A rail lateral positioning profiling control device, a rail milling and grinding vehicle and a control method

Abstract

The embodiment of the application provides a kind of steel rail lateral positioning profiling control device, miller and control method, it is related to steel rail milling technology field.The device includes device main body, servo drive module for driving device main body to move is equipped in device main body;Miller, it is movably connected to the side of device main body close to steel rail;Lateral positioning unit has at least two, and the lower end of miller is respectively installed with at least one lateral positioning unit in the both ends of X direction;X direction is the direction of extension of steel rail;Miller is close to the inside of steel rail by contact block;When lateral positioning unit displacement occurs, device main body drives miller to follow movement in Y direction, to make miller positioning profiling steel rail.The application improves the reliability and security of working device in the process of steel rail milling, grinding, can well solve the problem that end face milling, grinding and other working devices cannot install lateral positioning unit in milling point, grinding point position.

Description

Technical Field

[0001] This application relates to the field of rail milling technology, specifically to a rail lateral positioning contour control device, a milling machine, and a control method. Background Technology

[0002] Currently, there are two types of online rail maintenance technologies: rail grinding and rail milling. Rail milling operations involve two processes: milling and grinding. First, the rail surface is longitudinally milled, and then the milled surface is ground. Existing rail milling machines restore the smoothness of the ground rail surface well, have high operating efficiency, and are suitable for eliminating excess material or plastic deformation at gauge angles and outer corners. They require less preparation and do not need to dismantle trackside equipment. Compared to rail grinding machines, they produce less air and noise pollution.

[0003] Imported rail milling equipment is expensive and lacks independent intellectual property rights, making it unsuitable for my country's railway development trends and incapable of performing preventative and corrective maintenance operations on rails. Rail milling vehicles involve numerous controlled objects, require high control precision, and employ complex control algorithms. During the milling and grinding processes, the positioning and contouring of the rail in the Y-axis is crucial. To ensure accurate lateral positioning and contouring of the rail on both straight and curved tracks, current milling and grinding devices typically install the lateral positioning unit detection point directly below the milling point or near the grinding point via a lever mechanism. However, this positioning detection method has the following drawbacks:

[0004] 1. The installation space for the iron filings and grinding powder collection and detection mechanism at the milling and grinding points of the rails is limited, and the structural design is complex.

[0005] 2. During the operation, iron filings may easily enter the positioning and detection mechanism and get stuck. Errors in the Y-axis detection can lead to a great risk of damaging the rail.

[0006] 3. The lateral positioning unit approaches the grinding point via a lever. If the probe is too long, mechanical deformation will affect the detection accuracy and reliability. Summary of the Invention

[0007] To address one of the aforementioned technical deficiencies, this application provides a rail lateral positioning contour control device, a milling machine, and a control method.

[0008] According to a first aspect of the embodiments of this application, a rail lateral positioning contour control device is provided, the device comprising:

[0009] The main body of the device is equipped with a servo drive module for driving the movement of the main body of the device.

[0010] The milled part is movably connected to the side of the main body of the device near the rail;

[0011] The device has at least two lateral positioning units, with at least one lateral positioning unit installed at each of the two ends of the lower part of the device body in the X direction; the X direction is the direction of rail extension.

[0012] The milled part is pressed against the inside of the rail through the contact block; when the lateral positioning unit is displaced, the main body of the device drives the milled part to move in the Y direction so that the milled part is positioned to conform to the rail.

[0013] In an optional embodiment of this application, the lateral positioning unit of the device is further equipped with a displacement sensor for measuring Y-direction displacement; the Y-direction is horizontal and perpendicular to the extension direction of the rail.

[0014] In an optional embodiment of this application, the device body is further provided with a control unit for calculating the deviation value of the milled part in the Y direction, and the servo drive module drives the device body to move by receiving and executing the instructions of the control unit.

[0015] In an optional embodiment of this application, the milling component in the device is a milling cutter disc.

[0016] In an optional embodiment of this application, the milling workpiece in the device is a grinding disc.

[0017] According to a second aspect of the embodiments of this application, a rail milling machine is provided, including a rail lateral positioning and contouring device as described in the first aspect of this application.

[0018] According to a third aspect of the embodiments of this application, a rail lateral positioning contour control method is provided, applied to a rail lateral positioning contour device as described in the first aspect of this application, comprising:

[0019] When the rail milling vehicle is in operation, displacement signals are collected by the lateral positioning units at both ends of the X direction installed at the lower end of the main body of the device, and the deviation value of the milled part in the Y direction is obtained.

[0020] The main body of the drive device moves in the Y direction according to the deviation value, so as to drive the milled part to position the contour rail.

[0021] In an optional embodiment of this application, the step of obtaining the deviation value of the milled part in the Y direction further includes:

[0022] The deviation value of the milled part in the Y direction is calculated by the curve sine compensation control algorithm.

[0023] In an optional embodiment of this application, the step of calculating the deviation value of the milled part in the Y direction using a curve versine compensation control algorithm further includes:

[0024] The distance of the vehicle frame after entering the curve is taken as the measurement chord length AD, where D is the center of the front bogie and A is the center of the rear bogie; the lateral positioning unit located at the X-direction front end of the lower end of the device body is taken as C, the lateral positioning unit located at the X-direction rear end of the lower end of the device body is taken as B, and the milling point of the milled part is taken as F.

[0025] The distances of points C, F, and B are calculated based on the chord lengths between AB, BF, FC, and CD and the curve radius of the railway line. After the Y-axis zero point calibration is performed on the main body of the device, the distance deviations of point C relative to the calibration zero point and the distance deviations of point B relative to the calibration zero point are obtained.

[0026] The deviation of point F from the zero point of calibration is calculated based on the chord lengths between AB, BF, FC, and CD, and the deviations of point C and B from the zero point of calibration.

[0027] In an optional embodiment of this application, the step of calculating the deviation of point F from the calibration zero point based on the chord lengths between AB, BF, FC, and CD, and the deviations of point C and B from the calibration zero point, further includes:

[0028] Based on the chord lengths between AB, BF, FC, and CD, and the deviations of point C and B relative to the calibration zero point, calculate the deviations of point F relative to the calibration zero point under the condition of point C and under the condition of point B, respectively. Then, average these deviations to obtain the reduced deviation of point F relative to the calibration zero point. The formula is:

[0029]

[0030] In the formula, ΔH is the zero-point deviation following value of point F, ΔH1 is the vector deviation of point C relative to the calibration zero point, and ΔH2 is the vector deviation of point B relative to the calibration zero point.

[0031] By adopting the rail lateral positioning contour control device, milling machine and control method provided in the embodiments of this application, the structural design of the milling device and grinding device can be optimized, the reliability and safety of the working device in the rail milling and grinding process can be improved, and the problem that the lateral positioning unit cannot be installed at the milling point and grinding point position of the working device for end milling and grinding can be well solved. Attached Figure Description

[0032] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0033] Figure 1A schematic diagram of the rail inner side view structure of the rail lateral positioning contour control device provided in the embodiments of this application;

[0034] Figure 2 This is a schematic diagram of the rail lateral positioning contour control device provided in the embodiments of this application from the outside view of the rail.

[0035] Figure 3 A schematic cross-sectional view of the rail lateral positioning contour control device provided in this application embodiment;

[0036] Figure 4 This is a schematic diagram of the structure of the lateral positioning unit provided in the embodiments of this application;

[0037] Figure 5 This is another structural schematic diagram of the lateral positioning unit provided in the embodiments of this application;

[0038] Figure 6 A flowchart of the rail lateral positioning contour control method provided in the embodiments of this application;

[0039] Figure 7 This is a schematic diagram of the algorithm for the rail lateral positioning contour control method provided in the embodiments of this application;

[0040] In the above image:

[0041] 1. Rail; 2. Main body of the device; 3. Front lateral positioning unit; 4. Rear lateral positioning unit; 5. Milled part; 6. Contact block; 7. Displacement sensor; 8. Slider; 9. Linear rail. Detailed Implementation

[0042] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0043] In the process of developing this application, the inventors discovered that, in order to ensure that the milling and grinding device can accurately perform lateral positioning and contouring of the rail on both straight and curved lines, current milling and grinding devices install the lateral positioning unit detection point directly below the milling point or near the grinding point through a lever mechanism. However, this positioning and detection method has the following main drawbacks:

[0044] 1. The installation space for the iron filings and grinding powder collection and detection mechanism at the milling and grinding points of the rails is limited, and the structural design is complex.

[0045] 2. During the operation, iron filings may easily enter the positioning and detection mechanism and get stuck. Errors in the Y-axis detection can lead to a great risk of damaging the rail.

[0046] 3. The lateral positioning unit approaches the grinding point via a lever. If the probe is too long, mechanical deformation will occur, affecting the detection accuracy and reliability.

[0047] To address the aforementioned issues, this application provides a rail lateral positioning and contouring device. For ease of description, the X-direction is used as the rail extension direction, and the Y-direction is used as the direction perpendicular to the rail extension direction.

[0048] Please see Figure 1-5 The rail lateral positioning and contouring device of this application includes a device body 2, which is equipped with a servo drive module for driving the movement of the device body 2 and a control unit for calculating the deviation value of the milled part 5 in the Y direction.

[0049] In specific implementation, the milling and grinding component 5 is movably connected to the side of the device body 2 near the rail 1. In some embodiments of this application, the milling and grinding component 5 includes a milling cutter or a grinding disc to mill and grind the rail 1 respectively.

[0050] The lower end of the device body 2 has at least two lateral positioning units. In this embodiment, it is described as two lateral positioning units, but this application is also applicable to multiple lateral positioning offset compensations. Specifically, the lateral positioning units are fixed to the device body 2 by bolts. In a specific implementation, the lateral positioning units include a front lateral positioning unit 3 and a rear lateral positioning unit 4, which are respectively disposed at both ends of the X direction at the lower end of the milled part 5.

[0051] The front lateral positioning unit 3 is set at the front end of the milling cutter or grinding disc. The front lateral positioning unit 3 has a contact block 6, and the contact block 6 is pressed against the inner side of the rail 1 by a hydraulic cylinder or air cylinder. The front lateral positioning unit 3 is equipped with a displacement sensor 7 connected to the contact block 6. The displacement sensor 7 can provide real-time feedback on the position change of the contact block 6 in the Y direction.

[0052] The rear lateral positioning unit 4 is located at the rear end of the milling cutter or grinding disc. The rear lateral positioning unit 4 has a contact block 6, and the contact block 6 is pressed against the inner side of the rail 1 by a hydraulic cylinder or air cylinder. The rear lateral positioning unit 4 is equipped with a displacement sensor 7 connected to the contact block 6. The displacement sensor 7 can provide real-time feedback on the position change of the contact block 6 in the Y direction.

[0053] When the lateral positioning unit is displaced, the main body 2 of the device drives the milling part 5 to move in the Y direction so that the milling part 5 positions the contour rail 1.

[0054] In some embodiments of this application, the lateral positioning unit is provided with a slider 8 and a guide rail 9. Specifically, after the vehicle enters the curve, the main body 2 of the device drives the slider 8 to move relative to the guide rail 9, and the displacement sensor detects the displacement amount, i.e., the displacement deviation value, so as to realize the function of the displacement sensor in the embodiments of this application.

[0055] In specific implementation, the control unit collects the displacement signals of the two lateral positioning unit displacement sensors 7, and realizes the lateral positioning and contouring of the milling device or grinding device through the curve sine compensation control algorithm. That is, the control servo drive module drives the main body 2 of the device to move by receiving and executing the instructions of the control unit.

[0056] In summary, the rail lateral positioning and contouring control device proposed in this application embodiment can collect displacement signals from the front lateral positioning unit 3 and the rear lateral positioning unit 4 installed on the milling and grinding vehicle during operation. It can calculate the actual deviation value that the milling and grinding vehicle needs to follow in the Y direction of the curve segment through the curve versine compensation control algorithm or any other algorithm that can realize this application embodiment. The servo drive module drives the main body 2 of the device to follow in the Y direction according to the real-time calculated deviation value, so as to ensure that the milling and grinding vehicle accurately positions the contoured rail in real time.

[0057] Furthermore, this application proposes a rail milling machine, which includes the rail lateral positioning and contouring device as described above. When the rail milling machine performs milling operations on the rail, the rail milling and grinding are realized through the rail lateral positioning and contouring device as described above.

[0058] Furthermore, this application proposes a rail lateral positioning and contouring control method, which is applied to the rail lateral positioning and contouring device described above and a rail milling machine having the rail lateral positioning and contouring device according to the embodiments of this application.

[0059] Please see Figure 6 Method and process:

[0060] S1: When the rail milling vehicle is in operation, the displacement signal is collected by the lateral positioning units at both ends of the X direction installed at the lower end of the milling part, and the deviation value of the milling part in the Y direction is obtained.

[0061] In some embodiments of this application, the deviation value of the milled part in the Y direction is calculated by a curve sine compensation control algorithm.

[0062] In some embodiments of this application, please refer to Figure 6 , Figure 7The distance of the vehicle frame after entering the curve is taken as the measurement chord length AD, where D is the center of the front bogie and A is the center of the rear bogie; the lateral positioning unit located at the X-direction front end of the milled part is taken as C, the lateral positioning unit located at the X-direction rear end of the milled part is taken as B, and the milling point of the milled part is taken as F; the distances of point C, F, and B are calculated based on the chord lengths between AB, BF, FC, and CD and the radius of the railway curve, and after the Y-direction zero point calibration of the main body of the device, the deviations of point C and B relative to the calibration zero point are obtained; the deviation of point F relative to the calibration zero point is calculated based on the chord lengths between AB, BF, FC, and CD and the deviations of point C and B relative to the calibration zero point.

[0063] Furthermore, based on the chord lengths between AB, BF, FC, and CD, and the deviations of point C from the calibration zero point and point B from the calibration zero point, respectively, calculate the deviations of point F from the calibration zero point under the condition of point C and under the condition of point B, and then average them to obtain the deviation of point F from the calibration zero point with reduced deviation.

[0064] In practical implementation, based on the relationship between chord length and versine in the line deviation detection principle, we can derive:

[0065]

[0066]

[0067]

[0068] In the formula, R is the radius of the railway line curve.

[0069] According to the aforementioned formula, we can calculate:

[0070]

[0071]

[0072] Similarly, the zero-point offset deviation value ΔH at point F can be calculated based on the zero-point offset deviation values ​​at points C and B when the vehicle enters the curve.

[0073]

[0074]

[0075] To reduce the error in the line curve parameter offset, the final zero-point deviation following value at point F is:

[0076]

[0077] Please continue reading Figure 6 :

[0078] S2: Drive the main body of the device to move in the Y direction according to the deviation value, so as to drive the milling part to position the contour rail.

[0079] In summary, the rail lateral positioning contour control device and method provided in this application can optimize the structural design of milling and grinding devices, avoid the risk of rail damage due to abnormal Y-axis positioning caused by the lateral positioning unit getting stuck with chips or becoming jammed, and improve the reliability and safety of the working device during rail milling and grinding. It can effectively solve the problem of not being able to install lateral positioning units at the milling and grinding points of working devices used in end milling and grinding.

[0080] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as C, VHDL, Verilog, the object-oriented programming language Java, and the interpreted scripting language JavaScript.

[0081] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0082] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0083] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0084] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0085] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0086] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0087] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A rail lateral positioning contour control method, applied to a rail lateral positioning contour device, characterized in that, The rail lateral positioning and contouring device includes: The device body includes a servo drive module for driving the movement of the device body. The milled part is movably connected to the side of the main body of the device near the rail; The device includes at least two lateral positioning units, with at least one lateral positioning unit installed at each of the two ends of the lower part of the device body in the X direction; the X direction is the extension direction of the rail. The milling part is pressed against the inner side of the rail via a contact block; when the lateral positioning unit is displaced, the main body of the device drives the milling part to move in the Y direction so that the milling part is positioned to conform to the rail; the Y direction is horizontal and perpendicular to the extension direction of the rail; The rail lateral positioning contour control method includes: When the rail milling vehicle is in operation, displacement signals are collected by the lateral positioning units at both ends of the X direction installed at the lower end of the main body of the device, and the deviation value of the milled part in the Y direction is calculated by the curve versine compensation control algorithm. The device body is driven to move in the Y direction according to the deviation value, so as to drive the milling part to position and conform to the steel rail; The step of calculating the deviation value of the milled part in the Y direction using the curve sine compensation control algorithm further includes: The distance of the vehicle frame after entering the curve is taken as the measurement chord length AD, where D is the center of the front bogie and A is the center of the rear bogie; the lateral positioning unit located at the X-direction front end of the lower end of the main body of the device is taken as C, the lateral positioning unit located at the X-direction rear end of the lower end of the main body of the device is taken as B, and the milling point of the milling part is taken as F. The distances of points C, F, and B are calculated based on the chord lengths between AB, BF, FC, and CD and the radius of the railway curve. After the Y-axis zero-point calibration is performed on the main body of the device, the deviations of the distances of points C and B relative to the calibration zero point are obtained. The deviation of point F from the calibration zero point is calculated based on the chord lengths between AB, BF, FC, and CD, the deviation of point C from the calibration zero point, and the deviation of point B from the calibration zero point. The step of calculating the deviation of point F from the zero point of calibration based on the chord lengths between AB, BF, FC, and CD, the deviation of point C from the zero point of calibration, and the deviation of point B from the zero point of calibration further includes: Based on the chord lengths between AB, BF, FC, and CD, and the deviations of point C from the calibration zero point and point B from the calibration zero point, respectively, calculate the deviations of point F from the calibration zero point under the conditions at point C and point B, and then average them to obtain the reduced deviation of point F from the calibration zero point. The formula is as follows: ； In the formula, This is the zero-point deviation following value at point F. The deviation of point C from the calibration zero point vector distance. L1 is the deviation of point B from the calibration zero point; L2 is the chord length of AB, L3 is the chord length of BF, L4 is the chord length of FC, and L5 is the chord length of CD.

2. The rail lateral positioning contour control method according to claim 1, characterized in that, The lateral positioning unit is also equipped with a displacement sensor for measuring Y-direction displacement.

3. The rail lateral positioning contour control method according to claim 1, characterized in that, The main body of the device is also equipped with a control unit for calculating the deviation value of the milled part in the Y direction. The servo drive module drives the main body of the device to move by receiving and executing the instructions of the control unit.

4. The rail lateral positioning contour control method according to claim 1, characterized in that, The milling part is a milling cutter disc.

5. The rail lateral positioning contour control method according to claim 1, characterized in that, The milling part is a grinding disc.

6. A rail milling machine, characterized in that, The milling operation is performed in accordance with the rail lateral positioning contour control method as described in any one of claims 1-5.

Images