivot element 97, the side facing away from the first pivoting device 25. The stop plate 100 extends in the transverse direction y and the vertical direction z. The centering pin 101 is attached to the stop plate 100 and extends in the longitudinal direction x. The centering pin 101 interacts with a corresponding centering opening formed at the first support frame end 34 of the support frame 26. The third locking pin 102 and the third locking drive 103 are attached to the stop plate 100. The third locking pin 102 can be displaced parallel to the vertical direction z by means of the third locking drive 103.The third locking bolt 102 interacts with a locking opening (not shown) formed at the first support frame end 34 of the support frame 26. The second locking unit 32 further comprises the second locking bolt 81 and the second locking drive 82. The second locking bolt 81 and the second locking drive 82 thus belong to both the first locking unit 29 and the second locking unit 32. The second locking unit 32 is illustrated in particular in Figures 10 and 11.

[0090] To measure the alignment of the support frame 26 before or during transfer from the transport position to the working position, the machining device 22 includes a measuring device 104. The measuring device 104 comprises a first horizontal measuring sensor 105, a second horizontal measuring sensor 106, a first vertical measuring sensor 107, and a second vertical measuring sensor 108. The first horizontal measuring sensor 105 and the second horizontal measuring sensor 106 are spaced apart from each other in the transverse direction y and are attached to the first support frame end 34 of the support frame 26. For example, the horizontal measuring sensors 105, 106 are attached to a cross member 68 of the support frame 26. This is illustrated in Fig. 9.

[0091] The first horizontal measuring sensor 105 measures a first distance Xi in the longitudinal direction x to the stop plate 100. Correspondingly, the second horizontal measuring sensor 106 measures a second distance X2 in the longitudinal direction x to the stop plate 100. If the first rail chassis 9 and the second rail chassis 16 are aligned in a straight line with respect to the xz plane, then the measured distances Xi = X2. The support frame

[0092] 26 or the first support frame end 34 thus runs parallel to the stop plate 100.

[0093] If the first rail chassis 9 and the second rail chassis 16 are arranged at an angle to each other with respect to the x-z plane, for example due to a curve or switch, the stop plate 100 runs obliquely or at an angle to the first support frame end 34. Figure 9 shows the path of the stop plate when the rail chassis 9, 16 are arranged at an angle to each other. The stop plate is labeled 100' to distinguish it from a parallel path. As can be seen in Figure 9, the distance Xi differs from the distance X2. From the distances Xi and X2 and a distance YH between the horizontal measuring sensors 105, 106 in the transverse direction y, an angle α can be determined, which describes the angular position of the rail chassis 9, 16. The horizontal measuring sensors 105, 106 are, for example, designed as laser measuring sensors.

[0094] The first vertical measuring sensor 107 and the second vertical measuring sensor 108 are spaced apart from each other in the longitudinal direction x on the second auxiliary support 30. This is illustrated in Fig. 10. The vertical measuring sensors 107, 108 are attached to the end of the second auxiliary support 30 that faces the first auxiliary support 23 or the first pivoting device 25. The vertical measuring sensors 107, 108 are thus arranged between the pivoting devices 25, 31. The first vertical measuring sensor 107 measures a first distance Zi in the vertical direction z to the first support frame end 34 of the support frame 26 arranged above it. Correspondingly, the second vertical measuring sensor 108 measures a second distance Z2 in the vertical direction z to the first support frame end 34 of the support frame 26 arranged above it.

[0095] If the first rail chassis 9 and the second rail chassis 16 are aligned or arranged in a straight line relative to each other with respect to the x-y plane, then the support frame 26 is aligned parallel to the xy plane and the following applies to the measured distances: Zi = Z2.

[0096] In contrast, if the first rail chassis 9 and the second rail chassis 16 are arranged at an angle to each other with respect to the xy-plane, for example due to a transition to a slope or an incline, then the support frame 26 is angled to the xy-plane. Figure 10 shows an inclined path of the first end 34 of the support frame. For differentiation, the support frame has the reference numeral 26'. As can be seen in Figure 10, the first distance Zi differs from the second distance Z2. From the distances Zi and Z2, as well as a distance Xv between the vertical measuring sensors 107, 108 in the longitudinal direction x, an angle β can be determined, which characterizes the angular position of the support frame 26 relative to the second rail chassis 16 or to the xy-plane.

[0097] For power supply, the processing device 22 comprises a power supply unit 109 and an associated container 110. The power supply unit 109 is arranged in the container 110. The container 110 is detachably attached to the second auxiliary support 30. The power supply unit 109 is designed to provide electrical energy. The power supply unit 109 can include an internal combustion engine-generator unit, electrical energy storage devices, in particular accumulators, fuel cells, and / or a current collector for an overhead line.

[0098] Furthermore, the processing device 22 comprises a control unit 111 and an associated container 112. The control unit 111 is arranged in the container 112. The container 112 is detachably attached to the second auxiliary support 30. The container 112 is preferably arranged between the second pivoting device 31 and the container 110. The control unit 111 serves for fully automatic and / or semi-automatic control and / or remote control of the processing device 22. For this purpose, the control unit 111 is in signal communication with the sensors and / or drives required for carrying out the track work. The control unit 111 can, in particular, include an operating unit for remote control and / or monitoring of the processing device 22 by an operator.

[0099] The following describes in detail the operation of the rail-chassis assembly 1 and the processing device 22:

[0100] To perform track work, the rail-chassis assembly 1 or the processing device 22 must first be transported to the track section to be worked on. For this purpose, the rail-chassis assembly 1 with the processing device 22 is in the transport position shown in Fig. 1. In the transport position, the rail vehicle 6, the first railcar 7, and the second railcar 8 are connected to each other. The support frame 26 is mounted on the positioning device 24 and the first swivel device 25 and is locked in the transport position by means of the first locking unit 29. The locking is achieved by means of the first locking bolt 79 and the second locking bolt 81. The first multi-axis robot 27 and the second multi-axis robot 28 are arranged and secured in the interior 71.The rail vehicle 6 is used to move the railcars 7, 8 and the processing device 22 arranged on them to the track section to be processed.

[0101] Once the track section to be serviced is reached, the rail-chassis assembly 1 with the service device 22 must be moved from the transport position to the working position shown in Fig. 3. For this purpose, the first locking unit 29 is first released so that the support frame 26 is no longer locked. The support frame 26 is then moved longitudinally x towards the second pivoting device 31 by means of the displacement drive 33 until the horizontal measuring sensors 105, 106 and the vertical measuring sensors 107, 108 provide measured values ​​for the distances Xi, X2 and the distances Zi, Z2. The movement of the support frame 26 is then temporarily stopped before the first end of the support frame 34 reaches the second pivoting device 31.

[0102] The horizontal measuring sensors 105, 106 and the vertical measuring sensors 107, 108 transmit the measured distances Xi, X2 and Zi, Z2 to the control unit 111. From the distances Xi and X2 and the known distance YH of the horizontal measuring sensors 105, 106, the control unit 111 determines the angle α, which characterizes a first angular position of the support frame 26 relative to the second pivoting device 31. Similarly, from the distances Zi and Z2 and the known distance Xv of the vertical measuring sensors 107, 108, the control unit 111 determines the angle β, which characterizes a second angular position of the support frame 26 relative to the second pivoting device 31. From this, the control unit 111 derives control signals for the y-positioning drive 38 and the z-positioning drive 39 of the positioning device 24.

[0103] The y-positioning element 41, the z-positioning element 49, and the guide element 115, and thus also the second support frame end 35 of the support frame 26 mounted on it, are moved by means of the y-positioning drive 38 and the z-positioning drive 39 such that the distances Xi and X2 are as close to each other as possible, and that the distances Zi and Z2 are as close to each other as possible. The distances Xi and X2 as well as the distances Zi and Z2 are repeatedly measured during the positioning of the second support frame end 35, so that the positioning of the second support frame end 35 and thus the alignment of the support frame 26 is monitored and optimized. The guide element 115 is pivoted about the axis of rotation 56 by the positioning in the transverse y-direction due to the support frame 26 mounted on it.

[0104] By positioning the second support frame end 35 in the transverse direction y and the vertical direction z, the first support frame end 34, which is mounted on the first pivoting device 25, is pivoted about the first B pivot axis 61 and the first C pivot axis 62, and the first support frame end 34 is thus aligned relative to the second pivoting device 31. If the distances Xi and X2 are as close as possible to each other and the distances Zi and Z2 are as close as possible to each other, then the first support frame end 34 is optimally aligned with the second pivoting device 31.

[0105] The longitudinal movement of the support frame 26 is then continued by means of the movement drive 33. The first end of the support frame 34 encounters the third x-guide 93 of the second pivoting device 31 in the receiving section 99. Due to the first return elements 94 and the second return elements 95, the second pivoting device 31, or rather its third x-guide 93, is in a neutral, non-pivoting position. However, as the movement of the support frame 26 progresses, the third x-guide 93 is aligned by the support frame 26 itself. In this process, the first pivoting element 96 and the second pivoting element 97, and thus the third x-guide 93, are pivoted about the second B-pivot axis 91 and the second C-pivot axis 92. This is illustrated in Fig. 2.

[0106] The movement of the support frame 26 is completed when the first support frame end 34 contacts the stop plate 100 of the second locking unit 32. In this position, the first support frame end 34 is locked relative to the second pivoting device 35, and thus to the second railcar 8 or the second rail chassis 16, by means of the third locking bolt 102. The second railcar 8 is then secured on track 2. The coupling components 12, 17, which connect the first railcar 7 to the second railcar 8, are released. The first railcar 7 is then moved away from the second railcar 8 by means of the rail vehicle 6. The movement of the first railcar 7 creates a gap 113 between the first railcar 7 and the second railcar 8.On the other hand, the movement of the first railcar 7 displaces the second support frame end 35 relative to the positioning device 24 and the first pivoting device 25 in the longitudinal direction x. The displacement of the first railcar 7 is completed when the second support frame end 35 reaches the first pivoting device 25. Subsequently, the first railcar 7 is secured on the track 2, and the second support frame end 35 is locked or fixed relative to the first pivoting device 25 by means of the second locking bolt 81. The rail-chassis assembly 1 and the machining device 22 are now in the working position. The working position is shown in Fig. 3.

[0107] The interior space 71 and the resulting gap 113 form workspace A for the multi-axis robots 27 and 28. Workspace A can be completely enclosed, for example, by laterally covering the gap 113 with movable panels mounted on the support frame 26. Within workspace A, the multi-axis robots 27 and 28 can access the supply modules 75 and 76 and obtain tools and / or materials. Furthermore, the multi-axis robots 27 and 28 can process the track section designated for work within workspace A. For example, the multi-axis robots 27 and 28 can perform milling, welding, and / or grinding operations.

[0108] After completion of the track work, the rail-chassis assembly 1 and the processing device 22 must be moved from the working position back to the transport position. This is done in the reverse manner as described above. In the working position, the positioning device 24 remains in the position it assumed for aligning the support frame 26. This ensures that the second end of the support frame 35 again engages the first x-guide 40 of the positioning device 24. Measuring the distances Xi, X2 and Zi, Z2, as well as aligning the support frame 26, is not necessary when moving from the working position to the transport position.

Claims

Patent claims 1. Processing device for carrying out track work comprising - a support frame (26) with a first support frame end (34) and a second support frame end (35), - at least one multi-axis robot (27, 28) arranged on the support frame (26) for carrying out track work, characterized by a pivoting device (25) for arranging on a first rail chassis (9) and for pivoting the first support frame end (34), and by a positioning device (24) for arranging on the first rail chassis (9) and for positioning the second support frame end (35).

2. Machining device according to claim 1, characterized in that the positioning device (24) comprises a positioning base carrier (36), at least one positioning drive (38, 39) and a positioning unit (37) for positioning the second support frame end (35) relative to the positioning base carrier (36) by means of the at least one positioning drive (38, 39).

3. Machining device according to claim 2, characterized in that the at least one positioning drive (38, 39) comprises a first positioning drive (38) for positioning the second support frame end (35) relative to the positioning base carrier (36) in a transverse direction (y) and / or a second positioning drive (39) for positioning the second support frame end (35) relative to the positioning base carrier (36) in a vertical direction (z).

4. Machining device according to at least one of the preceding claims, characterized in that the positioning device (24) comprises a first guide (40) for holding and guiding the support frame (26).

5. Machining device according to at least one of the preceding claims, characterized in that the swiveling device (25) comprises at least one first swiveling base support (59) and a first swiveling unit (60) for forming at least one swiveling axis (61, 62) relative to the at least one first swiveling base support (59).

6. Machining device according to claim 5, characterized in that the first pivoting unit (60) comprises at least one pivoting element (64, 65) which is pivotable about a horizontal pivoting axis (61) and / or about a vertical pivoting axis (62) and is arranged on the at least one first pivoting base support (59).

7. Machining device according to at least one of the preceding claims, characterized in that the swiveling device (25) comprises a second guide (63) for supporting and guiding the support frame (26).

8. Machining device according to at least one of the preceding claims, characterized in that the positioning device (24) and the swiveling device (25) are arranged spaced apart from each other in a longitudinal direction (x).

9. Machining device according to at least one of the preceding claims, characterized by a displacement drive (33) for displacing the support frame (26) relative to the positioning device (24) and the swiveling device (25) in a longitudinal direction (x).

10. Machining device according to at least one of the preceding claims, characterized by a first auxiliary support (23) for attachment to the first rail chassis (9), wherein the positioning device (24) and the swiveling device (25) are attached to the first auxiliary support (23).

11. Machining device according to at least one of the preceding claims, characterized by a measuring device (104) for measuring an alignment of the support frame (26).

12. Machining device according to at least one of the preceding claims, characterized by a further pivoting device (31) for arrangement on a second rail chassis (16).

13. Machining device according to claim 12, characterized in that the further pivoting device (31) comprises at least one second pivoting base support (89) and a second pivoting unit (90) for forming at least one pivoting axis (91, 92) relative to the at least one second pivoting base support (89).

14. Machining device according to claim 13, characterized in that the second pivoting unit (90) comprises at least one pivoting element (96, 97) which is pivotable about a horizontal pivoting axis (91) and / or about a vertical pivoting axis (92) and is arranged on the at least one second pivoting base support (89).

15. Machining device according to at least one of claims 12 to 14, characterized in that the further swiveling device (31) comprises a third guide (93).

16. Machining device according to at least one of claims 12 to 15, characterized by a second auxiliary support (30) for attachment to the second rail chassis (16), wherein the further pivoting device (31) is attached to the second auxiliary support (30).

17. Machining device according to at least one of the preceding claims, characterized by at least one supply module (75, 76) for providing tools and / or for providing work materials.

18. Rail-chassis composite encompassing - a first rail chassis (9), - a second rail chassis (16) which is detachably connected to the first rail chassis (9), and - a processing device (22) for carrying out track work according to at least one of claims 1 to 17, — wherein the swiveling device (25) and the positioning device (24) are arranged on the first rail chassis (9), and — wherein the support frame (26) is arranged on the swivel device (25) and the positioning device (24).

19. Procedure for carrying out track work, comprising the following steps: - Providing a rail-chassis assembly (1) in a transport position according to claim 18, - Transporting the rail-chassis assembly (1) to a track section to be serviced, - Transferring the rail-chassis assembly (1) from the transport position to a working position by — Aligning the support frame (26) using the positioning device (24) and the swiveling device (25), — Moving the support frame (26) towards the second rail chassis (16), — Connecting the support frame (26) to the second rail chassis (16), — Detaching the first rail chassis (9) from the second rail chassis (16), and — Moving the first rail chassis (9) relative to the second rail chassis (16) and creating a working space (A) between the first rail chassis (9) and the second rail chassis (16), - Carrying out track work using at least one multi-axle robot (27, 28) in the work area (A).

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