Method for planning and calculating on-line grinding processing path of steel rail profile

Abstract

The invention discloses a steel rail profile online grinding processing path planning calculation method. The method comprises the following steps: carrying out fitting registration calculation on a steel rail grinding target profile and a steel rail actual profile; secondly, point positions needing to be ground are calculated in the steel rail profile machining area from the vertex of the steel rail grinding target profile to the two ends of the steel rail profile, so that the remaining amount between the outer envelope line of the grinding wheel grinding molded line on each grinding point position and the steel rail grinding target profile is not larger than a design permission value, and the requirement for smoothness of the steel rail profile is met; then, preferentially screening out grinding point positions which can be in place only through one-time grinding according to a sequence, calculating the influence on the grinding times required by the left and right adjacent grinding point positions after the residual grinding point positions are subjected to self-grinding one by one based on the steel rail grinding dynamic profile, and dividing a continuous grinding point position area; and auxiliary grinding point positions are calculated and added in the special area to achieve concentrated quantity removal, and finally a grinding machining path for grinding the steel rail profile into the target profile is obtained in sequence.

Description

Technical Field

[0001] The invention belongs to the technical field of railway track transportation, and in particular relates to a calculation method for online grinding processing path planning of rail profile. Background Art

[0002] As an important part of the railway system, the state of rails directly affects the safety, stability and maintenance cost of train operation. During long-term operation, rails will suffer from wear and deformation due to factors such as rolling contact of wheels, temperature changes, and material fatigue. If these problems are not repaired in time, they will seriously affect the operation quality of the train and the stability of the track structure. The traditional rail grinding method relies on manual experience for regular inspection and maintenance. This method has problems such as low inspection efficiency and poor flexibility. The grinding path planning based on manual experience often lacks accuracy, which may lead to insufficient or excessive grinding and affect the grinding effect. At present, the most widely used processing method is to first set the grinding points according to experience, and then perform rail profile grinding in sequence. This method is difficult to meet the needs of modern railway transportation for accurate, efficient and rapid maintenance of rails.

[0003] In recent years, with the development of sensor technology, data processing technology and automatic control technology, new solutions have been provided for the automatic planning of rail profile grinding processing paths. It is particularly important to develop an efficient and accurate online rail profile grinding processing path planning calculation method. This method needs to be able to realize online detection of the actual rail profile and automatically plan the grinding processing path based on the detection results to improve the efficiency, accuracy and automation level of the grinding operation and ensure the safety and smoothness of railway transportation. Summary of the invention

[0004] The purpose of the present invention is to solve the above problems and provide a rail profile online grinding path planning calculation method which automatically plans the grinding path based on the detection results to meet the requirements of high efficiency, high precision and high automation level of rail grinding operations.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a method for calculating the online grinding process path of a rail profile, comprising: based on the characteristics of the left and right straight line segments of the rail profile in the rail grinding target profile design data point set and the rail actual profile measurement data point set, and the principle that each rail profile point position in the grinding area must have a grinding margin, the rail grinding target profile and the actual rail profile are fitted and registered; then, the required grinding points are calculated in the rail profile processing area from the vertex of the rail grinding target profile to the two ends of the rail profile, so that each grinding point is The remaining amount between the outer envelope of the upper grinding wheel grinding profile and the target grinding profile of the rail is not greater than the design allowable value and meets the rail profile smoothness requirement; then the grinding points that only need one grinding are screened and calculated in order, and then the influence of the number of grinding times required for the left and right adjacent grinding points after the remaining grinding points are ground one by one based on the dynamic grinding profile of the rail is calculated, and the continuous grinding point area is divided, and auxiliary grinding points are added to the special area to realize centralized removal, and finally the grinding processing path for grinding the rail profile into the target profile is obtained in order; the detailed calculation method includes the following steps:

[0006] S1. This method sets the straight generatrix direction along the rail profile as the X axis, the rail cross section as the YOZ plane, the Z axis vertically upward as the positive direction, the Y axis horizontally rightward as the positive direction, the positive directions of the X, Y, and Z axes conform to the right-hand rule of the spatial coordinate system, the origin O (0, 0) is the center point of the target rail profile on the Y axis in the YOZ plane, and the working edge of the rail profile is in the area enclosed by the positive direction of the Z axis and the negative direction of the Y axis;

[0007] S2. Import the actual rail profile measurement data point set obtained by the rail profiler The serial number i 1 =1…n 1 , n 1 is the maximum serial number of the elements in the actual rail profile measurement data point set, and the rail grinding target profile design data point set G bj (y bj , z bj ), where sequence number j = 1…n 2 , n 2 is the maximum serial number value of the elements in the design point set of the target profile of rail grinding. The two profile point sets are numbered 1 at the end point of the straight line segment of the non-working edge of the rail, and the numbers are increased point by point in the direction of the working edge segment of the rail.

[0008] S3. Data point set for measuring the actual rail profile Smoothing is performed to convert the actual rail profile measurement data point set The first point R a1 (y a1 , z a1) and take t points (t <n 1 ) performs the first average calculation to obtain the point R with the new serial number 1 on the actual rail profile after smoothing. c1 (y c1 , z c1 ),in Then from the second point R a2 (y a2 , z a2 ), t points are taken out one by one for the second average calculation, and the new measuring point R with the serial number 2 on the actual rail profile after smoothing is obtained. c2 (y c2 , z c2 ), and the moving average method is used repeatedly until the actual rail profile measurement data point is numbered n. 1 The point at -t+1 is taken out for calculation, thus obtaining the actual rail profile measurement data point set after smoothing in i 2 =1…n 1 -t+1;

[0009] S4. The actual rail profile is translated left and right to be horizontally aligned with the target rail grinding profile. Within the Z coordinate range of the two straight line segments on the left and right of the actual rail profile, n 3 Value i 3 =1…n 3 First, calculate the actual rail profile in the right straight section and the horizontal line The intersection of in Serial No.i 2 satisfy Then calculate the actual rail profile in the left straight line segment and the horizontal line The intersection of in Serial No.i 2 satisfy Then calculate the left and right translation value of the actual rail profile The actual rail profile measurement data point set Shift left and right by u to obtain the actual rail profile measurement data point set after horizontal registration in i 2 =1…n 1 -t+1;

[0010] S5. The actual rail profile after horizontal registration is translated up and down to be registered with the rail grinding target profile. First, the rail grinding target profile design point set Gbj (y bj , z bj ) Calculate the inclination angle of the tangent line corresponding to each point except the first and last two points where j = 2…n 2 -1, according to the set grinding area range angle A min -A max (The working edge angle is positive, and the non-working edge angle is negative), and the point set number range j on the rail grinding target profile corresponding to the grinding area range is obtained Amin -j Amax , and then calculate the Z coordinate difference between each point on the target rail grinding profile within this range and the corresponding point on the actual rail profile The serial number i 2 satisfy j from j Amin to Amax , and then find the maximum value of the Z coordinate difference Δ zmax , the actual rail profile measurement data point set after left and right registration Move up and down Δ zmax After +F, the final aligned rail actual profile data point set is obtained in i 2 =1…n 1 -t+1, where F is the minimum removal required for the rail profile set in the process;

[0011] S6. Calculate the k required for linear fitting of the rail profile curve within the grinding range when the error is set to w on the target rail grinding profile. 1 +k 2 A set of grinding position points W hk (y hk , z hk ), and the inclination angle A of the tangent line corresponding to each grinding position hk , where k = 1…k 1 +k 2 , first calculate the right grinding position point, the specific method is as follows: first find the rail grinding target profile design point set G bj (y bj , Z bj ) is the point number j as the origin of the coordinate system y＝0 , let j′ k is the serial number of the kth grinding position point in the rail grinding target profile, and the origin is taken as the first grinding position point in the right area, i.e. j′ 1 =j y＝0 , The tangent line L is calculated to the right through the grinding position and is tangent to the target rail grinding profile.p1 for Find the corresponding point Q1 (y on the right side of the tangent line whose Z coordinate difference with the target rail grinding profile is just not greater than the error w q1 , z q1 ),in j″ 1 The target profile data points for rail grinding satisfy The serial number, then the serial number j from j″ 1 Calculate the Z coordinate difference ΔC from 2 j =|tan(A bj )×(y bj -y q1 )+z q1 -z bj |, find the difference ΔC j The smallest serial number j minΔc , the point corresponding to the serial number is taken as the next grinding position point, i.e. j′ 2 =j minΔc , Then determine whether the grinding position exceeds the grinding area, that is, when A h2 ≤A min When A h2 >A min Repeat the above calculation to find the next grinding position until the kth position on the right side of the profile is calculated. 1 When there is a grinding position, the inclination angle of the tangent line corresponding to this position point satisfy When the search for the right grinding position is completed, the k containing the origin is obtained. 1 A right side grinding position point;

[0012] S7. Calculate the grinding position point on the left side of the profile in the same way. The specific method is as follows: take the origin as the first grinding position point in the left area, that is, Calculate the tangent line to the left through the grinding position point and tangent to the target rail grinding profile for Find the corresponding point on the left side of the tangent line whose Z coordinate difference with the target profile of rail grinding is just not greater than the error w in The target profile data points for rail grinding satisfy The serial number, then the serial number j from Calculate the difference to n2-1 Find the difference ΔCj The smallest serial number j minΔc , take the point corresponding to the serial number as the next grinding position point, that is Then determine whether the grinding position exceeds the grinding area. When the search for the left grinding position ends, Repeat the above calculation to find the next grinding position until the kth position on the left side of the profile is calculated. 2 When there is a grinding position point, the position point corresponds to the inclination angle of the tangent satisfy When , the search for the left grinding position ends, and k containing the origin is obtained. 2 Left side grinding position points;

[0013] S8, set the grinding position point set W hk (y hk , z hk ) and the corresponding tangent angle A hk Remove one of the repeated origin grinding positions in the 1 +k 2 -1) grinding positions, and sort the abscissas from large to small to get a new grinding position point set W hr (y hr , z hr ), and the inclination angle A of the corresponding tangent hr , r = 1…n, the grinding theory processing parameter data set is where i 4 Indicates the number of knives currently being sharpened. Initially, i 4 =0, indicating that the theoretical grinding parameter data set is empty. 4 >0 o'clock, For the i 4 The Y coordinate of the machining point corresponding to the actual rail profile when the tool is sharpened. For the i 4 The Z coordinate of the machining point corresponding to the actual rail profile when the tool is sharpened. For the i 4 The tool deflection angle of tool grinding, that is, the inclination angle of the tangent corresponding to the grinding position point, For the i 4 The normal grinding depth of the knife grinding on the actual rail profile, For the i 4 The grinding area of ​​the knife is based on the actual rail profile;

[0014] S9, r from 1 to n in order to calculate the rth grinding position point as the first processing position to be processed area, first calculate the position point tangent L srThe equation z sr =tan(A hr )×(y sr -y hr )+z hr , then calculate the Y coordinates of the two intersection points of the tangent line and the actual contour, and record the Y coordinate of the intersection point on the right as y′ r , where i′ 2r The actual rail profile data points are concentrated to meet The number of the point, the Y coordinate of the left intersection is y″ r , where i″ 2r The actual rail profile data points are concentrated to meet The grinding area of ​​the grinding position point is According to the above method, the grinding area S at n grinding positions is calculated. ar , r = 1…n, the grinding area of ​​each grinding position point and the maximum grinding area S that the equipment can normally grind 0 For comparison, S 0 This is the equipment grinding capacity, and the number of positions where the grinding area is not greater than the equipment grinding capacity is a;

[0015] S10, when a is greater than 0, the a grinding position points are recorded in the grinding position point set in the order of Y coordinates from large to small. And record the inclination angle of the tangent corresponding to each position point where r 1 =1…a, grinding in sequence The grinding position point in the calculation is used to calculate the theoretical processing parameters for each grinding. When, the i 4 +r 1 Y coordinate of the machining point corresponding to the actual rail profile when the tool is sharpened Among them if hour, The actual rail profile data points are concentrated to meet The point number, if hour, The actual rail profile data points are concentrated to meet The point number, Z coordinate if When Z coordinate in The actual rail profile data points are concentrated to meet The point number, the corresponding tilt angle of the tool for this grinding point Normal grinding depth Then calculate the area of ​​the knife that has been ground off The calculation method is the same as that in step S9. First, find the left and right intersection points with the actual outline, and record the Y coordinate of the right intersection point as in The actual rail profile data points are concentrated to meet The number of the point, record the Y coordinate of the intersection point on the left as in The actual rail profile data points are concentrated to meet The point number, so the grinding area of ​​the tool is After calculating the grinding parameters of the position point, i 2 From 1 to n 1 -t+1 passed Calculate and update the actual rail profile data point set

[0019] Then repeat the above calculation method to calculate r in sequence. 1 The a-tool grinding parameters from 1 to a, and then the grinding position point set W hr (y hr , z hr ), and the inclination angle A of the tangent line corresponding to the position point hr The data of the a position point in the above is removed, n = na, and the current number of sharpening tools i 4 =i 4 +a, arrange the remaining grinding position points in descending order of Y coordinates to obtain a new grinding position point set W hr (y hr , z hr ), and the inclination angle A of the tangent line corresponding to the position point hr , when it is determined that the number of remaining grinding position points is not 0, return to step S9 for calculation; when the number of remaining grinding position points is 0, end all calculations and obtain the rail profile online grinding processing path in sequence;

[0020] S11, when a=0, that is, the grinding areas corresponding to the n grinding positions as the first knife grinding are all greater than the grinding capacity of the equipment, these n grinding positions are divided into regions, and the data set B is recorded. r (b r ) r To characterize the area type of the rth grinding position point, r from 1 to n, first copy the data point set of the actual rail profile for For subsequent calculations, i 2 =1…n 1 -t+1, first calculate the grinding area of ​​the two adjacent grinding positions on the left and right after removing the rth grinding position, and then calculate the profile data point set after removing the rth grinding position After i 2 From 1 to n 1 -t+1 passed Calculate and update the contour data point set When r is not n, calculate the grinding area at the adjacent position on the left side of the position point, that is, at the grinding position point r+1 The method is the same as in step S9. When r is not 1, the grinding area at the adjacent position on the right side of the position, i.e., at the grinding position point r-1, is calculated. The method is the same as in step S9. When r=1, record When r = n, When r is neither 1 nor n, Repeat the above calculation from 1 to n until b is calculated 1 to b n The value of B r (b r ) The number of elements that are 0 is C 0 , the number of elements that are 1 is C 1 , the number of elements that are -1 is C -1 , if C 0 >0, write down the serial number r 0min and serial number r 0max , the two serial numbers satisfy If satisfied Compare the grinding areas S of the two grinding positions as the end points a1 With S an The smaller one is taken as the position to be ground, and the coordinates of the grinding position and the corresponding angle are recorded. Then, the grinding processing parameters are calculated in step S12. If the parameters are not satisfied, When, through where r 0min ≤r≤r 0max , The serial number r 0min To serial number r 0max The elements in B that are all 0 are treated as 1, -1 or 2, and the above calculation is repeated until B r (b r ) does not contain 0, record the number of 1s at this time as C′ 1 , the number of -1 is C′ -1 , when C′ 1 >C′ -1 When br = 1, and the position with the largest r is taken as the position point to be ground, and the coordinates of the grinding position point and the corresponding angle are recorded. Then, the grinding parameters are calculated in step S12. When C′ 1 <C′ -1 When b r = -1, and the position with the smallest r is taken as the position point to be ground, and the coordinates of the grinding position point and the corresponding angle are recorded. Then, the grinding parameters are calculated in step S12. When C′ 1 =C′ -1 ≠0, compare b r = 1 and the position where r is the largest With b r = -1 and the position where r is the smallest Grinding area and Take the position corresponding to the smaller area as the position point to be ground, record the coordinates of the grinding position point and the corresponding angle, and calculate the grinding parameters in step S12. 1 =C′ -1 = 0, that is, B r (b r ) is 2, an auxiliary grinding position point needs to be added. The calculation of this position is as follows: compare the area S that needs to be ground off at the first grinding position point and the last grinding position point a1 With S an , remember R 1 (y g′ , z g′ ) and point R 2 (y g″ , z g″ ), when S a1 ≤S an When R 1 Point is the left intersection of the tangent line of the first grinding position point calculated in step S9, that is, the position point where r is 1 and the actual rail profile. 2 Point y is the left intersection of the tangent line of the last grinding position point calculated in step S9, that is, the position point where r is n and the actual rail profile, that is, y g′ =y″ 1 ,y g″ =y″ n , z g′ =tan(A h1 )×(y g′ -y h1 )+z h1 , z g″ =tan(A hn )×(y g′ -y hn )+zhn , when S a1 >S an When R 1 Point is the right intersection point of the tangent line of the first grinding position point calculated in step S9, that is, the position point where r is 1 and the actual rail profile, R 2 Point y is the right intersection of the tangent line of the last grinding position point calculated in step S9, that is, the position point where r is n and the actual rail profile, that is, y g′ =y′ 1 ,y g″ =y′ n , z g′ =tan(A h1 )×(y g′ -y h1 )+Z h1 , z g″ =tan(A hn )×(y g′ -y hn )+z hn , then calculate R 1 Point and R 2 The intersection of the perpendicular midline of the point connection line and the rail grinding target profile is taken as the auxiliary grinding position point, and the auxiliary grinding position point is recorded as (y z , z z ), the inclination angle of the tangent line at the corresponding point is recorded as A z ,when hour, Among them if When 3′ The target profile data points of rail grinding are concentrated to meet The point number, if When 3′ The target profile data points of rail grinding are concentrated to meet The point number, when hour, A z =0, where j 3′ The target profile data points of rail grinding are concentrated to meet The number of the point is obtained, the calculated auxiliary grinding position point is used as the position to be ground, the coordinates of the grinding position point and the corresponding angle are recorded, and the grinding processing parameters are calculated in step S12;

[0021] S12, the maximum grinding capacity S of the grinding equipment at the grinding position calculated in the previous step 0 , assign the grinding position coordinates and corresponding angles calculated in step S11 to (y y , z y ) and A y , note Hf The tangent line at the grinding position and the grinding area at the position are S 0 The distance between the intersection line of the grinding head and the actual rail profile at this time, first find the left and right intersection points of the grinding head and the actual rail profile at this time, and record the Y coordinate of the intersection point on the right as in The actual rail profile data points are concentrated to meet The number of the point, record the Y coordinate of the intersection point on the left as in The actual rail profile data points are concentrated to meet The point number, so the grinding area of ​​the tool By grinding area Solve H f , if A y ≠0, the Y coordinate of the machining point corresponding to the actual profile of the rail when the tool is ground If A y <0, The actual rail profile data points are concentrated to meet The number of the points, if A y >0, The actual rail profile data points are concentrated to meet The point number, Z coordinate If A y = 0, Y coordinate Z coordinate in The actual rail profile data points are concentrated to meet The point number, angle Normal grinding depth The grinding parameters of the knife are calculated. After, i 2 From 1 to n 1 -t+1 passed Calculate and update the actual rail profile data point set Current number of sharpening knives i 4 =i 4 +1, then return to step S9 to continue calculating the next step of grinding.

[0026] Furthermore, the imported actual rail profile measurement data point set and the rail grinding target profile design data point set G bj (ybj , z bj ), set the grinding area angle A min With A max , the minimum required grinding amount F, the theoretical error value w of the straight line fitting curve and the maximum grinding area S of the equipment 0 After that, the online grinding process path of the rail profile and the corresponding grinding process parameter data set are calculated.

[0027] The beneficial effects of the present invention are:

[0028] 1. The present invention provides a method for calculating the online grinding path planning of rail profile, which can realize online detection of the actual rail profile and automatically plan the grinding path based on the detection results, so as to improve the efficiency, accuracy and automation level of the grinding operation and ensure the safety and smoothness of railway transportation.

[0029] 2. The present invention detects the actual profile of the rail online and automatically plans the grinding process path based on the detection result, thereby meeting the requirements for high efficiency, high precision and high automation level of rail grinding operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is the overall calculation framework diagram of the calculation method for online grinding process path planning of rail profile of the present invention;

[0031] Figure 2 It is a schematic diagram of the registration of the actual rail profile and the target rail grinding profile of the present invention;

[0032] Figure 3 is a schematic diagram of grinding position points calculated within the grinding range of the present invention;

[0033] Figure 4 It is a schematic diagram of theoretical processing parameters of the grinding position point of the present invention;

[0034] Figure 5 It is a grinding path and processing parameter data diagram calculated and output under the setting of the present invention. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0036] like Figures 1 to 5As shown, the present invention provides a rail profile online grinding processing path planning calculation method, including fitting and registering the rail grinding target profile and the actual rail profile based on the characteristics of the left and right straight line segments of the rail profile in the rail grinding target profile design data point set and the rail actual profile measurement data point set, and the principle that each rail profile point position in the grinding area needs to have a grinding margin, and then calculating the required grinding points in the rail profile processing area from the vertex of the rail grinding target profile to the two ends of the rail profile, so that each grinding point The remaining amount between the outer envelope of the grinding wheel grinding profile and the target grinding profile of the rail is no more than the design allowable value and meets the rail profile smoothness requirements; then the grinding points that only need one grinding are screened out in order, and then the influence of the number of grinding times required for the left and right adjacent grinding points after the remaining grinding points are ground one by one based on the dynamic grinding profile of the rail is calculated, and the continuous grinding point area is divided, and auxiliary grinding points are added to the special area to achieve centralized removal, and finally the grinding processing path for grinding the rail profile to the target profile is obtained in order. The detailed calculation method includes the following steps:

[0037] S1. This method sets the straight generatrix direction along the rail profile as the X-axis, the rail cross section as the YOZ plane, the Z-axis vertically upward as the positive direction, the Y-axis horizontally to the right as the positive direction, the positive directions of the X, Y, and Z axes conform to the right-hand rule of the spatial coordinate system, the origin O(0, 0) is the center point of the target rail profile on the Y-axis in the YOZ plane, and the working edge of the rail profile is in the area enclosed by the positive direction of the Z-axis and the negative direction of the Y-axis.

[0038] S2. Import the actual rail profile measurement data point set obtained by the rail profiler The serial number i 1 =1…n 1 , n 1 is the maximum serial number of the elements in the actual rail profile measurement data point set, and the rail grinding target profile design data point set G bj (y bj , z bj ), where sequence number j = 1…n 2 , n 2 It is the maximum serial number value of the elements in the design point set of the target profile of rail grinding. Both profile point sets take the endpoint of the straight line segment of the non-working edge of the rail as serial number 1, and the serial numbers are increased point by point in the direction of the working edge segment of the rail.

[0039] S3. Data point set for measuring the actual rail profile Smoothing is performed to convert the actual rail profile measurement data point set The first point R a1 (y a1 , z a1 ) and take t points (t <n1 ) performs the first average calculation to obtain the point R with the new serial number 1 on the actual rail profile after smoothing. c1 (y c1 , z c1 ),in Then from the second point R a2 (y a2 , z a2 ), t points are taken out one by one for the second average calculation, and the new measuring point R with the serial number 2 on the actual rail profile after smoothing is obtained. c2 (y c2 , z c2 ), and the moving average method is used repeatedly until the actual rail profile measurement data point is numbered n. 1 The point at -t+1 is taken out for calculation, thus obtaining the actual rail profile measurement data point set after smoothing in i 2 =1…n 1 -t+1.

[0040] S4. The actual rail profile is translated left and right to be horizontally aligned with the target rail grinding profile. Within the Z coordinate range of the two straight line segments on the left and right of the actual rail profile, n 3 Value i 3 =1…n 3 First, calculate the actual rail profile in the right straight section and the horizontal line The intersection of in Serial No.i 2 satisfy Then calculate the actual rail profile in the left straight line segment and the horizontal line The intersection of in Serial No.i 2 satisfy Then calculate the left and right translation value of the actual rail profile The actual rail profile measurement data point set Shift left and right by u to obtain the actual rail profile measurement data point set after horizontal registration in i 2 =1…n 1 -t+1.

[0041] S5. The actual rail profile after horizontal registration is translated up and down to be registered with the rail grinding target profile. First, the rail grinding target profile design point set G bj (ybj , z bj ) Calculate the inclination angle of the tangent line corresponding to each point except the first and last two points where j = 2…n 2 -1, according to the set grinding area range angle A min -A max (The working edge angle is positive, and the non-working edge angle is negative), and the point set number range j on the rail grinding target profile corresponding to the grinding area range is obtained Amin -j Amax , and then calculate the Z coordinate difference between each point on the target rail grinding profile within this range and the corresponding point on the actual rail profile The serial number i 2 satisfy j from j Amin to Amax , and then find the maximum value of the Z coordinate difference Δ zmax , the actual rail profile measurement data point set after left and right registration Move up and down Δ zmax After +F, the final aligned rail actual profile data point set is obtained in i 2 =1…n 1 -t+1, where F is the minimum removal required for the rail profile set in the process.

[0042] S6. Calculate the k required for linear fitting of the rail profile curve within the grinding range when the error is set to w on the target rail grinding profile. 1 +k 2 A set of grinding position points W hk (y hk , z hk ), and the inclination angle A of the tangent line corresponding to each grinding position hk , where k = 1…k 1 +k 2 , first calculate the right grinding position point, the specific method is as follows: first find the rail grinding target profile design point set G bj (y bj , z bj ) is the point number j as the origin of the coordinate system y＝0 , let j′ k is the serial number of the kth grinding position point in the rail grinding target profile, and the origin is taken as the first grinding position point in the right area, i.e. j′ 1 =j y＝0 , The tangent line L is calculated to the right through the grinding position and is tangent to the target rail grinding profile. p1 for Find the corresponding point Q1 (y on the right side of the tangent line whose Z coordinate difference with the target rail grinding profile is just not greater than the error w q1 , z q1 ),in j″ 1 The target profile data points for rail grinding satisfy The serial number, then the serial number j from j″ 1 Calculate the Z coordinate difference ΔC from 2 j =|tan(A bj )×(y bj -y q1 )+z q1 -z bj |, find the difference ΔC j The smallest serial number j minΔc , take the point corresponding to the serial number as the next grinding position point, that is Then determine whether the grinding position exceeds the grinding area, that is, when A h2 ≤A min When A h2 >A min Repeat the above calculation to find the next grinding position until the kth position on the right side of the profile is calculated. 1 When there is a grinding position, the inclination angle of the tangent line corresponding to this position point satisfy When the search for the right grinding position is completed, the k containing the origin is obtained. 1 A right side grinding position point.

[0043] S7. Calculate the grinding position point on the left side of the profile in the same way. The specific method is as follows: take the origin as the first grinding position point in the left area, that is, Calculate the tangent line to the left through the grinding position point and tangent to the target rail grinding profile for Find the corresponding point on the left side of the tangent line whose Z coordinate difference with the target profile of rail grinding is just not greater than the error w in The target profile data points for rail grinding satisfy The serial number, then the serial number j from Calculate the difference to n2-1 Find the difference ΔC j The smallest serial number j minΔc, take the point corresponding to the serial number as the next grinding position point, that is Then determine whether the grinding position exceeds the grinding area. When the search for the left grinding position ends, Repeat the above calculation to find the next grinding position until the kth position on the left side of the profile is calculated. 2 When there is a grinding position point, the position point corresponds to the inclination angle of the tangent satisfy When , the search for the left grinding position ends, and k containing the origin is obtained. 2 Left side grinding position point.

[0044] S8, set the grinding position point set W hk (y hk , z hk ) and the corresponding tangent angle A hk Remove one of the repeated origin grinding positions in the 1 +k 2 -1) grinding positions, and sort the abscissas from large to small to get a new grinding position point set W hr (y hr , z hr ), and the inclination angle A of the corresponding tangent hr , r = 1…n, the grinding theory processing parameter data set is where i 4 Indicates the number of knives currently being sharpened. Initially, i 4 =0, indicating that the theoretical grinding parameter data set is empty. 4 >0 o'clock, For the i 4 The Y coordinate of the machining point corresponding to the actual rail profile when the tool is sharpened. For the i 4 The Z coordinate of the machining point corresponding to the actual rail profile when the tool is sharpened. For the i 4 The tool deflection angle of tool grinding, that is, the inclination angle of the tangent corresponding to the grinding position point, For the i 4 The normal grinding depth of the knife grinding on the actual rail profile, For the i 4 The grinding area of ​​the knife is based on the actual profile of the rail.

[0045] S9, r from 1 to n in order to calculate the rth grinding position point as the first processing position to be processed area, first calculate the position point tangent L sr The equation z sr =tan(Ahr )×(y sr -y hr )+z hr , then calculate the Y coordinates of the two intersection points of the tangent line and the actual contour, and record the Y coordinate of the intersection point on the right as y′ r , where i′ 2r The actual rail profile data points are concentrated to meet The number of the point, the Y coordinate of the left intersection is y″ r , where i′ 2 ' r The actual rail profile data points are concentrated to meet The grinding area of ​​the grinding position point is According to the above method, the grinding area S at n grinding positions is calculated. ar , r = 1…n, the grinding area of ​​each grinding position point and the maximum grinding area S that the equipment can normally grind 0 For comparison, S 0 That is the grinding capacity of the equipment, and the number of positions where the grinding area is not greater than the grinding capacity of the equipment is recorded as a.

[0046] S10, when a is greater than 0, the a grinding position points are recorded in the grinding position point set in the order of Y coordinates from large to small. And record the inclination angle of the tangent corresponding to each position point where r 1 =1…a, grinding in sequence The grinding position point in the calculation is used to calculate the theoretical processing parameters for each grinding. When, the i 4 +r 1 Y coordinate of the machining point corresponding to the actual rail profile when the tool is sharpened Among them if hour, The actual rail profile data points are concentrated to meet The point number, if hour, The actual rail profile data points are concentrated to meet The point number, Z coordinate if When Z coordinate in The actual rail profile data points are concentrated to meet The point number, the corresponding tilt angle of the tool for this grinding point Normal grinding depth Then calculate the area of ​​the knife that has been ground off The calculation method is the same as that in step S9. First, find the left and right intersection points with the actual outline, and record the Y coordinate of the right intersection point as in The actual rail profile data points are concentrated to meet The number of the point, record the Y coordinate of the intersection point on the left as in The actual rail profile data points are concentrated to meet The point number, so the grinding area of ​​the tool is After calculating the grinding parameters of the position point, i 2 From 1 to n 1 -t+1 passed Calculate and update the actual rail profile data point set Then repeat the above calculation method to calculate r in sequence. 1 The a-tool grinding parameters from 1 to a, and then the grinding position point set W hr (y hr , z hr ), and the inclination angle A of the tangent line corresponding to the position point hr The data of the a position point in the above is removed, n = na, and the current number of sharpening tools i 4 =i 4 +a, arrange the remaining grinding position points in descending order of Y coordinates to obtain a new grinding position point set W hr (y hr , z hr ), and the inclination angle A of the tangent line corresponding to the position point hr When the number of remaining grinding position points is not 0, return to step S9 for calculation. When the number of remaining grinding position points is 0, end all calculations and obtain the rail profile online grinding processing path in sequence.

[0049] S11, when a=0, that is, the grinding areas corresponding to the n grinding positions as the first knife grinding are all greater than the grinding capacity of the equipment, these n grinding positions are divided into regions, and the data set B is recorded. r (b r ) r To characterize the area type of the rth grinding position point, r from 1 to n, first copy the data point set of the actual rail profile for For subsequent calculations, i 2=1…n 1 -t+1, first calculate the grinding area of ​​the two adjacent grinding positions on the left and right after removing the rth grinding position, and then calculate the profile data point set after removing the rth grinding position After i 2 From 1 to n 1 -t+1 passed Calculate and update the contour data point set When r is not n, calculate the grinding area at the adjacent position on the left side of the position point, that is, at the grinding position point r+1 The method is the same as in step S9. When r is not 1, the grinding area S at the adjacent position on the right side of the position, i.e., at the grinding position point r-1, is calculated. r The method is the same as in step S9. When r=1, record When r = n, When r is neither 1 nor n, Repeat the above calculation from 1 to n until b is calculated 1 to b n The value of B r (b r ) The number of elements that are 0 is C 0 , the number of elements that are 1 is C 1 , the number of elements that are -1 is C -1 , if C 0 >0, write down the serial number r 0min and serial number r 0max , the two serial numbers satisfy If satisfied Compare the grinding areas S of the two grinding positions as the end points a1 With S an The smaller one is taken as the position to be ground, and the coordinates of the grinding position point and the corresponding angle are recorded. Then, the grinding processing parameters are calculated in step S12. If the parameters are not satisfied, When, through where r 0min ≤r≤r 0max , The serial number r 0min To serial number r 0max The elements in B that are all 0 are treated as 1, -1 or 2, and the above calculation is repeated until B r (b r ) does not contain 0, record the number of 1s at this time as C′ 1 , the number of -1 is C′ -1 , when C′ 1 >C′ -1 When b r= 1, and the position with the largest r is taken as the position point to be ground, and the coordinates of the grinding position point and the corresponding angle are recorded. Then, the grinding parameters are calculated in step S12. When C′ 1 <C′ -1 When b r = -1, and the position with the smallest r is taken as the position point to be ground, and the coordinates of the grinding position point and the corresponding angle are recorded. Then, the grinding parameters are calculated in step S12. When C′ 1 =C′ -1 ≠0, compare b r = 1 and the position where r is the largest With b r = -1 and the position where r is the smallest Grinding area and Take the position corresponding to the smaller area as the position point to be ground, record the coordinates of the grinding position point and the corresponding angle, and calculate the grinding parameters in step S12. 1 =C′ -1 = 0, that is, B r (b r ) is 2, an auxiliary grinding position point needs to be added. The calculation of this position is as follows: compare the area S that needs to be ground off at the first grinding position point and the last grinding position point a1 With S an , remember R 1 (y g′ , z g′ ) and point R 2 (y g″ , z g″ ), when S a1 ≤S an When R 1 Point is the left intersection of the tangent line of the first grinding position point calculated in step S9, that is, the position point where r is 1 and the actual rail profile. 2 Point y is the left intersection of the tangent line of the last grinding position point calculated in step S9, that is, the position point where r is n and the actual rail profile, that is, y g′ =y″ 1 ,y g″ =y″ n , z g′ =tan(A h1 )×(y g′ -y h1 )+z h1 , z g″ =tan(A hn )×(y g′ -y hn )+Z hn , when Sa1 >S dn When R 1 Point is the right intersection point of the tangent line of the first grinding position point calculated in step S9, that is, the position point where r is 1 and the actual rail profile, R 2 Point y is the right intersection of the tangent line of the last grinding position point calculated in step S9, that is, the position point where r is n and the actual rail profile, that is, y g′ =y′ 1 ,y g″ =y′ n , z g′ =tan(A h1 )×(y g′ -y h1 )+z h1 , z g″ =tan(A hn )×(y g′ -y hn )+z hn , then calculate R 1 Point and R 2 The intersection of the perpendicular midline of the point connection line and the rail grinding target profile is taken as the auxiliary grinding position point, and the auxiliary grinding position point is recorded as (y z , z z ), the inclination angle of the tangent line at the corresponding point is recorded as A z ,when hour, Among them if When 3′ The target profile data points of rail grinding are concentrated to meet The point number, if When 3′ The target profile data points of rail grinding are concentrated to meet The point number, when hour, A z =0, where j 3′ The target profile data points of rail grinding are concentrated to meet The calculated auxiliary grinding position point is used as the position to be ground, and the coordinates of the grinding position point and the corresponding angle are recorded, and the grinding processing parameters are calculated in step S12.

[0050] S12, the maximum grinding capacity S of the grinding equipment at the grinding position calculated in the previous step 0 , assign the grinding position coordinates and corresponding angles calculated in step S11 to (y y , z y ) and A y , note H fThe tangent line at the grinding position and the grinding area at the position are S 0 The distance between the intersection line of the grinding head and the actual rail profile at this time, first find the left and right intersection points of the grinding head and the actual rail profile at this time, and record the Y coordinate of the intersection point on the right as in The actual rail profile data points are concentrated to meet The number of the point, record the Y coordinate of the intersection point on the left as in The actual rail profile data points are concentrated to meet The point number, so the grinding area of ​​the tool By grinding area Solve H f , if A y ≠0, the Y coordinate of the machining point corresponding to the actual profile of the rail when the tool is ground If A y <0, The actual rail profile data points are concentrated to meet The number of the points, if A y >0, The actual rail profile data points are concentrated to meet The point number, Z coordinate If A y = 0, Y coordinate Z coordinate in The actual rail profile data points are concentrated to meet The point number, angle Normal grinding depth The grinding parameters of the knife are calculated. After, i 2 From 1 to n 1 -t+1 passed Calculate and update the actual rail profile data point set Current number of sharpening knives i 4 =i 4 +1, then return to step S9 to continue calculating the next step of grinding.

[0052] The actual rail profile measurement data point set is imported and the rail grinding target profile design data point set G bj (y bj , z bj), set the grinding area angle A min With A max , the minimum required grinding amount F, the theoretical error value w of the straight line fitting curve and the maximum grinding area S of the equipment 0 After that, the online grinding process path of the rail profile and the corresponding grinding process parameter data set are calculated.

[0053] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific variations and combinations that do not deviate from the essence of the present invention based on the technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the present invention.

Claims

1. A calculation method for online rail profile grinding path planning, characterized in that: The method includes fitting and registering the rail grinding target profile and the actual rail profile based on the characteristics of the left and right straight line segments of the rail profile in the rail grinding target profile design data point set and the rail actual profile measurement data point set, and the principle that a grinding margin must be reserved for each rail profile point position in the grinding area; and then calculating the required grinding points in the rail profile processing area from the vertex of the rail grinding target profile to the two ends of the rail profile, so that the outer envelope of the grinding wheel grinding profile at each grinding point is consistent with the rail grinding target profile. The remaining amount between the shapes is no more than the design allowable value and meets the rail profile smoothness requirement; then the grinding points that only need one grinding are screened out in order, and then the influence of the number of grinding times required for the left and right adjacent grinding points after the remaining grinding points are ground one by one based on the dynamic profile of rail grinding is calculated, and the continuous grinding point area is divided, and auxiliary grinding points are added to the special area to realize centralized removal, and finally the grinding processing path for grinding the rail profile into the target profile is obtained in order; the detailed calculation method includes the following steps: S1. This method sets the straight generatrix direction along the rail profile as the X axis, the rail cross section as the YOZ plane, the Z axis vertically upward as the positive direction, the Y axis horizontally rightward as the positive direction, the positive directions of the X, Y, and Z axes conform to the right-hand rule of the spatial coordinate system, the origin O (0, 0) is the center point of the target rail profile on the Y axis in the YOZ plane, and the working edge of the rail profile is in the area enclosed by the positive direction of the Z axis and the negative direction of the Y axis; S2. Import the actual rail profile measurement data point set obtained by the rail profiler The serial number i1 = 1…n1, n1 is the maximum serial number of the elements of the actual rail profile measurement data point set, and the rail grinding target profile design data point set G bj (y bj , z bj ), where the serial number j = 1…n2, n2 is the maximum serial number value of the elements in the rail grinding target profile design point set, and both profile point sets are numbered 1 at the end point of the non-working edge straight line segment of the rail, and are numbered point by point in the direction of the working edge segment of the rail; S3. Smooth the measured data points of the actual rail profile Start from the first point R of the measured data points of the actual rail profile, and successively take t points (t < n1) for the first average calculation to obtain the point R a1 (y a1 , z a1 ) with the new serial number 1 on the smoothed actual rail profile. Where c1 (y c1 , z c1 ), and Then start from the second point R a2 (y a2 , z a2 ), successively take out t points for the second average calculation to obtain the measuring point R c2 (y c2 , z c2 ) with the new serial number 2 on the smoothed actual rail profile. Repeat the moving average method calculation until the point with the serial number n1 - t + 1 in the measured data points of the actual rail profile is taken out for calculation, thereby obtaining the measured data points of the smoothed actual rail profile Where i2 = 1…n1 - t + 1; S4. The actual rail profile is translated left and right to be horizontally aligned with the target rail grinding profile. n3 values ​​are taken within the Z coordinate range of the two straight line segments on the left and right of the actual rail profile. First, calculate the actual rail profile in the right straight section and the horizontal line The intersection of in Sequence number i2 satisfies Then calculate the actual rail profile in the left straight line segment and the horizontal line The intersection of in Sequence number i2 satisfies Then calculate the left and right translation value of the actual rail profile The actual rail profile measurement data point set Shift left and right by u to obtain the actual rail profile measurement data point set after horizontal registration in S5. The actual rail profile after horizontal registration is translated up and down to be registered with the rail grinding target profile. First, the rail grinding target profile design point set G bj (y bj , z bj ) Calculate the inclination angle of the tangent line corresponding to each point except the first and last two points Where j = 2…n2-1, according to the set grinding area range angle A min -A max (The working edge angle is positive, and the non-working edge angle is negative), and the point set number range j on the rail grinding target profile corresponding to the grinding area range is obtained. Amin -j Amax , and then calculate the Z coordinate difference between each point on the target rail grinding profile within this range and the corresponding point on the actual rail profile The sequence number i2 satisfies j from j Amin to Amax , and then find the maximum value of the Z coordinate difference Δ zmax , the actual rail profile measurement data point set after left and right registration Move up and down Δ zmax After +F, the final aligned rail actual profile data point set is obtained in Where F is the minimum removal required for the rail profile set in the process; S6. Calculate the k1+k2 grinding position point set W required for linear fitting of the rail profile curve within the grinding range when the set error is w on the rail grinding target profile. hk (y hk , z hk ), and the inclination angle A of the tangent line corresponding to each grinding position hk , where k = 1…k1+k2, first calculate the right grinding position point, the specific method is as follows: first find the rail grinding target profile design point set G bj (y bj , z bj ) is the point number j as the origin of the coordinate system y＝0 , let j′ k is the serial number of the kth grinding position point in the rail grinding target profile, and the origin is taken as the first grinding position point in the right area, that is, j1′=j y＝0 , The tangent line L is calculated to the right through the grinding position and is tangent to the target rail grinding profile. p1 for Find the corresponding point Q1 (y on the right side of the tangent line whose Z coordinate difference with the target rail grinding profile is just not greater than the error w q1 , z q1 ),in j1″ is the target profile data point of rail grinding that satisfies Then calculate the Z coordinate difference ΔC from j1″ to 2 j =|tan(A bj )×(y bj -y q1 )+z q1 -z bj |, find the difference ΔC j The smallest serial number j minΔc , the point corresponding to the serial number is taken as the next grinding position point, that is, j′2=j minΔc , Then determine whether the grinding position exceeds the grinding area, that is, when A h2 ≤A min When A h2 >A min Repeat the above calculation to find the next grinding position until the k1th grinding position on the right side of the profile is calculated. The inclination angle of the tangent corresponding to this position point satisfy The search for the right grinding position is finished when , and k1 right grinding position points including the origin are obtained; S7. Calculate the grinding position point on the left side of the profile in the same way. The specific method is as follows: take the origin as the first grinding position point in the left area, that is, Calculate the tangent line to the left through the grinding position point and tangent to the target rail grinding profile for Find the corresponding point on the left side of the tangent line whose Z coordinate difference with the target profile of rail grinding is just not greater than the error w in The target profile data points for rail grinding satisfy The serial number, then the serial number j from Calculate the difference to n2-1 Find the difference ΔC j The smallest serial number j minΔc , take the point corresponding to the serial number as the next grinding position point, that is Then determine whether the grinding position exceeds the grinding area. When the search for the left grinding position ends, Repeat the above calculation to find the next grinding position until the k2th grinding position point on the left side of the profile is calculated. The inclination angle of the tangent corresponding to this position point satisfy When , the search for the left grinding position is finished, and k2 left grinding position points including the origin are obtained; S8, set the grinding position point set W hk (y hk , z hk ) and the corresponding tangent angle A hk Remove one of the repeated origin grinding positions in the above equation, and sort the remaining n (n=k1+k2-1) grinding positions from large to small according to the horizontal coordinates to obtain a new grinding position point set W. hr (y hr , z hr ), and the inclination angle A of the corresponding tangent hr , r = 1…n, the grinding theory processing parameter data set is Where i4 represents the number of knives currently being sharpened. Initially, i4=0, indicating that the theoretical sharpening parameter data set is empty. When i4>0, is the Y coordinate of the processing point corresponding to the actual rail profile during the i4th tool grinding. is the Z coordinate of the processing point corresponding to the actual rail profile during the i4th tool grinding. is the tool deflection angle of the i4th tool grinding, that is, the inclination angle of the tangent corresponding to the grinding position point, is the normal grinding depth of the 4th tool grinding on the actual rail profile, The grinding area of ​​the 4th tool on the actual rail profile; S9, r from 1 to n in order to calculate the rth grinding position point as the first processing position to be processed area, first calculate the position point tangent L sr The equation z sr =tan(A hr )×(y sr -y hr )+z hr , then calculate the Y coordinates of the two intersection points of the tangent line and the actual contour, and record the Y coordinate of the intersection point on the right as y′ r , where i′ 2r The actual rail profile data points are concentrated to meet The number of the point, the Y coordinate of the left intersection is y″ r , where i″ 2r The actual rail profile data points are concentrated to meet The grinding area of ​​the grinding position point is According to the above method, the grinding area S at n grinding positions is calculated. ar , r = 1…n, compare the grinding area of ​​each grinding position point with the maximum grinding area S0 that the equipment can normally grind, S0 is the equipment grinding capacity, and the number of positions where the grinding area is not greater than the equipment grinding capacity is a; S10, when a is greater than 0, the a grinding position points are recorded in the grinding position point set in the order of Y coordinates from large to small. And record the inclination angle of the tangent corresponding to each position point Where r1=1…a, grinding in sequence The grinding position point in the calculation is used to calculate the theoretical processing parameters for each grinding. When the i4+r1th tool is grinding, the Y coordinate of the corresponding processing point on the actual rail profile is If hour, The actual rail profile data points are concentrated to meet The point number, if hour, The actual rail profile data points are concentrated to meet The point number, Z coordinate if When Z coordinate in The actual rail profile data points are concentrated to meet The point number, the corresponding tilt angle of the tool for this grinding point Normal grinding depth Then calculate the area of ​​the knife that has been ground off The calculation method is the same as that in step S9. First, find the left and right intersection points with the actual outline, and record the Y coordinate of the right intersection point as in The actual rail profile data points are concentrated to meet The number of the point, record the Y coordinate of the intersection point on the left as in The actual rail profile data points are concentrated to meet The point number, so the grinding area of ​​the tool is After calculating the grinding parameters of the position point, i2 passes from 1 to n1-t+1 Calculate and update the actual rail profile data point set Then repeat the above calculation method, calculate the a-tool grinding parameters of r1 from 1 to a in sequence, and then calculate the grinding position point set W hr (y hr , z hr ), and the inclination angle A of the tangent line corresponding to the position point hr The data of the a position points in the above formula are removed, n = na, the current grinding tool number i4 = i4 + a, and the remaining grinding position points are arranged in descending order of Y coordinates to obtain a new grinding position point set W hr (y hr , z hr ), and the inclination angle A of the tangent line corresponding to the position point hr , when it is determined that the number of remaining grinding position points is not 0, return to step S9 for calculation; when the number of remaining grinding position points is 0, end all calculations and obtain the rail profile online grinding processing path in sequence; S11, when a=0, that is, the grinding areas corresponding to the n grinding positions as the first knife grinding are all greater than the grinding capacity of the equipment, these n grinding positions are divided into regions, and the data set B is recorded. r (b r ) r To characterize the area type of the rth grinding position point, r from 1 to n, first copy the data point set of the actual rail profile for For subsequent calculations, i2 = 1…n1-t+1, first calculate the grinding area of ​​the two adjacent grinding positions on the left and right after removing the rth grinding position, and then calculate the profile data point set after removing the rth grinding position. From 1 to n1-t+1 through i2 Calculate and update the contour data point set When r is not n, calculate the grinding area at the adjacent position on the left side of the position point, that is, at the grinding position point r+1 The method is the same as in step S9. When r is not 1, the grinding area at the adjacent position on the right side of the position, i.e., at the grinding position point r-1, is calculated. The method is the same as in step S9. When r=1, record When r = n, When r is neither 1 nor n, Repeat the above calculation from r 1 to n until b1 to b n The value of B r (b r ) The number of elements that are 0 is C0, the number of elements that are 1 is C1, and the number of elements that are -1 is C -1 , if C0>0, record the serial number r 0min and serial number r 0max , the two serial numbers satisfy If satisfied Compare the grinding areas S of the two grinding positions as the end points a1 With S an The smaller one is taken as the position to be ground, and the coordinates of the grinding position and the corresponding angle are recorded. Then, the grinding processing parameters are calculated in step S12. If the parameters are not satisfied, When, through where r 0min ≤r≤r 0max , The serial number r 0min To serial number r 0max The elements in B that are all 0 are treated as 1, -1 or 2, and the above calculation is repeated until B r (b r ) does not contain 0, record the number of 1s as C′1, and the number of -1s as C′ -1 , when C′1>C′ -1 When b r = 1, and the position with the largest r is taken as the position point to be ground, and the coordinates of the grinding position point and the corresponding angle are recorded, and the grinding parameters are calculated in step S12. <C′ -1 When b r = -1, and the position with the smallest r is taken as the position point to be ground, and the coordinates of the grinding position point and the corresponding angle are recorded. Then, the grinding parameters are calculated in step S12. When C1′=C′ -1 ≠0, compare b r = 1 and the position where r is the largest With b r = -1 and the position where r is the smallest Grinding area and Take the position corresponding to the smaller area as the position point to be ground, record the coordinates of the grinding position point and the corresponding angle, and calculate the grinding parameters in step S12. When C1′=C′ -1 = 0, that is, B r (b r ) is 2, an auxiliary grinding position point needs to be added. The calculation of this position is as follows: compare the area S that needs to be ground off at the first grinding position point and the last grinding position point a1 With S an , record point R1(y g′ , z g′ ) and point R2(y g″ , z g″ ), when S a1 ≤S an When y is y, point R1 is the left intersection of the tangent line of the first grinding position point calculated in step S9, that is, the position point where r is 1, and the actual rail profile. Point R2 is the left intersection of the tangent line of the last grinding position point calculated in step S9, that is, the position point where r is n, and the actual rail profile. g′ =y″1,y g″ =y″ n , z g′ =tan(A h1 )×(y h′ -y h1 )+z h1 , z g″ =tan(A hn )×(y g′ -y hn )+z hn , when S a1 >S an When y is 0, point R1 is the right intersection of the tangent line of the first grinding position point calculated in step S9, that is, the position point where r is 1, and the actual rail profile. Point R2 is the right intersection of the tangent line of the last grinding position point calculated in step S9, that is, the position point where r is n, and the actual rail profile. g′ =y′1,y g″ =y′ n , z g′ =tan(A h1 )×(y g′ -y h1 )+z h1 , z g″ =tan(A hn )×(y h′ -y hn )+z hn Then calculate the intersection of the perpendicular midline of the line connecting point R1 and point R2 and the target rail grinding profile as the auxiliary grinding position point, and record the auxiliary grinding position point as (y z , z z ), the inclination angle of the tangent line at the corresponding point is recorded as A z ,when hour, If When 3′ The target profile data points of rail grinding are concentrated to meet The point number, if When 3′ The target profile data points of rail grinding are concentrated to meet The point number, when hour, A z =0, where j 3′ The target profile data points of rail grinding are concentrated to meet The number of the point is obtained, the calculated auxiliary grinding position point is used as the position to be ground, the coordinates of the grinding position point and the corresponding angle are recorded, and the grinding processing parameters are calculated in step S12; S12, at the grinding position point calculated in the previous step, the maximum grinding capacity S0 of the grinding equipment is calculated, and the coordinates of the grinding position point calculated in step S11 and the corresponding angle are assigned to (y y , z y ) and A y , note H f is the distance between the tangent line at the grinding position and the intersection line of the grinding head and the actual rail profile when the grinding area at this position is S0. First, find the left and right intersection points of the grinding head and the actual rail profile at this time, and record the Y coordinate of the right intersection point as in The actual rail profile data points are concentrated to meet The number of the point, record the Y coordinate of the intersection point on the left as in The actual rail profile data points are concentrated to meet The point number, so the grinding area of ​​the tool By grinding area Solve H f , if A y ≠0, the Y coordinate of the machining point corresponding to the actual profile of the rail when the tool is ground If A y <0, The actual rail profile data points are concentrated to meet The number of the points, if A y >0, The actual rail profile data points are concentrated to meet The point number, Z coordinate If A y = 0, Y coordinate Z coordinate in The actual rail profile data points are concentrated to meet The point number, angle Normal grinding depth The grinding parameters of the knife are calculated. After that, i2 goes from 1 to n1-t+1 through Calculate and update the actual rail profile data point set The current grinding knife number i4=i4+1, and then returns to step S9 to continue calculating the next grinding step.

2. A rail profile online grinding processing path planning calculation method according to claim 1, characterized in that: The rail design profile measurement data point set imported and the actual data point set G of the target rail grinding profile bj (y bj , z bj ), set the grinding area angle A min With A max , the minimum required grinding amount F, the theoretical error value w of the straight line fitting curve and the maximum grinding area S0 of the equipment, the online grinding processing path of the rail profile and the corresponding grinding processing parameter data set are calculated

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