• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Installation for railways with prefabricated plates and automated assembly procedure that makes use of it, comprising prefabricated plates (2) of ultra high strength concrete reinforced with steel fibers comprising a particular geometry, a high industrial robot (3) loading capacity intended to move said prefabricated concrete plates (2), a mobile platform (5) capable of moving longitudinally along the road on which the industrial robot (3) is operatively mounted, and a tooling (5) comprising arms stabilizers (44) and perimeter fins (45) configured to be introduced by a central opening (21) of the prefabricated concrete plate (2), in which both the installation and the corresponding assembly procedure thereof, allow Significant improvement in construction, labor and maintenance performance compared to traditional roads built with ballast. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2729815A1
    申请号:ES201930613
    申请日:2019-07-02
    公开日:2019-11-06
    发明作者:Franco Ricardo Insa；Zuriaga Pablo Salvador；Sanchís Ignacio Villalba；Fernández Pablo Martínez；Jiménez Ramón Carrasco；Serra Oriol Orra；Ribas Irene Ràfols；Franquet Sergi Baiges；Mañas Daniel Martín；Villena Francisco Antonio García；Gamiz Francisco Javier Morales；Redondo Noemí Jiménez；Muñiz Manuel Menéndez
    申请人:Centro De Estudios De Mat Y Control De Obra S A Cemosa；Universidad Politecnica de Valencia；Vias y Construcciones SA；Fundacio Eurecat；
    IPC主号:
    专利说明:

    [0001]
    [0002]
    [0003]
    [0004] OBJECT OF THE INVENTION
    [0005]
    [0006] The present invention discloses an installation and an automated assembly procedure that makes use of said installation for the commissioning of railways. More particularly, the present invention describes the combined use of prefabricated ultra-high strength concrete plates reinforced with steel fibers with a particular geometry and tooling, which in combination with an industrial robot make it possible to reduce track assembly times, labor, maintenance and other inconveniences of the procedures for setting up traditional concrete slab tracks and ballast tracks.
    [0007]
    [0008] BACKGROUND OF THE INVENTION
    [0009]
    [0010] Plate tracks, both concrete and those formed by other less conventional materials, emerged in the 60s with the aim of guaranteeing better conditions of behavior, structural stability and overall road quality, as well as reducing the excessive costs of maintenance. This type of track consists of a structure where the ballast bench is replaced by a concrete slab or asphalt layer, which transmits to the platform the efforts applied in a distributed way and of less entity than those that occur in ballast tracks.
    [0011]
    [0012] The plate track technology is generally formed by reinforced or prestressed concrete slabs on which the fasteners and rails are arranged, which allows rail vehicles to circulate on them. Some of these track systems have prefabricated reinforced or prestressed prismatic elements arranged next to each other, supported by a layer of low rigidity material (elastomer, asphalt mortar, etc.). In addition, there are anchoring elements arranged in the base layer that are housed in cavities or holes made in the slab and allow maintaining the integrity and anchoring the slab to the underlying layer, said elements are called "stoppers" in the art.
    [0013] The plate track, in general, has some advantages over the conventional track on ballast, such as its greater stability and its lower need for maintenance. However, all these important advantages are counteracted by the problems associated with construction, since the plate road is usually much more expensive to build, with complex construction processes, low construction yields (of the order of 150-200 m / day compared to 700 m / day of the ballast tracks) and the added cost of the rights to use commercial models.
    [0014]
    [0015] Likewise, the track on ballast presents other disadvantages such as high maintenance costs, problems of "ballast flight" at high speeds, lack of uniformity in the rigidity of the track, limited lateral resistance, among others.
    [0016]
    [0017] DESCRIPTION OF THE INVENTION
    [0018]
    [0019] The present invention describes an installation and an automated assembly procedure that makes use of said installation for the commissioning of railways, which allows to solve some of the drawbacks mentioned in the prior art. More specifically, the present invention discloses an installation for railway tracks with prefabricated plates and an automated assembly procedure thereof, in particular an installation comprising prefabricated ultra high strength concrete plates reinforced with steel fibers, with a configuration geometrical that allows to improve the maintenance, comfort level, availability, reliability, useful life and constructive performance with respect to the traditional plate tracks and those built with ballast.
    [0020]
    [0021] More particularly, in a first aspect of the present invention a railroad installation with prefabricated plates is described, comprising:
    [0022] - a mobile platform capable of moving longitudinally along the track,
    [0023] - a high-load industrial robot attached to the mobile platform, - a tooling connected to the industrial robot,
    [0024] - a precast concrete plate configured to be firmly held by the tooling and moved by the industrial robot, where:
    [0025] - the tooling comprises a proximal portion comprising at one end perimeter fins where each fin comprises at least one stud, a distal portion comprising a connecting element for connecting with the industrial robot, and stabilizing arms perimetrically attached to the proximal portion configured to exert pressure on the concrete plate to be firmly held when it is displaced, and
    [0026] - the prefabricated plate is made of high strength concrete reinforced with steel fibers and comprises a central opening with a geometry configured to accommodate the tooling fins and slits located in a lower face of the plate configured to accommodate the fins' lugs.
    [0027]
    [0028] Preferably, the industrialist comprises a long-range 2D laser attached to the tooling to detect precast concrete slabs, and a high-precision 2D laser also attached to the tooling to guide the robot and accurately insert the tooling fins into the opening. Central of the precast concrete plate.
    [0029]
    [0030] The prefabricated plate object of the present invention is executed with ultra high strength concrete (UHPC) reinforced with steel fibers, without the presence of passive and / or active reinforcements. This technical characteristic is of great importance, as existing prefabricated plates use conventional prestressed concrete. The ultra-high-strength concrete (UHPC) reinforced with steel fibers provides a series of associated advantages that enhance the functionality of the prefabricated plates for railways and multiple advantages for their automated commissioning, including:
    [0031] - It allows to define a more slender and manageable geometry of the plates without compromising the structural stability of the set.
    [0032] - Lacking assembly, the plate manufacturing process is greatly simplified.
    [0033] - The absence of assembly also significantly improves the environmental impact of the manufacture of the plates compared to those already existing.
    [0034] - UHPC concrete is much more fluid than conventional concrete, which also facilitates the manufacturing process and final quality.
    [0035] - The durability of the UHPC is far superior to that of the other concretes, which allows for scarce maintenance requirements.
    [0036] - The fibers make the fatigue analysis not decisive and, although some cracks occur, they do not increase and spread.
    [0037] Likewise, the characteristics of UHPC concrete are especially advantageous for the installation and for the automated assembly of railways making use of said installation described above, allowing to improve the manufacturing performance by allowing a much stronger design with a more manageable geometry, Slender, compact and consequently a simpler commissioning.
    [0038]
    [0039] More specifically, as described above, the prefabricated UHPC concrete slabs have a central opening with a geometry configured to introduce the tooling fins. Preferably said central opening has a cross configuration, consequently, the perimeter fins of the tooling preferably also have a cross geometry to be introduced into said central opening. More preferably, said central opening has a celtic cross geometry with a central ring intended to accommodate the proximal section of the tooling. Consequently, the tooling preferably has four fins and an outer diameter of between 200-500 mm.
    [0040]
    [0041] The proximal section of the tooling can be cylindrical and hollow to accommodate pre-existing stoppers in the construction. These stoppers are cylindrical reinforced concrete elements that run in situ on the base layer of concrete that serves as a foundation for prefabricated plates. Its purpose is to serve as a guide for the installation of the plates and contribute to their lateral stability. The cylindrical and hollow configuration of the tooling allows the assembly of prefabricated plates without interfering with the existing stoppers on site by introducing the hollow cylindrical cavity for this purpose.
    [0042]
    [0043] The stabilizer arms can be two, joined to each side of the proximal section of the tooling so that they exert pressure on both sides of the prefabricated plate to maintain grip and stability while the prefabricated plates are displaced. Preferably, they additionally comprise springs to exert compression between the upper surface and the grooves anchored in the fins, allowing the plates to be held when they are displaced by the industrial robot.
    [0044]
    [0045] Each flap of the tooling can have a flange perpendicular to said flap from which each stud protrudes. In that case, the prefabricated plate can have a thickness equal to the total height of the plate less than the height of the flange on the respective projections along its central section. In this way, a vertical path is not necessary so wide of the tooling inside the central opening of the plate, and facilitates the subsequent anchoring of the lugs in the recesses of the precast concrete plate.
    [0046]
    [0047] Preferably, the ultra-high strength concrete plate has a width of between 0.60 and 0.75 meters and a height of between 0.15 and 0.30 meters. On the other hand, the plate length is between 1.8 and 2.2 meters for metric wide tracks, between 2.3 and 2.7 meters for international wide roads and between 2.5 and 2.7 for roads Iberian wide.
    [0048]
    [0049] The central opening of the ultra-high strength prefabricated concrete plate can have an outer diameter between 200 and 500 mm, preferably 410 mm. In any case, the diameter will be such that it ensures a minimum thickness in the central section of the plate of 145 mm. The slits intended to accommodate the lugs of the tooling fins can have a diameter of between 10-30 mm, preferably 20 mm.
    [0050]
    [0051] The central opening has a geometry specially designed to allow the introduction of the manipulation tooling, as well as the lugs located in the perimetral fins, are intended to be housed in the slot making an anchor for a correct displacement through the industrial robot, allowing centering and fix the position between the prefabricated plate and the same, improving its fixation and avoiding the movement of the plate when it is being moved by the robot.
    [0052]
    [0053] In addition, the fastening systems on which the rails will be installed later are placed on the upper side of the plates.
    [0054]
    [0055] The geometry of the central opening of the plate and the tooling have been designed so that no actuator elements (motors, pistons, etc.) are required in the tool. The fixing and securing of the plate to the tool, and therefore to the robot, is done through the movement of the industrial robot. This allows reducing the cost of the tool, simplifying its operation and reducing the complexity of the system (the laying of cables, pipes, etc.) is not required.
    [0056]
    [0057] The mobile platform is able to move through the work in progress and is the tool for operating the industrial robot. Said mobile platform can operate tele-operated or, completely autonomous, similar to an autonomous vehicle.
    [0058] The long-range 2D laser can be configured to detect prefabricated plates in the robot environment. Preferably, it is anchored to the tooling so that its beam does not interfere with it and is part of it.
    [0059]
    [0060] The high precision 2D laser can be configured for precise guidance of the robot with the tooling operatively connected to it, therefore, facilitating the precise penetration of the tooling into the central geometry of the prefabricated plate. Additionally, it can allow the detection of the previously placed plate, also, with the high precision necessary for the assembly of track sections. As with the long-range 2D sensor, preferably, it is also anchored to the tooling avoiding interference in the beam.
    [0061]
    [0062] Preferably, the robot further comprises a master controller of the system, responsible for managing the movements of the robot and interpreting the information of the different sensors.
    [0063]
    [0064] The device comprising the robot, the mobile platform and the tooling integrates all the elements and sensors in a single device that must not be exchanged, modified or disassembled at any time during the process. The main advantages of the installation address precisely some of the disadvantages of other types of existing plate tracks. To begin with, the new elements are executed with a high-strength concrete with steel fibers, which simplifies their manufacture and allows lighter elements with greater structural stability. This allows, through proper tooling, automation and a robotic or automated installation, without significant and costly actuators. Consequently, the combination of the plates with the tooling designed for this purpose allows an automated, faster, more efficient and economical construction procedure, which will serve to counteract one of the main disadvantages of this type of track: its high cost of assembly, due to largely to the reduced constructive yields that are achieved using conventional means. This simple construction also contributes to the simple geometry of the plates, which are placed simply supported on the base layer of compacted concrete with roller, consecutively without the need to fit some plates with others by means of complex hooks or mechanisms.
    [0065] In a second aspect, the present invention describes an assembly procedure for railways that makes use of the installation described above, which allows to significantly reduce labor, maintenance, as well as improve the useful life of the installation among many other advantages.
    [0066]
    [0067] More particularly, in a second aspect the present invention is a railroad assembly procedure, comprising the following steps:
    [0068] A. place the prefabricated high-strength concrete slabs, grouped next to the track and within reach of the industrial robot,
    [0069] B. perform a first scan with the long-range 2D laser and extract data in the form of a cloud of points representing the robot's environment,
    [0070] C. process said data by filtering and execute an algorithm to contrast the point cloud with a 3D virtual model of the prefabricated plate, D. place the precision 2D laser perpendicularly and perform a second scan,
    [0071] E. check if the geometry of the central opening of the plate is detected, otherwise the laser is reoriented based on the position of the first scan and a second scan is performed again,
    [0072] F. process data from the second scan by filtering and execute an algorithm to contrast the point cloud with a 3D virtual model to locate the central opening with sub-millimeter accuracy,
    [0073] G. vertically insert the fins of the tooling into the central opening of the high-strength precast concrete plate by means of the robot, the stabilizing arms compress allowing this movement,
    [0074] H. rotate the fins by means of the robot until the lugs coincide with the grooves of the prefabricated plate,
    [0075] I. move vertically in the reverse direction by inserting the tooling lugs into the prefabricated plate, as a consequence, with the help of the stabilizer arms, the plate is firmly held and ready to be moved by the robot.
    [0076]
    [0077] Once anchored and held by the stabilizer arms, the robot can move and position the plate in the required position on site, with the help of scanning and data previously stored by the precision 2D laser and the long-range 2D laser. The plate fits through its central hole in the stopper previously concreted on the base layer of concrete compacted with roller.
    [0078]
    [0079] Once the plate has been placed in the required position, the robot executes the movements described in the opposite direction respectively and returns to the starting position.
    [0080]
    [0081] The fact of assembling automatically with the proposed procedure and installation provides a series of advantages over manual or semi-assisted installation procedures. More concretely:
    [0082] - The speed of commissioning is increased thanks to the automation of the most expensive part, in time and means, of the process.
    [0083] - Improvement of the quality and reduction of errors thanks to the adjustment of the position of the plates of automated way, guided by sensors of high precision.
    [0084] - It allows to obtain a better control of the assembly process: continuous monitoring of assembly times, yields, KPIs;
    [0085] - It improves the traceability of the work, for example, by installing reading codes or RFID tags on the boards.
    [0086]
    [0087] The algorithms used for this procedure belong to the state of the art. That is why you can use a library commonly used in computer vision applications available on the market, specifically HALCON13 from the company MvTec. With these improvements, it is intended to solve a problem traditionally associated with the commissioning of plate tracks, which significantly reduces its global implementation.
    [0088]
    [0089] DESCRIPTION OF THE DRAWINGS
    [0090]
    [0091] To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, according to a preferred example of practical implementation thereof, a set of drawings is attached as an integral part of said description. where, for illustrative and non-limiting purposes, the following has been represented:
    [0092]
    [0093] Figure 1.- Shows a perspective view of a preferred embodiment of the installation for railway tracks with prefabricated plates, which clearly shows the industrial robot mounted on the mobile platform and the prefabricated plates arranged to be placed.
    [0094]
    [0095] Figure 2.- Shows a perspective view of a preferred embodiment of the tooling where the stabilizing arms, respective springs, the precision 2D laser and the long-range 2D laser are clearly shown.
    [0096]
    [0097] Figure 3.- Shows a perspective view of a preferred embodiment of the tooling and of the prefabricated plate where the tooling fins and the central opening of the precast concrete plate are shown.
    [0098]
    [0099] Figure 4.- Shows a detailed drawing of a preferred embodiment of the central opening of the prefabricated plate, where the groove and the projections of the precast concrete plate are shown.
    [0100]
    [0101] Figure 5.- Shows a top view of a preferred embodiment of the precast concrete plate where the central opening and the grooves are clearly shown.
    [0102]
    [0103] Figure 6.- It shows a side view of a preferred embodiment of the prefabricated concrete plate showing a cut of the grooves and the central opening.
    [0104]
    [0105] PREFERRED EMBODIMENT OF THE INVENTION
    [0106]
    [0107] Figure 1 shows a perspective view of a preferred embodiment of a first aspect of the invention, of a preferred embodiment of the Installation (1) for railway tracks with prefabricated plates, where it is shown that the installation comprises a mobile platform (5) configured to move longitudinally along the track, an industrial robot (3) of high load capacity operatively connected to the mobile platform (5), a tooling (4) connected to the industrial robot (3) and a series of prefabricated plates (2) of concrete arranged in a row to be firmly held by the tooling (4) and displaced by the industrial robot (3).
    [0108]
    [0109] Figure 2 shows a detailed view of the tooling (4) in a preferred embodiment, where it is clearly shown that it incorporates a proximal portion (41) comprising a distal portion (43) with a connecting element to connect with the industrial robot (3), and two stabilizer arms (44) attached laterally to the proximal portion (41) configured to exert pressure on the concrete plate (2) to be firmly held when displaced to provide stability while being displaced by the industrial robot (3). For this purpose, in the preferred embodiment described the stabilizer arms (42) comprise two springs (46) to compress on both sides of the prefabricated plate (2) to hold firmly when it is displaced by the robot (3).
    [0110]
    [0111] Also, Figure 2 shows the long-range 2D laser (31) attached to the tooling (4) to detect the prefabricated concrete plates (2) and the high-precision 2D laser (32) configured to guide the robot (3) to inserting the tooling into the prefabricated plate (2), said laser (32) is also connected to the tooling (4) according to the preferred embodiment described.
    [0112]
    [0113] Figure 3 shows a perspective view of a preferred embodiment of a proximal portion (41) of the tooling and of the prefabricated plate (2). Figure 3 clearly shows how the proximal section (41) of the tooling (4) comprises perimeter fins (45) where each fin (45) comprises a flange (48) where each flange (48) comprises two studs (47) transverse to each fin (45).
    [0114]
    [0115] Likewise, Figure 3 also shows how the prefabricated concrete plate (2) comprises a central opening (21) intended to accommodate the perimeter fins (45). In the preferred embodiment described, said central opening (21) has a Celtic cross type configuration with a central annular opening intended to accommodate the proximal section (41) of the tooling (4) which has a cylindrical and hollow configuration
    [0116]
    [0117] Figure 4 shows a detailed drawing of a preferred embodiment of the central opening (21) of the prefabricated plate (2). It can be seen, as the resulting projections (23) of the central opening (21) of the Celtic cross type, have grooves (22) on their lower surface. Said (22) slits are intended to accommodate the lugs (47) of the fins (45) of the tooling (4). In the preferred embodiment, each projection resulting from the central opening (1) has a thickness less than the total height of the prefabricated plate (1), so that the tooling fins (4) can penetrate through the central opening (21) and rotate inside the prefabricated plate (2), without needing to exceed the vertical path presented by the plate height (2). Consequently, the prefabricated plates (1) (2) can be displaced even if they are supported on a conventional flat floor.
    [0118]
    [0119] As a consequence, the industrial robot (3), coupled to the tooling (4), vertically displaces the perimeter fins (45), penetrating through the central opening (21). Subsequently, the robot (3) rotates the fins (45) until it coincides with the slits (22) and moves vertically again allowing to anchor the lugs (47) of the tooling (4) in the slits (22) of the plate (2) ).
    [0120]
    [0121] Said anchorage, as well as the stabilizer arms (42) allow to firmly hold the prefabricated plate (2) while it is quickly moved by the robot (3) to the position required by the process of assembling railway tracks on prefabricated concrete plates (2) as described above.
    [0122]
    [0123] Figure 5 shows a top view of the described preferred embodiment where a prefabricated plate (2) of high strength concrete (UHPC) reinforced with steel fibers is shown, and it is clearly shown that said prefabricated plate (2) comprises a central opening (21) with a geometry configured to accommodate the fins (45) of the tooling (4) and slits (22) located on a lower face of the plate (2) configured to accommodate the lugs (47) of the fins (45) .
    [0124]
    [0125] Figure 6 also shows a side view of the precast concrete slab in the preferred embodiment described above. Consequently, the prefabricated plate (2) object of the present invention is executed with ultra high strength concrete (UHPC) reinforced with steel fibers, without the presence of passive and / or active reinforcements. This is a clear difference with current technology, as existing prefabricated plates (2) use conventional prestressed concrete. The ultra-high strength concrete (UHPC) reinforced with steel fibers provides a series of associated advantages that enhance the functionality of the railroad plate, among which it should be noted that:
    [0126] - allows defining a more slender and manageable geometry without compromising the structural stability of the whole.
    [0127] - lacking assembly, the plate manufacturing process is greatly simplified.
    [0128] - UHPC concrete is much more fluid than conventional concrete, which also facilitates the manufacturing process and final quality.
    [0129] - The durability of the UHPC is far superior to that of the other concretes, which allows for scarce maintenance requirements.
    [0130] - the fibers mean that the fatigue analysis is not decisive and that, although some cracks occur, they do not increase and spread.
    [0131]
    [0132] The prefabricated plates (2) of ultra high strength concrete are installed being separated from each other, being joined only by the rail. More particularly, in a second aspect the present invention describes an assembly procedure that makes use of the installation (1) described above, comprising the following steps:
    [0133] A. place the prefabricated plates (2) of high-strength concrete, grouped next to the track and within reach of the industrial robot (3),
    [0134] B. perform a first scan with the long-range 2D laser (31) and extract data in the form of a cloud of points representing the robot's environment (3),
    [0135] C. process said data by filtering and execute an algorithm to contrast the point cloud with a 3D virtual model of the prefabricated plate (2), D. place the precision 2D laser (32) perpendicularly and perform a second scan ,
    [0136] E. check if the geometry of the central opening (21) of the plate (2) is detected, otherwise the laser (32) is reoriented based on the position of the first scan and a second scan is performed again,
    [0137] F. process data from the second scan by filtering and execute an algorithm to contrast the point cloud with a 3D virtual model to locate the central aperture (21) with sub-millimeter accuracy,
    [0138] G. insert the fins (45) of the tooling (4) vertically through the robot (3) into the central opening (21) of the high-strength precast concrete plate (2), the stabilizer arms (44) compress allowing this movement,
    [0139] H. rotate (3) the fins (45) by means of the robot (3) until the lugs (47) coincide with the slits (22) of the prefabricated plate (2),
    [0140] I. move vertically in the reverse direction by inserting the lugs (47) of the tooling (4) into the prefabricated plate (2), as a consequence, with the help of the stabilizer arms (44), the plate (2) is firmly held and ready to be displaced by the robot (3).
    [0141] Subsequently, the robot (3) with the plate (2) attached performs a new scan using the precision laser (32) on the edge of the plate (2) placed previously, using the position where he placed the last plate (2) that he has stored in memory with sub-millimeter accuracy, and places the plate (2) held in the desired position.
    [0142]
    [0143] In a preferred embodiment, the assembly procedure that makes use of the installation further comprises the step of scanning the edge of the plate (2) again by means of the precision laser (32) that has been previously placed, using the previously stored position. in memory, and place the prefabricated plate (2) that is being firmly held in the position required for the commissioning of the track.
    [0144]
    [0145] Subsequently, once the plate has been placed in position, the robot (3) executes the movements described in G, H, I in the opposite direction and returns to the starting position.
    [0146]
    [0147] The fact of assembling in an automated way with the automated procedure and the installation described above. It provides a number of advantages over manual or semi-assisted installation procedures. More concretely:
    [0148]
    [0149] - The speed of assembly is increased thanks to the automation of the most expensive part, in time and means, of the process.
    [0150] - Improvement of the quality and reduction of errors thanks to the adjustment of the position of the automatic plates, guided by sensors of high precision.
    [0151] - It allows to obtain a better control of the assembly process: continuous monitoring of assembly times, yields, KPIs;
    [0152] - It improves the traceability of the work, for example, by installing reading codes or RFID tags on the boards.
    权利要求:
    Claims (13)
    [1]
    1. - Installation (1) for railway tracks with prefabricated plates, comprising: - a mobile platform (5) suitable for moving longitudinally along the track, - an industrial robot (3) of high load capacity attached to the mobile platform ( 5), - a tooling (4) connected to the industrial robot (3),
    - a prefabricated concrete plate (2) configured to be firmly held by the tooling (4) and moved by the industrial robot (3), characterized by :
    - the tooling (4) comprises a proximal portion (41) comprising at one end perimetral fins (45) where each fin (45) comprises at least one stud (47), a distal portion (43) comprising an element of connection to connect with the industrial robot (3), and stabilizer arms (44) perimetrically joined to the proximal portion (41) configured to exert pressure on the concrete plate (2) to be firmly held when it is displaced, and
    - the prefabricated plate (2) is made of high-strength concrete (UHPC) reinforced with steel fibers and comprises a central opening (21) with a geometry configured to accommodate the fins (45) of the tooling (4) and slits (22 ) located on a lower face of the plate (2) configured to accommodate the lugs (47) of the fins (45).
    [2]
    2. - The Installation (1) for railway tracks with prefabricated plates of claim 1, wherein the industrial robot (3) comprises a long-range 2D laser (31) attached to the tooling (4) to detect the prefabricated plates ( 2) concrete, and a high-precision 2D laser (32) also attached to the tooling (4) to guide the robot (3) to precisely insert the fins (45) of the tooling (4) into the central opening (21) .
    [3]
    3. - The Installation (1) for railways with prefabricated plates of claim 1, wherein the proximal portion (41) of the tooling (4) is cylindrical and hollow intended to accommodate pre-existing retainers in the construction of railways.
    [4]
    4. - The Installation (1) for railway tracks with prefabricated plates of claim 3, wherein the central opening (21) comprises an annular portion central to accommodate the proximal section (41) and slots to accommodate the fins (45) of the tooling (4).
    [5]
    5. - The Installation (1) for railway tracks with prefabricated plates of claim 4, wherein the tooling (4) has four fins (45) with an outer diameter of 200-500 mm.
    [6]
    6. - The Installation (1) for railway tracks with prefabricated plates of claim 1, wherein the stabilizer arms (44) comprise springs (46) to compress and hold the prefabricated plates (2) when displaced by the industrial robot (3).
    [7]
    7. - The Installation (1) for railway tracks with prefabricated plates of claim 1, wherein each fin (45) comprises a flange (48) perpendicular to said fin (45) from which each pin (47) protrudes.
    [8]
    8. - The Installation (1) for railway tracks with prefabricated plates of claim 7, wherein each flange (48) comprises two studs (47).
    [9]
    9. - The Installation (1) for railway tracks with prefabricated plates of claim 1, wherein the concrete plate (2) comprises a width of 0.6-0.75 meters, a height of 0.15-0 , 3 meters, and a length of 1.8 - 2.9 meters for metric gauge tracks, 2.3 -2.7 meters for international gauge tracks and 2.5 - 2.7 for Iberian gauge tracks.
    [10]
    10. - The Installation (1) for railway tracks with prefabricated plates of claim 9, wherein the prefabricated plate (2) additionally comprises central projections (23) delimited by the central opening (21) comprising a thickness less than high of the prefabricated plate (2).
    [11]
    11. - Assembly procedure that makes use of the installation described in any one of claims 1-10, characterized in that it comprises the following steps:
    A. place the prefabricated plates (2) of high-strength concrete, grouped next to the track and within reach of the industrial robot (3),
    B. perform a first scan with the long-range 2D laser (31) and extract data in the form of a cloud of points representing the robot's environment (3),
    C. process said data by filtering and execute an algorithm to contrast the point cloud with a 3D virtual model of the prefabricated plate (2), D. place the precision 2D laser (32) perpendicularly and perform a second scan ,
    E. check if the geometry of the central opening (21) of the plate (2) is detected, otherwise the laser (32) is redirected to the position of the first scan and a second scan is performed again,
    F. process data from the second scan by filtering and execute an algorithm to contrast the point cloud with a 3D virtual model to locate the central aperture (21) with sub-millimeter accuracy,
    G. insert the fins (45) of the tooling (4) vertically through the robot (3) into the central opening (21) of the high-strength precast concrete plate (2), the stabilizer arms (44) compress allowing this movement,
    H. rotate (3) the fins (45) by means of the robot (3) until the lugs (47) coincide with the slits (22) of the prefabricated plate (2),
    I. move vertically in the reverse direction by inserting the lugs (47) of the tooling (4) into the prefabricated plate (2), as a consequence, with the help of the stabilizer arms (44), the plate (2) is firmly held and ready to be displaced by the robot (3).
    [12]
    12. - The assembly procedure of claim 11, further comprising the step of scanning with the precision 2D laser (32) the edge of the plate (2) previously placed, using the position previously stored in memory and then placing the plate (2) held in the required position on the track.
    [13]
    13. - The assembly procedure of claim 11, comprising the step of executing the movements described in G, H, I in the reverse direction and returning to the starting position.
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    同族专利:
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    引用文献:
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