(19)
(11)EP 3 494 008 B1

(12)EUROPEAN PATENT SPECIFICATION

(45)Mention of the grant of the patent:
25.03.2020 Bulletin 2020/13

(21)Application number: 17761578.8

(22)Date of filing:  26.07.2017
(51)International Patent Classification (IPC): 
B60M 1/28(2006.01)
E04H 12/00(2006.01)
(86)International application number:
PCT/IB2017/054525
(87)International publication number:
WO 2018/025124 (08.02.2018 Gazette  2018/06)

(54)

SYSTEM FOR AUTOMATIC POSITIONING OF A RAILWAY OVERHEAD LINE

SYSTEM ZUR AUTOMATISCHEN POSITIONIERUNG EINER EISENBAHNOBERLEITUNG

SYSTÈME DESTINÉ AU POSITIONNEMENT AUTOMATIQUE D'UNE LIGNE AÉRIENNE DE CHEMIN DE FER


(84)Designated Contracting States:
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

(30)Priority: 05.08.2016 IT 201600082789

(43)Date of publication of application:
12.06.2019 Bulletin 2019/24

(73)Proprietor: Tesmec S.p.A.
20123 Milano (IT)

(72)Inventors:
  • NITTI, Antonio
    70013 Castellana Grotte (BA) (IT)
  • OSCAR, Alberto
    24063 Castro (BG) (IT)

(74)Representative: Gatti, Enrico 
Giambrocono & C. S.p.A. Via E. Zambianchi, 3
24121 Bergamo
24121 Bergamo (IT)


(56)References cited: : 
EP-A1- 0 675 069
WO-A2-2011/141089
GB-A- 1 342 840
EP-A1- 1 465 311
DE-U1-202005 020 320
  
      
    Note: Within nine months from the publication of the mention of the grant of the European patent, any person may give notice to the European Patent Office of opposition to the European patent granted. Notice of opposition shall be filed in a written reasoned statement. It shall not be deemed to have been filed until the opposition fee has been paid. (Art. 99(1) European Patent Convention).


    Description


    [0001] The present invention relates to a system for automatic positioning of a railway overhead line.

    [0002] Over the years, for the operations of stringing and maintenance of railway overhead lines, methods have been used that have depended upon existing technological solutions, which have been adopted for the construction of the operating machinery. However, these solutions meant that the above machinery could provide only limited operating performance.

    [0003] The technological progress that has occurred over time has markedly improved the level of performance of the operating machinery, making available to the railway maintenance staff vehicles with increasingly high working performance. In particular, one of the major advances has regarded the units used for stringing overhead conductors.

    [0004] Pullers or tensioners for stringing overhead conductors have evolved, from simple carriages equipped with a bullwheel for generating pulling or braking tension (whether single or in one or two pairs) and with other structures for guiding and supporting the conductors, into puller-tensioners. Puller-tensioners are operating machines that enable stringing of the conductors at the final operating tension, thus minimizing the manual effort required for geometrical positioning, both in a lateral direction and in height, through particular structures available to the operators (referred to as "masts").

    [0005] The devices currently used for laying the cable (conductor or support rope) are constituted by particular structures that enable manual positioning by sight on the part of the operator.

    [0006] Their movement may moreover be limited by the presence of the conductors that have to remain in place in comparison to the ones that have to be replaced.

    [0007] Some devices equipped with double bracket are moreover subject to the movement of the entire arm for correct positioning, thus causing imprecision due to the play and the masses of the structures involved.

    [0008] The above devices are consequently subject to positioning errors (due to the intrinsic nature of the manual system), and there must consequently be envisaged adjustments, subsequent to laying and stringing of the conductors/support ropes, by further vehicles that follow the tensioning carriage with diagnostic pantograph or with counterweights of the infrastructure Consequently, the devices currently used present: uncertainty in positioning of the conductor/support rope; slowness of the operations of laying of the cable; problems of safety inherent in the operations performed manually; need for further specific vehicles for diagnostic operations on the cable installed.

    [0009] The documents GB1342840, WO2011/141089, DE20 2005 020320 U, EP 0 675 069, EP 1 465 311, disclose devices according to prior art.

    [0010] The aim of the present invention is to provide a system for automatic positioning of a railway overhead line that will overcome the drawbacks of the known art.

    [0011] According to the present invention, the above aim and others still are achieved by a system for automatic positioning of a railway overhead line comprising: a mechanical arm; a first hooking device that can be fixed to the end of said mechanical arm; a mast for positioning an overhead line; and a second fixed hooking device, which is fixed to said mast and can be fixed to said first hooking device; said mast comprising at least one horizontal arm, set on which is a set of rollers, with roller head, for correct positioning of an overhead line.

    [0012] Further characteristics of the invention are described in the dependent claims.

    [0013] Thanks to the present invention, the mast has the maximum possibility and freedom of spatial development, both for overcoming and avoiding the obstacles present (constituted by the conductors laid and by the various components of the overhead line itself) and for being able to reach the points of anchorage or mooring of the contact wires (which usually are located at a considerable height and at a distance to one side of the railway line).

    [0014] The possibility of hooking and unhooking the mast to/from the mechanical arm provides a greater freedom and on the railway vehicle during the displacements.

    [0015] Added to the above is the amount of movements possible for the mechanical arm, which enables positioning in the desired points.

    [0016] The characteristics and advantages of the present invention will emerge clearly from the ensuing detailed description of a practical embodiment thereof, illustrated by way of non-limiting example in the annexed drawings, wherein:

    Figure 1 shows a railway vehicle including a system for automatic positioning of a railway overhead line, according to the present invention;

    Figure 2 shows a mechanical arm of a system for automatic positioning of a railway overhead line, according to the present invention;

    Figure 3 shows the end of a mechanical arm of a system for automatic positioning of a railway overhead line, according to the present invention;

    Figure 4 shows a hooking device during fixing to the end of a mechanical arm of a system for automatic positioning of a railway overhead line, according to the present invention;

    Figure 5 shows a mast during hooking to the hooking device of a system for automatic positioning of a railway overhead line, according to the present invention;

    Figure 6 shows a mast hooked to the hooking device of a system for automatic positioning of a railway overhead line, according to the present invention;

    Figure 7 shows a mast fixed to a mechanical arm of a system for automatic positioning of a railway overhead line, according to the present invention;

    Figure 8 shows a mast, in the working position, of a system for automatic positioning of a railway overhead line, according to the present invention; and

    Figure 9 shows a mast, in the resting position, of a system for automatic positioning of a railway overhead line, according to the present invention.



    [0017] With reference to the attached figures, a railway vehicle 10, used for maintenance of a railway overhead line comprises a system 11 for automatic positioning of a railway overhead line, according to the present invention.

    [0018] The system 11 comprises a mechanical arm 12, having a base 13 installed on a translating slide 14, and a column 15, which can rotate about the base 13. Also comprising, in succession, a first articulate, arm 16, a second articulated arm 17, and a third telescopic arm 18.

    [0019] The arm 16 has an end that can rotate (in a plane) about one end of the column 15.

    [0020] The arm 17 has an end that can rotate (in a plane) about one end of the arm 16.

    [0021] The articulated arms 17 and 18 are driven by the actuators 20 and 21.

    [0022] The movement of the mechanical arm 12 is preferably entrusted to a radio remote control; there is envisaged the presence of manual controls (set on the column) and of a manual/electric pump for restoring the device into the parking position in conditions of emergency or in the event of blocking of the main hydraulic supply circuit.

    [0023] The mechanical arm 12 has the characteristic of being usable for guiding/positioning both the conductor and the support rope simultaneously and is specific for the operations of maintenance of the overhead line.

    [0024] The mechanical arm 12 has been designed in such a way as to guarantee a stiffness of the structure with precise and articulated displacements even in the presence of considerable jumps, enabling the operations of mooring to the post or to the portal.

    [0025] In order to be able to operate conveniently with the mechanical arm 12 alongside the overhead line, the base is installed on a slide that is able to translate thanks to roller bearings and hydraulic cylinders.

    [0026] The mechanical arm 12 is equipped with the following electronic devices, which guarantee safety of the device used on vehicles operating on the railway infrastructure:

    electronic load limiter with alarm signal at 90% of the maximum load, with blocking of all the movements that might cause toppling at 100% of the maximum load (the system blocks all the movements that increase the load moment and only allows re-entry movements);

    mechanical and electronic intertrack limiter for preventing any interference on the intertrack space; and

    redunded encoder rotation limiter for determining the exact rotation of the column.



    [0027] Fixed at the end 30 of the third, telescopic, arm 18 is a lifting hook 19 (for loading and unloading the reels), and a first hooking device 31 can be fixed by means of pins that are inserted through purposely provided holes 32 and 33, respectively, set on flanges 34 provided on the end of the third, telescopic, arm 18 and on flanges 35 provided on the hooking device 31.

    [0028] The first hooking device 31, on the side opposite to the flanges 35, comprises at the top hooks 36, which are fixed and face upwards at the centre of the hooks 37, which can slide vertically, upon command, and, face downwards.

    [0029] The hooks 36 and 37 are used for hooking a mast 40 to the mechanical arm 12.

    [0030] The mast 40 comprises a second fixed hooking device 41, which includes two lateral shoulders 42, and two transverse bars, a top one 43 and a bottom one 44, fixed to the shoulders.

    [0031] The bars 43 and 44 are pre-arranged for co-operating with the hooks 36 and 37.

    [0032] The mast 40, and in particular the second fixed hooking device 41, is brought up to the first hooking device 31, from above, in such a way that the top bar 43 rests on the top hooks 36.

    [0033] The hooks 37 are first set in the top working point 38 so that the bar 44 can flank the first hooking device 31. Then the hooks 37 are lowered to the bottom working point 39 so as to hook onto the bar 44.

    [0034] Hooking of the hooks 36 and 37 onto the bars 43 and 44 is obtained with a hydraulic actuator driven by a radio remote control.

    [0035] The mast 40 comprises a vertical rod 50, fixed on which is the second fixed hooking device 41, which comprises inside it another telescopic vertical rod 51 driven by a hydraulic cylinder.

    [0036] Fixed at the top end of the telescopic rod 51 and extending laterally therefrom is a horizontal bracket 52, set on which is a set of rollers 53, with roller head, for correct positioning of the top conductor/support rope.

    [0037] The set of rollers 53 translates horizontally by means of a hydraulic motor that drives a wormscrew set inside the bracket 52.

    [0038] Fixed on the rod 50 underneath the point of attachment of the second fixed hooking device 41 and extending laterally therefrom is a horizontal bracket 54 set on which is a set of rollers 55, with roller head, for correct positioning of the bottom conductor/support rope.

    [0039] The set of rollers 55 translates horizontally by means of a hydraulic motor that drives a wormscrew set inside the bracket 54.

    [0040] The bracket 54 comprises means 56 for enabling it to be knocked down and positioned vertically alongside the rod 50.

    [0041] This configuration (articulated sections and telescopic section with articulated head and transverse brackets) enables the mechanical arm 12 to reach all the heights necessary for the stringing operations, and in particular, with the transverse bracket, the conductors can be positioned correctly and easily without interfering with the overhead line being installed.

    [0042] To determine the correct position of the vehicle on the track (even on stretches with superelevation), the system is equipped with a purposely designed compensation device 65, which, via two laser beams set in positions corresponding to the wheels of a carriage and an inclinometer set on the vehicle, makes it possible to determine the position of the vehicle relative to the global reference system of the railway track.

    [0043] The parameters of height and polygonation of the conductor 63 are measured via a laser beam 60 emitted by a scanner 61 positioned on the rear part of the vehicle, which scans an area through an angle of 90° and detects the correct position of the conductor 63 via triangulation of the beams emitted.

    [0044] Triangulation of the laser beams through interpolation and trigonometric calculation enables detection of the correct position of the conductor 63.

    [0045] The position of the support rope 62 is detected via the data of extension received from the mast head are managed simultaneously with the data of position of the conductor 63.

    [0046] The input data for the line to be installed are entered into the positioning system, and automatically the mechanical arm 12 carries out a feedback regulation of the position of the conductor/support rope on the basis of the information received from the laser scanner.

    [0047] The system is moreover able to store to memory the parameters measured during laying of the cables on a computer on board the vehicle to enable display and review in the office.

    [0048] The system is equipped with GPS antenna and GSM-R antenna to enable location of the vehicle and remote transmission of the data.

    [0049] In addition to the position from the GPS antenna, the system is able to correct the position of the vehicle at a fixed point along the path of the track, interconnected with the datum of the incremental encoder on the axle of the vehicle.

    [0050] The materials used for providing the system for automatic positioning of a railway overhead line, as well as the dimensions, may be any according to the requirements and to the state of the art.

    [0051] The system thus devised may undergo numerous modifications and variations, all of which fall within the scope of the following claims.


    Claims

    1. A system for automatic positioning of a railway overhead line, comprising: a mechanical arm (12); a first hooking device (31) that can be fixed to the end of said mechanical arm (12); a mast (40) for positioning an overhead line; characterized by comprising a second fixed hooking device (41), which is fixed to said mast (40) and can be fixed to said first hooking device (31); said mast (40) comprising at least one horizontal arm (52), set on which is a set of rollers (53), with roller head, for correct positioning of an overhead line.
     
    2. The system according to Claim 1, characterized in that said mechanical arm (12) comprises a first, articulated, arm (16) and a second, articulated, arm (17), and a third, telescopic, arm (18).
     
    3. The system according to Claim 1, characterized in that said mechanical arm (12) can rotate about a base (13).
     
    4. The system according to Claim 1, characterized in that said mechanical arm (12) comprises a base (13) installed on a translating slide (14).
     
    5. The system according to Claim 1, characterized in that said mechanical arm (12) comprises at its end a lifting hook (19).
     
    6. The system according to Claim 1, characterized in that said first hooking device (31) comprises first fixing means (35) for being fixed to the end of said mechanical arm (12).
     
    7. The system according to Claim 1, characterized in that said first hooking device (31) comprises second hooking means (36, 37) for being fixed to said mast (40).
     
    8. The system according to Claim 7, characterized in that said second hooking means (36, 37) comprise hooks (37) that can be moved upon command.
     
    9. The system according to Claim 1, characterized in that it comprises two laser beams and an inclinometer for determining the position of the vehicle relative to the global reference system of the rail.
     
    10. The system according to Claim 1, characterized in that it comprises a scanner (61), which emits a laser beam for measuring the parameters of height and polygonation of the conductor via triangulation of the emitted beam.
     


    Ansprüche

    1. Ein System zur automatischen Positionierung einer Eisenbahn-Oberleitung, das Folgendes umfasst: einen mechanischen Arm (12); eine erste Einhakvorrichtung (31), welche am Ende des genannten mechanischen Arms (12) befestigt werden kann; einen Mast (40) zur Anordnung einer Oberleitung; dadurch gekennzeichnet, dass er eine zweite feste Einhakvorrichtung (41) umfasst, die an dem genannten Mast (40) befestigt ist und jeweils an der genannten ersten Einhakvorrichtung (31) befestigt werden kann; wobei der genannte Mast (40) mindestens einen horizontalen Arm (52) umfasst, auf dem sich ein Satz Rollen (53) befindet, mit einem entsprechenden Rollenkopf für die korrekte Positionierung einer Oberleitung.
     
    2. Das System gemäß Anspruch 1, dadurch gekennzeichnet, dass der genannte mechanische Arm (12) einen ersten Gelenkarm (16) und einen zweiten Gelenkarm (17) und einen dritten Teleskoparm (18) umfasst.
     
    3. Das System gemäß Anspruch 1, dadurch gekennzeichnet, dass der genannte mechanische Arm (12) sich um einen Sockel (13) drehen kann.
     
    4. Das System gemäß Anspruch 1, dadurch gekennzeichnet, dass der genannte mechanische Arm (12) einen Sockel (13) umfasst, welcher auf eine sich verschiebende Führung (14) montiert ist.
     
    5. Das System gemäß Anspruch 1, dadurch gekennzeichnet, dass der genannte mechanische Arm (12) an seinem Ende einen Lasthaken (19) umfasst.
     
    6. Das System gemäß Anspruch 1, dadurch gekennzeichnet, dass die genannte erste Einhakvorrichtung (31) erste Feststellelemente (35) zur Befestigung am Ende des genannten mechanischen Arms (12) umfasst.
     
    7. Das System gemäß Anspruch 1, dadurch gekennzeichnet, dass die genannte erste Einhakvorrichtung (31) jeweils zweite Einhakelemente (36, 37) zur Befestigung an dem genannten Mast (40) umfasst.
     
    8. Das System gemäß Anspruch 7, dadurch gekennzeichnet, dass die genannten zweiten Einhakelemente (36, 37) jeweils Haken (37) umfassen, die auf Befehl bewegt werden können.
     
    9. Das System gemäß Anspruch 1, dadurch gekennzeichnet, dass es zwei Laserstrahlen und einen Neigungsmesser zur Bestimmung der Position des Fahrzeugs in Bezug auf das globale Referenzsystem der Schiene umfasst.
     
    10. Das System gemäß Anspruch 1, dadurch gekennzeichnet, dass es einen Scanner (61) umfasst, welcher einen Laserstrahl zur Messung der Höhen- und Polygonierungsparameter des Stromleiters per Triangulation des ausgesendeten Strahls abgibt.
     


    Revendications

    1. Système destiné au positionnement automatique d'une ligne aérienne de chemin de fer, comprenant : un bras mécanique (12) ; un premier dispositif d'accrochage (31) qui peut être fixé à l'extrémité dudit bras mécanique (12) ; un mât (40) destiné au positionnement d'une ligne aérienne ; caractérisé en ce qu'il comprend un deuxième dispositif d'accrochage fixé (41), qui est fixé audit mât (40) et peut être fixé audit premier dispositif d'accrochage (31) ; ledit mât (40) comprenant au moins un bras horizontal (52), sur lequel est placé un ensemble de rouleaux (53), avec une tête de rouleau, pour le positionnement correct d'une ligne aérienne.
     
    2. Système selon la revendication 1, caractérisé en ce que ledit bras mécanique (12) comprend un premier bras (16), articulé, et un second bras (17), articulé, et un troisième bras (18), télescopique.
     
    3. Système selon la revendication 1, caractérisé en ce que ledit bras mécanique (12) peut tourner autour d'une base (13).
     
    4. Système selon la revendication 1, caractérisé en ce que ledit bras mécanique (12) comprend une base (13) installée sur une glissière de translation (14).
     
    5. Système selon la revendication 1, caractérisé en ce que ledit bras mécanique (12) comprend à son extrémité un crochet de levage (19).
     
    6. Système selon la revendication 1, caractérisé en ce que ledit premier dispositif d'accrochage (31) comprend des premiers moyens de fixation (35) pour être fixé à l'extrémité dudit bras mécanique (12).
     
    7. Système selon la revendication 1, caractérisé en ce que ledit premier dispositif d'accrochage (31) comprend des seconds moyens d'accrochage (36, 37) pour être fixé audit mât (40).
     
    8. Système selon la revendication 7, caractérisé en ce que les seconds moyens d'accrochage (36, 37) comprennent des crochets (37) qui peuvent être déplacés sur commande.
     
    9. Système selon la revendication 1, caractérisé en ce qu'il comprend deux faisceaux laser et un inclinomètre pour déterminer la position du véhicule par rapport au repère global du rail.
     
    10. Système selon la revendication 1, caractérisé en ce qu'il comprend un scanner (61), qui émet un faisceau laser pour mesurer les paramètres de hauteur et de polygonation du conducteur à travers la triangulation du faisceau émis.
     




    Drawing























    Cited references

    REFERENCES CITED IN THE DESCRIPTION



    This list of references cited by the applicant is for the reader's convenience only. It does not form part of the European patent document. Even though great care has been taken in compiling the references, errors or omissions cannot be excluded and the EPO disclaims all liability in this regard.

    Patent documents cited in the description