A multi-axis multi-dimensional water jet track grinding method and system

Abstract

The present invention discloses a multi-axis multi-dimensional water jet track grinding method and system, the method comprising: detecting actual track working condition data through a track visual detection unit and feeding back the data to a central processing unit; the central processing unit calculates the positioning data of a slope repair water jet or a water jet for repairing both sides of the track according to the actual track working condition data and the cross-sectional profile data after track repair set by a standard track; the central processing unit sets and generates a motion program according to the positioning data and transmits the motion program to a main controller, the main controller controls the first servo motor group on each multi-axis slope repair mechanism and / or the second servo motor group on each track side repair mechanism to move according to the motion program, and sets a fine-tuning value according to the positioning data, so as to achieve the best grinding effect while realizing multi-axis multi-dimensional grinding of the track.

Description

Technical Field

[0001] The present invention belongs to the technical field of water jet grinding, and more specifically, relates to a multi-axis multi-dimensional water jet track grinding method and system. Background Art

[0002] Water jet is a cold processing method that converts the kinetic energy of water jet into mechanical energy for removing materials. It can be used for material cleaning, delamination, cutting, etc. It has incomparable advantages in processing high-hardness, heat-sensitive materials and complex thin-walled materials. The application of water jet will not affect the organizational structure of the material and there is no mechanical stress deformation, so it is widely used in aviation, military industry, electronics and other fields.

[0003] In the existing technology, during the track repair process, the water jet is usually fixed to the head by clamping, and the posture can only be adjusted at a few fixed positions. Different clamps are required to match tracks with different profiles, and the accuracy is extremely low. It is often impossible to accurately control the target distance of the water jet head to the repair surface, and it is impossible to efficiently repair the existing actual track according to the standard track profile.

[0004] Therefore, there is an urgent need for a grinding system that can be suitable for grinding rails with different contours, and can accurately control the target distance of the water jet cutter head to the repair surface, and can perform multi-axis and multi-dimensional controlled water jet grinding device that can perform multi-head and multi-dimensional free grinding of the existing actual rails according to the standard contour of the rail. Summary of the invention

[0005] In view of the above defects or improvement needs of the prior art, the present invention provides a multi-axis multi-dimensional water jet track grinding method and system, wherein the actual working condition of the track is detected by a track visual detection unit, and the central processing unit calculates the target distance and the swing angle of the multi-axis slope repair mechanism and / or the repair mechanism on both sides of the track to reach the track repair surface according to the actual working condition of the track fed back by the track visual detection unit, and refers to the standard track section data, and transmits the motion data to the main controller, and the servo motor group on the multi-axis slope repair mechanism and the repair mechanism on both sides of the track is controlled by the main controller to realize the multi-axis multi-dimensional control of water jet grinding; the present invention can control the target distance of the multi-dimensional repair water jet head to reach the repair surface, can adjust the height and swing angle position of each head in real time according to the outer contour of the track, and can repair the existing actual track according to the standard outer contour of the track; it can solve the problem that the existing grinding mechanism cannot be applied to tracks with different outer contours, cannot accurately control the target distance of the water jet head to reach the repair surface, and cannot perform multi-head multi-dimensional free grinding on the existing actual track according to the standard outer contour of the track.

[0006] In order to achieve the above object, the present invention provides a multi-axis multi-dimensional water jet track grinding method, which is characterized by comprising the following steps:

[0007] S1: Start the track repair engineering vehicle, detect the actual track working condition data through the track visual detection unit and feed it back to the central processing unit;

[0008] S2: The central processing unit calculates the positioning data of the slope repair water jet or the water jet for repairing both sides of the track according to the actual working condition data of the track and the cross-sectional profile data of the track after repair set by the standard track;

[0009] S3: The central processing unit sets and generates a motion program according to the positioning data and transmits the motion program to the main controller, which controls the first servo motor group on each multi-axis slope repair mechanism and / or the second servo motor group on each repair mechanism on both sides of the track to move according to the motion program and sets the fine-tuning value according to the positioning data to achieve the best grinding effect while realizing multi-axis and multi-dimensional grinding of the track.

[0010] Furthermore, the actual working condition data of the track in step S1 includes track cross-section profile data and the distance from the front of the track;

[0011] The positioning data of the slope repair water jet or the track side repair water jet in step S2 includes the target distance to the repair surface and the swing angle.

[0012] Another aspect of the present invention provides a multi-axis multi-dimensional water jet track grinding system, comprising a central processing unit, a track visual detection unit and a mounting frame installed on a track repair engineering vehicle, a master controller connected to the central processing unit, a lateral movement mounting seat assembly arranged in the internal space of the mounting frame, a multi-axis slope repair mechanism and a track side repair mechanism arranged on the lateral movement mounting seat assembly; wherein,

[0013] The transverse movement mounting seat assembly includes a plate-shaped mounting mechanism and transverse movement rails arranged on both sides of the plate-shaped mounting mechanism; the multi-axis slope repair mechanism and the rail-side repair mechanism both include a transverse movement unit arranged on one of the transverse movement rails and a lifting unit arranged on the transverse movement unit; the multi-axis slope repair mechanism also includes an angle rotation unit arranged at the bottom of the lifting unit and a slope repair water jet arranged on the angle rotation unit; the rail-side repair mechanism also includes a fixed seat arranged at the bottom of the lifting unit, a servo swing motor arranged on one side of the fixed seat, a swing mechanism arranged on the other side of the fixed seat, and a rail-side repair water jet arranged on the swing mechanism;

[0014] The actual working condition of the track is detected by the track vision detection unit, and the central processing unit calculates the target distance and yaw angle of the multi-axis slope repair mechanism and / or the repair mechanisms on both sides of the track to reach the track repair surface based on the actual working condition of the track and with reference to the standard track section data, and transmits the motion data to the main controller, which controls the movement of the servo motors on the multi-axis slope repair mechanism and / or the repair mechanisms on both sides of the track to achieve multi-axis and multi-dimensional control of water jet grinding.

[0015] Furthermore, the multi-axis slope repair mechanism and the track side repair mechanism are selectively installed on both sides of the same transverse mounting seat assembly.

[0016] Further, the transverse mounting seat assembly is connected to both sides of the mounting frame via a fixing plate;

[0017] The plate-shaped mounting mechanism is arranged perpendicular to the longitudinal center axis direction of the track.

[0018] The plate-shaped mounting mechanism comprises a vertically arranged middle plate and horizontal end plates vertically arranged at the upper and lower ends of the middle plate;

[0019] The two ends of the horizontal end plate are fixed by the fixing plate and the frame bodies on both sides of the mounting frame;

[0020] The transverse movement rails are respectively arranged on both sides of the upper and lower horizontal end plates.

[0021] Further, the transverse movement unit comprises a slide plate slidably arranged on the transverse movement track, a mounting bracket arranged on one side of the slide plate, and a transverse movement driving mechanism arranged on the other side of the slide plate;

[0022] The transverse movement driving mechanism comprises a transverse movement servo driving motor arranged on the side of the middle plate and a transverse movement mounting block arranged on the output end of the transverse movement servo driving motor.

[0023] Further, the transverse installation block is fixed to a side of the slide plate close to the plate-shaped installation mechanism;

[0024] The mounting bracket is arranged on a side of the slide away from the plate-shaped mounting mechanism;

[0025] The slide plate is slidably arranged on two transverse tracks arranged up and down on the same side of the plate-shaped mounting mechanism.

[0026] Further, the lifting unit includes a connecting rod slidably arranged on the mounting bracket, a rotating unit arranged on the top of the connecting rod, and a lifting servo drive motor arranged on the rotating unit;

[0027] An angle rotation unit mounting support or the fixing seat is installed at the bottom of the connecting rod;

[0028] The angle rotation unit is arranged on the angle rotation unit mounting support.

[0029] Furthermore, the angle rotation unit includes a servo angle rotation motor installed at the bottom of the angle rotation unit mounting support and an angle rotation mechanism provided on a side of the angle rotation unit mounting support.

[0030] Further, the angle rotation mechanism is arranged at the output end of the servo angle rotation motor;

[0031] The slope repairing water jet is installed on the side of the angle rotating mechanism through a fixing seat.

[0032] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0033] (1) The present invention provides a multi-axis multi-dimensional water jet track grinding method and system, which drives the slide plate to slide horizontally on the transverse track through the transverse servo drive motor, thereby driving the slope repair water jet disposed at the bottom of the lifting unit or the water jets on both sides of the track to move horizontally, thereby realizing horizontal cutting of the track, and drives the rotation unit to rotate through the lifting servo drive motor to drive the connecting rod to move up and down, thereby driving the angle rotation unit or the fixed seat to move vertically, thereby driving the slope repair water jet or the water jets on both sides of the track to move vertically, thereby realizing vertical cutting of the track, thereby realizing multi-axis cutting of the track; through the servo angle The degree rotation motor drives the angle rotation mechanism to rotate, thereby driving the slope repair water jet to perform multi-dimensional cutting on the track; the actual working condition of the track is detected by the track vision detection unit, and the central processing unit calculates the target distance and yaw angle of the multi-axis slope repair mechanism and / or the repair mechanisms on both sides of the track to reach the track repair surface based on the actual working condition of the track fed back by the track vision detection unit and with reference to the standard track section data, and transmits the motion data to the main controller, which controls the operation of the servo motor groups on the multi-axis slope repair mechanism and the repair mechanisms on both sides of the track to achieve multi-axis and multi-dimensional control of water jet grinding.

[0034] (2) A multi-axis, multi-dimensional water jet track grinding method and system of the present invention, the entire system is installed on a track repair engineering vehicle, and during the vehicle's movement, the system can adjust the height and swing angle position of each cutter head in real time according to the track's outer contour. The axes can maintain a certain synchronous operation relationship, and the system is a nonlinear, strongly coupled multi-input and multi-output system. The system's speed ratio synchronization, position (or angle) synchronization, and absolute value error are all less than the standard limit value; it can be applied to tracks with different outer contours, can accurately control the target distance of the water jet cutter head to the repair surface, and can perform multi-cutter and multi-dimensional free grinding on the existing actual track according to the standard track outline. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the overall structure of a multi-axis multi-dimensional water jet track grinding system according to an embodiment of the present invention;

[0036] Figure 2 It is a schematic diagram of the overall structure of a multi-axis slope repairing mechanism of a multi-axis multi-dimensional water jet track grinding system according to an embodiment of the present invention;

[0037] Figure 3 It is a schematic diagram of the lower structure of a rail-side repair mechanism of a multi-axis multi-dimensional water jet rail grinding system according to an embodiment of the present invention;

[0038] Figure 4 A schematic diagram of a control structure of a multi-axis multi-dimensional water jet track grinding method according to an embodiment of the present invention;

[0039] Figure 5 The present invention is a schematic diagram of a multi-axis multi-dimensional water jet track grinding method according to an embodiment of the present invention.

[0040] In all the drawings, the same figure numbers represent the same technical features, specifically: 1-installation frame, 11-upper frame, 12-lower frame, 13-support column, 2-track, 3-multi-axis slope repair mechanism, 31-transverse movement unit, 311-slide plate, 312-installation bracket, 313-transverse movement servo drive motor, 32-lifting unit, 321-connecting rod, 322-rotation unit, 323-lifting servo drive motor, 324-angle rotation unit mounting support, 33-angle rotation unit, 331-servo angle rotation motor, 332-angle rotation mechanism, 34-slope repair water jet, 4-repair mechanism on both sides of the track, 41-fixed seat, 42-servo swing motor, 43-swing mechanism, 44-repair water jet on both sides of the track, 5-transverse movement mounting seat assembly, 51-plate-shaped mounting mechanism, 511-middle plate, 512-horizontal end plate, 52-transverse movement track, K1-central processing unit, K2-master controller. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, when an element is referred to as being "fixed to", "disposed on" or "provided on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element; the terms "installed", "connected", "connected" and "provided with" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal connection of the two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0043] like Figure 1-Figure 4 As shown, the present invention provides a multi-axis multi-dimensional water jet track grinding system, comprising a central processing unit K1 installed on a track repair engineering vehicle, a track visual detection unit and a mounting frame 1, a master controller K2 connected to the central processing unit, a transverse mounting seat assembly 5 arranged in the inner space of the mounting frame 1, a multi-axis slope repair mechanism 3 and a track side repair mechanism 4 arranged on the transverse mounting seat assembly 5; the multi-axis slope repair mechanism 3 is used for multi-dimensional grinding and repair of the track repair surface; the track side repair mechanism 4 is used for the multi-axis slope repair mechanism 3 and the track The track side repair mechanisms 4 are selectively installed on both sides of the same transverse mounting seat assembly 5; the actual working condition of the track is detected by the track visual detection unit, and the central processing unit calculates the target distance and yaw angle of the multi-axis slope repair mechanism 3 and / or the track side repair mechanism 4 to the track 2 repair surface according to the actual working condition of the track and refers to the standard track section data, and transmits the motion data to the main controller 2, and the servo motor action on the multi-axis slope repair mechanism 3 and / or the track side repair mechanism 4 is controlled by the main controller 2 to realize multi-axis and multi-dimensional control of water jet grinding.

[0044] Furthermore, if Figure 1-Figure 3 As shown, the installation frame 1 is a hollow rectangular frame, including an upper frame 11, a lower frame 12 and a support column 13 connecting the upper frame 11 and the lower frame 12; the upper frame 11 and the lower frame 12 are both rectangular structures.

[0045] Furthermore, if Figure 1-Figure 3As shown, the transverse movement mounting seat assembly 5 is connected to the two sides of the mounting frame 1 through a fixed plate; the transverse movement mounting seat assembly 5 includes a plate-shaped mounting mechanism 51 and transverse movement rails 52 arranged on both sides of the plate-shaped mounting mechanism 51; the plate-shaped mounting mechanism 51 is arranged perpendicular to the longitudinal center axis direction of the rail; the plate-shaped mounting mechanism 51 includes a vertically arranged middle plate 511 and horizontal end plates 512 arranged perpendicularly at the upper and lower ends of the middle plate 511; the transverse movement rails 52 are respectively arranged on both sides of the upper and lower horizontal end plates 512 along the longitudinal center axis direction of the rail; The longitudinal center axis direction of the shift track 52 is perpendicular to the longitudinal center axis direction of the track; the two ends of the horizontal end plate 512 are fixed by the fixing plate and the two side frame bodies of the mounting frame 1; the number of the plate-like mounting mechanisms 51 is determined according to the total number of the multi-axis slope repair mechanisms 3 and the track side repair mechanisms 4; two multi-axis slope repair mechanisms 3 can be installed on both sides of the same plate-like mounting mechanism 51, or two track side repair mechanisms 4 can be installed, or the multi-axis slope repair mechanism 3 and the track side repair mechanisms 4 can be installed separately.

[0046] Furthermore, if Figure 1-Figure 3 As shown, the number of the multi-axis slope repair mechanism 3 and the track repair mechanism 4 on both sides is determined according to actual conditions; the multi-axis slope repair mechanism 3 and the track repair mechanism 4 on both sides include a connected upper structure and a lower structure; the upper structures of the multi-axis slope repair mechanism 3 and the track repair mechanism 4 on both sides are the same, both including a lateral movement unit 31 arranged on one of the lateral movement rails 52 and a lifting unit 32 arranged on the lateral movement unit 31; the lower structure of the multi-axis slope repair mechanism 3 includes an angle rotation unit 33 arranged at the bottom of the lifting unit 32 and a slope repair water jet 34 arranged on the angle rotation unit 33; the lower structure of the track repair mechanism 4 on both sides includes a fixed seat 41 arranged at the bottom of the lifting unit 32, a servo swing motor 42 arranged on one side of the fixed seat 41, a swing mechanism 43 rotatably arranged on the other side of the fixed seat 41, and a track repair water jet 44 on both sides arranged on the swing mechanism 43; the swing mechanism 43 is driven to rotate by the servo swing motor 42 to achieve up and down grinding of both sides of the track.

[0047] Furthermore, if Figure 1-Figure 3As shown, the transverse movement unit 31 includes a slide plate 311 slidably arranged on the transverse movement rail 52, a mounting bracket 312 arranged on one side of the slide plate 311 and a transverse movement driving mechanism arranged on the other side of the slide plate 311; the transverse movement driving mechanism includes a transverse movement servo drive motor 313 arranged on the side of the middle plate 511, and a transverse movement mounting block arranged at the output end of the transverse movement servo drive motor 313; the transverse movement mounting block is fixed to the side of the slide plate 311 close to the plate-shaped mounting mechanism 51; the mounting bracket 312 is arranged on the side of the slide plate 311 away from the plate-shaped mounting mechanism 51; the slide plate 311 is slidably arranged on the two transverse movement rails 52 on the same side of the plate-shaped mounting mechanism 51; the slide plate 311 is driven by the transverse movement servo drive motor 313 to slide horizontally on the transverse movement rail 52, thereby driving the slope repair water jet 34 arranged at the bottom of the lifting unit 32 or the repair water jet 44 on both sides of the track to move horizontally, thereby realizing horizontal cutting of the track 2.

[0048] Furthermore, if Figure 1-Figure 3 As shown, the lifting unit 32 includes a connecting rod 321 slidably arranged on the mounting bracket 312, a rotating unit 322 arranged on the top of the connecting rod 321, and a lifting servo drive motor 323 arranged on the rotating unit 322; the fixed seat 41 is arranged at the bottom of the connecting rod 321 on the repair mechanism 4 on both sides of the track; the rotating unit 322 is driven to rotate by the lifting servo drive motor 323, thereby driving the connecting rod 321 to slide up and down on the mounting bracket 312, thereby driving the angle rotating unit 33 or the fixed seat 41 to move vertically, thereby driving the slope repair water knife 34 or the repair water knife 44 on both sides of the track to move vertically, thereby realizing vertical cutting of the track.

[0049] Furthermore, if Figure 1-Figure 3 As shown, the angle rotation unit 33 includes an angle rotation unit mounting bracket 324 arranged at the bottom of the connecting rod 321 of the multi-axis slope repair mechanism 3, a servo angle rotation motor 331 installed at the bottom of the angle rotation unit mounting bracket 324, and an angle rotation mechanism 332 arranged on the side of the angle rotation unit mounting bracket 324; the angle rotation mechanism 332 is arranged at the output end of the servo angle rotation motor 331; the slope repair water jet 34 is installed on the side of the angle rotation mechanism 332 through a fixed seat; the angle rotation mechanism 332 is driven to rotate by the servo angle rotation motor 331, thereby driving the slope repair water jet 34 to perform multi-angle cutting on the track.

[0050] Furthermore, if Figure 1-Figure 4As shown, each of the multi-axis slope repair mechanisms 3 is provided with a first servo motor group, including a transverse servo drive motor 313, a lifting servo drive motor 323 and a servo angle rotation motor 331; each of the track side repair mechanisms 4 is provided with a second servo motor group, including a transverse servo drive motor 313, a lifting servo drive motor 323 and a servo swing motor 42; the main controller controls the first servo motor group on each of the multi-axis slope repair mechanisms 3 and / or the second servo motor group on each of the track side repair mechanisms 4 through the ECAT bus to realize multi-axis and multi-dimensional grinding of the track according to the motion program actions calculated by the central processing unit; K3, K4, and Kn respectively represent different servo motor groups on the multi-axis slope repair mechanism or the track side repair mechanism.

[0051] like Figure 4 and Figure 5 As shown, another aspect of the present invention provides a multi-axis multi-dimensional water jet track grinding method, comprising the following steps:

[0052] S1: Start the track repair engineering vehicle, detect the actual working condition data of the track through the track visual detection unit and feed it back to the central processing unit (encoder); the actual working condition data of the track includes the track section profile data and the distance from the front of the track;

[0053] S2: The central processing unit calculates the positioning data of the slope repair water jet or the water jet for repairing both sides of the track according to the actual working condition data of the track and the cross-sectional profile data of the track after repair set by the standard track; the positioning data of the slope repair water jet or the water jet for repairing both sides of the track include the target distance and the swing angle to the repair surface respectively;

[0054] S3: The central processing unit sets and generates a motion program according to the positioning data and transmits the motion program to the main controller. The main controller controls the first servo motor group on each of the multi-axis slope repair mechanisms 3 and / or the second servo motor group on each of the repair mechanisms 4 on both sides of the track through the ECAT bus to move according to the motion program, and sets the fine-tuning value according to the positioning data to achieve the best grinding effect while realizing multi-axis and multi-dimensional grinding of the track.

[0055] The present invention provides a multi-axis multi-dimensional water jet track grinding method and system, which drives a slide plate to slide horizontally on a transverse track through a transverse servo drive motor, thereby driving a slope repair water jet disposed at the bottom of a lifting unit or a water jet for repairing water jets on both sides of the track to move horizontally, thereby realizing horizontal cutting of the track, and drives the rotation unit to rotate through a lifting servo drive motor to drive the connecting rod to move up and down, thereby driving an angle rotation unit or a fixed seat disposed at the bottom of the lifting unit to move vertically, thereby driving a slope repair water jet or a water jet for repairing water jets on both sides of the track to move vertically, thereby realizing vertical cutting of the track, thereby realizing multi-axis cutting of the track; The servo angle rotation motor drives the angle rotation mechanism to rotate, thereby driving the slope repair water jet to perform multi-dimensional cutting of the track; the actual working condition of the track is detected by the track vision detection unit, and the central processing unit calculates the target distance and yaw angle of the multi-axis slope repair mechanism and / or the repair mechanisms on both sides of the track to reach the track repair surface based on the actual working condition of the track fed back by the track vision detection unit and with reference to the standard track section data, and transmits the motion data to the main controller, which controls the operation of the servo motor groups on the multi-axis slope repair mechanism and the repair mechanisms on both sides of the track to achieve multi-axis and multi-dimensional control of water jet grinding.

[0056] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-axis multi-dimensional water jet track grinding method, characterized in that: The steps include: S1: Start the track repair engineering vehicle, detect the actual track working condition data through the track visual detection unit and feed it back to the central processing unit; S2: The central processing unit calculates the positioning data of the slope repair water jet or the water jet for repairing both sides of the track according to the actual working condition data of the track and the cross-sectional profile data of the track after repair set by the standard track; S3: The central processing unit sets and generates a motion program according to the positioning data and transmits the motion program to the master controller, which controls the first servo motor group on each multi-axis slope repair mechanism and / or the second servo motor group on each track side repair mechanism to move according to the motion program and sets a fine-tuning value according to the positioning data, so as to achieve the best grinding effect while realizing multi-axis and multi-dimensional grinding of the track; The actual working condition data of the track in step S1 includes the track cross-section profile data and the distance from the front of the track; The positioning data of the slope repair water jet or the track side repair water jet in step S2 includes the target distance and swing angle to the repair surface; A multi-axis multi-dimensional water jet track grinding system for implementing the multi-axis multi-dimensional water jet track grinding method comprises a central processing unit, a track visual detection unit and a mounting frame (1) installed on a track repair engineering vehicle, a master controller (2) connected to the central processing unit, a transverse mounting seat assembly (5) arranged in the internal space of the mounting frame (1), a multi-axis slope repair mechanism (3) and a track side repair mechanism (4) arranged on the transverse mounting seat assembly (5); the transverse mounting seat assembly (5) comprises a plate-shaped mounting mechanism (51) and transverse tracks (52) arranged on both sides of the plate-shaped mounting mechanism (51); the multi-axis slope repair mechanism (3) and the track side repair mechanism (4) both comprise a plurality of The invention comprises a transverse movement unit (31) arranged on one of the transverse movement rails (52) and a lifting unit (32) arranged on the transverse movement unit (31); the multi-axis slope repair mechanism (3) further comprises an angle rotation unit (33) arranged at the bottom of the lifting unit (32) and a slope repair water knife (34) arranged on the angle rotation unit (33); the track side repair mechanism (4) further comprises a fixed seat (41) arranged at the bottom of the lifting unit (32), a servo swing motor (42) arranged on one side of the fixed seat (41), a swing mechanism (43) arranged on the other side of the fixed seat (41), and a track side repair water knife (44) arranged on the swing mechanism (43); The actual working condition of the track is detected by the track vision detection unit, and the central processing unit calculates the target distance and the yaw angle of the multi-axis slope repair mechanism (3) and / or the track side repair mechanism (4) to the track repair surface according to the actual working condition of the track with reference to the standard track section data, and transmits the motion data to the main controller (2). The main controller (2) controls the movement of the servo motors on the multi-axis slope repair mechanism (3) and / or the track side repair mechanism (4), thereby realizing multi-axis and multi-dimensional control of water jet grinding.

2. A multi-axis multi-dimensional water jet track grinding method according to claim 1, characterized in that: The multi-axis slope repair mechanism (3) and the track side repair mechanism (4) are selectively installed on both sides of the same transverse mounting seat assembly (5).

3. A multi-axis multi-dimensional water jet track grinding method according to claim 1, characterized in that: The transverse mounting seat assembly (5) is connected to two sides of the mounting frame (1) via a fixing plate; The plate-shaped mounting mechanism (51) is arranged perpendicularly to the longitudinal central axis direction of the track; the plate-shaped mounting mechanism (51) comprises a vertically arranged middle plate (511) and horizontal end plates (512) arranged perpendicularly at the upper and lower ends of the middle plate (511); The two ends of the horizontal end plate (512) are fixed by means of the fixing plate and the frame bodies on both sides of the mounting frame (1); The transverse movement rails (52) are respectively arranged on both sides of the upper and lower horizontal end plates (512).

4. A multi-axis multi-dimensional water jet track grinding method according to claim 3, characterized in that: The transverse movement unit (31) comprises a slide plate (311) slidably arranged on the transverse movement track (52), a mounting bracket (312) arranged on one side of the slide plate (311), and a transverse movement driving mechanism arranged on the other side of the slide plate (311); The transverse movement driving mechanism comprises a transverse movement servo driving motor (313) arranged on the side of the middle plate (511) and a transverse movement mounting block arranged at the output end of the transverse movement servo driving motor (313).

5. A multi-axis multi-dimensional water jet track grinding method according to claim 4, characterized in that: The transverse installation block is fixed to a side of the slide plate (311) close to the plate-shaped installation mechanism (51); The mounting bracket (312) is arranged on a side of the slide plate (311) away from the plate-shaped mounting mechanism (51); The slide plate (311) is slidably mounted on two transverse tracks (52) disposed vertically on the same side of the plate-shaped mounting mechanism (51).

6. A multi-axis multi-dimensional water jet track grinding method according to claim 5, characterized in that: The lifting unit (32) comprises a connecting rod (321) slidably disposed on the mounting bracket (312), a rotating unit (322) disposed on the top of the connecting rod (321), and a lifting servo drive motor (323) disposed on the rotating unit (322); An angle rotation unit mounting support (324) or the fixing seat (41) is mounted at the bottom of the connecting rod (321); The angle rotation unit (33) is arranged on the angle rotation unit mounting support (324).

7. A multi-axis multi-dimensional water jet track grinding method according to claim 6, characterized in that: The angle rotation unit (33) comprises a servo angle rotation motor (331) mounted on the bottom of the angle rotation unit mounting support (324) and an angle rotation mechanism (332) provided on the side of the angle rotation unit mounting support (324).

8. A multi-axis multi-dimensional water jet track grinding method according to claim 7, characterized in that: The angle rotation mechanism (332) is arranged at the output end of the servo angle rotation motor (331); The slope repair water jet (34) is mounted on the side of the angle rotation mechanism (332) via a fixing seat.

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