Rail bidirectional turnout grinding robot

Abstract

The invention relates to the technical field of railway maintenance machinery, and particularly discloses a rail bidirectional turnout grinding robot which comprises a moving frame and a lifting frame, one side of the moving frame is rotationally connected with a driving shaft, the other side of the moving frame is rotationally connected with a driven shaft, and the two ends of the driving shaft and the two ends of the driven shaft are attached to the top faces of two rails; a first driving mechanism for driving the driving shaft to rotate is mounted on the moving frame; the lifting machine is installed in the moving machine, a driving piece used for driving the lifting frame to ascend and descend is installed on the moving frame, the driving piece is two hydraulic cylinders, and the ends of piston rods of the two hydraulic cylinders are connected to the top face of the lifting frame. First mounting frames are mounted at the two ends of the lifting frame correspondingly, first grinding heads are rotationally connected into the first mounting frames and face the top face of the rail, and second driving mechanisms used for driving the first grinding heads to rotate are mounted on the first mounting frames. The rail polishing device has the effects of improving the rail polishing efficiency and reducing errors.

Description

Technical Field

[0001] The invention relates to the technical field of railway maintenance machinery, and in particular to a rail bidirectional turnout grinding robot. Background Art

[0002] With the rapid development of railways and the continuous increase in train speeds, rail defects have gradually become more prominent, such as fat edges, abrasions, falling blocks, fish scales, fat edges and falling blocks at joints, and poor light bands. In order to use rails reasonably, extend their service life, reduce the workload of track maintenance and repair, and improve the comprehensive use efficiency of rails.

[0003] Traditional grinding equipment mostly uses a single-head operation mode, which not only has low work efficiency, but also makes it difficult to ensure the machining accuracy and consistency of the rails. At the same time, for large or heavy workpieces, single-head grinding vehicles often require multiple clamping and shifting, which increases machining errors and labor costs. Summary of the invention

[0004] In order to improve the grinding efficiency of rails and reduce errors, the present application provides a rail bidirectional switch grinding robot.

[0005] The present application provides a rail bidirectional turnout grinding robot that adopts the following technical solution: A rail bidirectional turnout grinding robot comprises a moving frame and a lifting frame, wherein one side of the moving frame is rotatably connected to a driving shaft, and the other side of the moving frame is rotatably connected to a driven shaft, both ends of the driving shaft and the driven shaft are in contact with the top surfaces of two rails; a first driving mechanism for driving the driving shaft to rotate is installed on the moving frame; the lifting machine is installed in the moving machine, and a driving member for driving the lifting frame to rise and fall is installed on the moving frame, wherein the driving member is a hydraulic cylinder, and two hydraulic cylinders are provided, and the piston rod ends of the two hydraulic cylinders are connected to the top surface of the lifting frame; first mounting frames are installed at both ends of the lifting frame, a first grinding head is rotatably connected in the first mounting frame, and the first grinding head faces the top surface of the rail, and a second driving mechanism for driving the first grinding head to rotate is installed on the first mounting frame.

[0006] Optionally, a first rotating shaft is rotatably connected to one side of the bottom of the lifting frame, and both ends of the first rotating shaft are respectively connected to two first mounting frames; each first mounting frame is rotatably connected to two first grinding heads, and the two first grinding heads are centrally symmetrically arranged; a third driving mechanism for driving the first rotating shaft to rotate is installed on the lifting frame.

[0007] Optionally, the first mounting frame includes a first connecting plate, a first mounting plate, a first sliding plate, a first U-shaped plate, a first rotating axis and a first moving mechanism; the side of the first connecting plate is connected to the end of the first rotating axis, and the end of the first mounting plate is connected to the side of the first connecting plate away from the lifting frame; the first sliding plate is slidably connected to the side of the first mounting plate through a linear guide rail, and the side of the first U-shaped plate is connected to the side of the first sliding plate away from the first mounting plate; the first moving mechanism is installed on the side of the first mounting plate, and the first moving mechanism drives the first sliding plate to slide; two first rotating axes are provided, and the two first rotating axes are respectively rotatably connected to the side plates at both ends of the first U-shaped plate, and the two first grinding heads are respectively connected to the ends of the two first rotating axes, and the second driving mechanism is used to drive the two first rotating axes to rotate.

[0008] Optionally, the second driving mechanism includes a second motor, a first rotating rod, a first bevel gear and a second bevel gear; the second motor is installed on the side of the first connecting plate close to the first mounting plate; the end of the first rotating rod is connected to the output shaft of the second motor, and the first rotating rod passes through the first U-shaped plate; a first sleeve is coaxially connected to the middle position of the first bevel gear, the first sleeve is rotatably connected to the first U-shaped plate, the first rotating rod passes through the first sleeve, and a plurality of first guide strips are connected to the circumference of the first rotating rod, and a first guide groove that cooperates with the first guide strip is provided on the inner wall of the first sleeve; two second bevel gears are provided, and the two second bevel gears are coaxially connected to the ends of the two first rotating shafts close to each other, and the first bevel gear is meshed with the two second bevel gears.

[0009] Optionally, a second mounting frame is provided at both ends of the lifting frame, and two groups of second grinding heads are rotatably connected in the second mounting frame. The two groups of second grinding heads are respectively located on both sides of the rail, and the circumference of the second grinding heads is pressed against the side of the rail. A fourth driving mechanism for driving the second grinding heads to rotate is installed on the second mounting frame; a second rotating shaft is rotatably connected to the other side of the bottom of the lifting frame, and both ends of the second rotating shaft are respectively connected to the two second mounting frames; each group of second grinding heads consists of two, and the two second grinding heads in each group are centrally symmetrically arranged; the third driving mechanism is used to drive the second rotating shaft to rotate.

[0010] Optionally, the second mounting frame includes a second connecting plate, a second mounting plate, a second sliding plate, a second U-shaped plate, a second rotating shaft, a third rotating shaft and a second moving mechanism; the side surface of the second connecting plate is connected to the end of the second rotating shaft, and the end of the second mounting plate is connected to the side surface of the second connecting plate away from the lifting frame; there are two second sliding plates, and the two second sliding plates are slidably connected to the side surface of the second mounting plate through a linear guide rail; there are two second U-shaped plates, and the sides of the two second U-shaped plates are respectively connected to the side surface of the second sliding plate away from the second mounting plate; there are two second moving mechanisms, and the two second moving mechanisms are installed on the side surface of the first mounting plate, and the two second moving mechanisms respectively drive the two second sliding plates to slide; there are two second rotating shafts, and the two second rotating shafts are respectively rotatably connected to the side plates at both ends of one of the second U-shaped plates, and there are two third rotating shafts, and the two third rotating shafts are respectively rotatably connected to the side plates at both ends of the other second U-shaped plate; wherein the two second grinding heads are respectively connected to the ends of the two second rotating shafts, and the other two second grinding heads are respectively connected to the ends of the two third rotating shafts, and the fourth driving mechanism is used to drive the second rotating shaft and the third rotating shaft to rotate.

[0011] Optionally, the fourth driving mechanism includes a fourth motor, a second rotating rod, a third bevel gear, a fourth bevel gear, a fifth bevel gear and a sixth bevel gear; the fourth motor is installed on the side of the second connecting plate close to the second mounting plate; the end of the second rotating rod is connected to the output shaft of the fourth motor, and the second rotating rod passes through the two second U-shaped plates; a second sleeve is coaxially connected to the middle position of the third bevel gear and the fourth bevel gear, the second sleeve is rotatably connected to the second U-shaped plate, the second rotating rod passes through the second sleeve, and a plurality of second guide strips are connected to the circumference of the second rotating rod, and a second guide groove that cooperates with the second guide strip is provided on the inner wall of the second sleeve; two fifth bevel gears and two sixth bevel gears are each provided, and the two fifth bevel gears are coaxially connected to the ends of the two second rotating shafts close to each other, the third bevel gear is meshed with the two fifth bevel gears, the two sixth bevel gears are coaxially connected to the ends of the two third rotating shafts close to each other, and the fourth bevel gear is meshed with the two sixth bevel gears.

[0012] Optionally, the second rotating shaft includes a first rotating tube, a first guide shaft and a first spline shaft, the first rotating tube is coaxially connected to the inside of the third bevel gear, and the end of the first rotating tube is rotatably connected to the end of the second U-shaped plate; the first guide shaft slides in the first rotating tube, the end of the first guide shaft extends out of the first rotating tube, the end of the first guide shaft is connected to the middle position of the second grinding head, the end of the first spline shaft is connected to the other end of the first guide shaft, and the inner wall of the first rotating tube is provided with a first spline groove for the first spline shaft to slide, and the first spline shaft can slide out of the first spline groove.

[0013] Optionally, the third rotating shaft includes a second rotating tube, a second guide shaft and a second spline shaft, the second rotating tube is coaxially connected to the inside of the fourth bevel gear, and the end of the second rotating tube is rotatably connected to the end of another second U-shaped plate; the second guide shaft slides in the second rotating tube, the end of the second guide shaft extends out of the second rotating tube, the end of the second guide shaft is connected to the middle position of another second grinding head, the end of the second spline shaft is connected to the other end of the second guide shaft, and the inner wall of the second rotating tube is provided with a second spline groove for the second spline shaft to slide, and the second spline shaft can slide out of the second spline groove.

[0014] The two ends of the sliding plate are connected to the two U-shaped plates, and the top surface of the pushing plate located above is in contact with the bottom surface of the second grinding head, and the bottom surface of the pushing plate located below is in contact with the top surface of the second grinding head, and the side surface of the pushing plate close to the second grinding head is rotated with a steel ball, and the steel ball rolls on the surface of the second grinding head; the side of the second U-shaped plate away from the other second U-shaped plate is connected to two mounting blocks, one mounting block is located above the second rotating rod, and the other mounting block is located below the second rotating rod; the sides of the two mounting blocks are rotatably connected to one end of the limiting plate, and the side of the push plate is connected to the limiting block, the bottom surface of the limiting plate located below is in contact with the top surface of the push plate, and the other end of the limiting plate located above deviates from the limiting block and contacts the guide block.

[0015] In summary, the present application includes at least one of the following beneficial technical effects: 1. Place the mobile frame on the rail, and the driving shaft and the driven shaft of the mobile frame are both overlapped on the top surface of the rail; after the rail is inspected, the driving member drives the lifting frame to descend, and the lifting frame drives the first mounting frame and the first grinding head to descend, so that the first grinding head fits the top surface of the rail, and the first driving mechanism drives the driving shaft to rotate, and the driving shaft rolls on the top surface of the rail through friction, and the driving shaft cooperates with the driven shaft to drive the mobile frame to move on the top surface of the rail, and the mobile frame drives the lifting frame to move together, and the second driving mechanism drives the first grinding head to rotate, at this time, the first grinding heads at both ends of the lifting frame grind the top surface of the rail, and the grinding heads at both ends of the lifting frame are controlled by the lifting frame to rise and fall synchronously, and the grinding amount of the two rails is the same; thereby, the grinding efficiency of the rail can be improved and the error can be reduced; 2. When one of the first grinding heads grinds the rail for a long time, the temperature of the first grinding head is likely to be too high, which may cause cracking; the lifting frame is driven to rise, the third driving mechanism drives the first rotating shaft to rotate, the first rotating shaft drives the first mounting frame to rotate, the first mounting frame rotates 180° around the first rotating shaft, so that the two first grinding heads are inter-adjusted, and then the lifting frame is driven down, so that the inter-adjusted first grinding heads are pressed against the top surface of the rail, and the rail is continued to be grinded, and the first grinding head with too high temperature can be cooled, which is conducive to extending the service life of the first grinding head; 3. After the two second grinding heads in contact with the steel have been grinding for a long time, the temperature of the second grinding heads is too high, which may cause cracking; the lifting frame is driven to rise, the third driving mechanism drives the second rotating shaft to rotate, the second rotating shaft drives the second mounting frame to rotate, the second mounting frame rotates 180° around the second rotating shaft, so that the two second grinding heads in each group are inter-adjusted, and then the lifting frame is driven down, so that the inter-adjusted second grinding heads are pressed against the top surface of the rail, and the rail is continued to be ground, and the over-temperature second grinding heads can be cooled, which is conducive to extending the service life of the second grinding heads; 4. When the second grinding head is in the process of grinding the rail, under the action of its own gravity, the second grinding head located below pulls the first guide shaft and the second guide shaft to slide downward, so that the first spline shaft and the second spline shaft enter the first spline groove and the second spline groove respectively, and the fifth bevel gear and the sixth bevel gear can drive the first guide shaft and the second guide shaft to rotate through the first rotating tube and the second rotating tube, so that the second grinding head can rotate; the second grinding head located above pushes the first guide shaft and the second guide shaft to descend, and the first guide shaft and the second guide shaft push the first spline shaft and the second spline shaft to descend, and when the second grinding head contacts the side of the second U-shaped plate, the first spline shaft and the second spline shaft are disengaged from the first spline groove and the second spline groove, and at this time, the first rotating tube and the second rotating tube cannot drive the first spline shaft and the second spline shaft to rotate, and at this time, the second grinding head located above is in a stationary state, which is convenient for maintenance and replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the structure of a polishing robot according to an embodiment of the present application; Figure 2 It is a partial structural schematic diagram of the polishing robot in the embodiment of the present application; Figure 3 is a schematic structural diagram of a polishing robot part structure from another perspective in an embodiment of the present application; Figure 4 is a schematic diagram of the cross-sectional structure of the polishing robot according to an embodiment of the present application; Figure 5 yes Figure 4 A schematic diagram of the enlarged structure of part A; Figure 6 yes Figure 4A schematic diagram of the enlarged structure of part B; Figure 7 yes Figure 2 Schematic diagram of the enlarged structure of part C.

[0017] Description of reference numerals: 01, rail; 1, moving frame; 11, driving shaft; 12, driven shaft; 13, driving member; 2, lifting frame; 21, first grinding head; 22, first rotating shaft; 23, second grinding head; 24, second rotating shaft; 3, first driving mechanism; 31, first motor; 32, first synchronous wheel; 33, second synchronous wheel; 34, first synchronous belt; 4, second driving mechanism; 41, second motor; 42, first rotating rod; 421, first guide bar; 43, first bevel gear ; 431, first sleeve; 44, second bevel gear; 5, third drive mechanism; 51, third motor; 52, third synchronous wheel; 53, fourth synchronous wheel; 54, fifth synchronous wheel; 55, second synchronous belt; 6, fourth drive mechanism; 61, fourth motor; 62, second rotating rod; 621, second guide strip; 63, third bevel gear; 64, fourth bevel gear; 65, fifth bevel gear; 66, sixth bevel gear; 67, second sleeve; 7, first mounting bracket; 71, first connecting plate; 72, first mounting plate; 73, first sliding plate; 74, first U-shaped plate; 75, first rotating shaft; 76, first moving mechanism; 761, first moving motor; 762, first lead screw; 763, first transmission block; 8, second mounting frame; 81, second connecting plate; 82, second mounting plate; 83, second sliding plate; 84, second U-shaped plate; 841, groove; 85, second rotating shaft; 851, first rotating tube; 8511, first spline groove; 852, first guide shaft; 853, first spline shaft; 86, third rotating shaft; 861, second rotating tube; 8611, second spline groove; 862, second guide shaft; 863, second spline shaft; 87, second moving mechanism; 871, second moving motor; 872, second lead screw; 873, second transmission block; 9, guide block; 91, sliding plate; 92, push plate; 93, push plate; 94, steel ball; 95, mounting block; 96, limit plate; 97, limit block. DETAILED DESCRIPTION

[0018] The following is combined with Figure 1-7 This application is described in further detail.

[0019] The present application embodiment discloses a rail bidirectional switch grinding robot. Figure 1The grinding robot includes a moving frame 1 and a lifting frame 2. A driving shaft 11 is rotatably connected to one side of the moving frame 1, and a driven shaft 12 is rotatably connected to the other side of the moving frame 1. Both ends of the driving shaft 11 and the driven shaft 12 are in contact with the top surfaces of two rails 01; a first driving mechanism 3 for driving the driving shaft 11 to rotate is installed on the moving frame 1; the lifter is installed in the mobile machine, and a driving member 13 for driving the lifting frame 2 to rise and fall is installed on the moving frame 1. The driving member 13 is a hydraulic cylinder. There are two hydraulic cylinders, and the piston rod ends of the two hydraulic cylinders are connected to the top surface of the lifting frame 2; first mounting frames 7 are installed at both ends of the lifting frame 2, and a first grinding head 21 is rotatably connected in the first mounting frame 7. The first grinding head 21 faces the top surface of the rail 01, and a second driving mechanism 4 for driving the first grinding head 21 to rotate is installed on the first mounting frame 7.

[0020] The movable frame 1 is placed on the rail 01, and the driving shaft 11 and the driven shaft 12 of the movable frame 1 are both overlapped on the top surface of the rail 01; after the rail 01 is inspected, the driving member 13 drives the lifting frame 2 to descend, and the lifting frame 2 drives the first mounting frame 7 and the first grinding head 21 to descend, so that the first grinding head 21 is attached to the top surface of the rail 01, and the first driving mechanism 3 drives the driving shaft 11 to rotate, and the driving shaft 11 rolls on the top surface of the rail 01 through friction, and the driving shaft 11 cooperates with the driven shaft 12 to drive the movable frame 1 to move on the top surface of the rail 01, and the movable frame 1 drives the lifting frame 2 to move together, and the second driving mechanism 4 drives the first grinding head 21 to rotate, at this time, the first grinding heads 21 at both ends of the lifting frame 2 grind the top surface of the rail 01, and the grinding heads at both ends of the lifting frame 2 are controlled by the lifting frame 2 to rise and fall synchronously, and the grinding amount of the two rails 01 is the same; thereby, the grinding efficiency of the rail 01 can be improved and the error can be reduced.

[0021] The first driving mechanism 3 includes a first motor 31, a first synchronous wheel 32, a second synchronous wheel 33 and a first synchronous belt 34; the first motor 31 is installed on the bottom surface of the mobile frame 1, the first synchronous wheel 32 is coaxially connected to the output shaft of the first motor 31, the second synchronous wheel 33 is coaxially connected to the driving shaft 11, and the first synchronous belt 34 is wound around the first synchronous wheel 32 and the second synchronous wheel 33.

[0022] When the driving shaft 11 needs to be driven to rotate, the first motor 31 drives the first synchronous wheel 32 to rotate, the first synchronous wheel 32 drives the second synchronous wheel 33 to rotate through the first synchronous belt 34, and the second synchronous wheel 33 drives the driving shaft 11 to rotate.

[0023] A first rotating shaft 22 is rotatably connected to one side of the bottom of the lifting frame 2, and both ends of the first rotating shaft 22 are respectively connected to two first mounting frames 7; two first grinding heads 21 are rotatably connected to each first mounting frame 7, and the two first grinding heads 21 are centrally symmetrically arranged; a third driving mechanism 5 for driving the first rotating shaft 22 to rotate is installed on the lifting frame 2.

[0024] When one of the first grinding heads 21 grinds the rail 01 for a long time, the first grinding head 21 is prone to overheating and cracking; the lifting frame 2 is driven to rise, and the third driving mechanism 5 drives the first rotating shaft 22 to rotate, and the first rotating shaft 22 drives the first mounting frame 7 to rotate, and the first mounting frame 7 rotates 180° around the first rotating shaft 22, so that the two first grinding heads 21 are inter-adjusted, and then the lifting frame 2 is driven to descend, so that the inter-adjusted first grinding heads 21 are pressed against the top surface of the rail 01, and continue to grind the rail 01, and the first grinding head 21 with too high temperature can be cooled, which is beneficial to prolonging the service life of the first grinding head 21.

[0025] The first mounting frame 7 includes a first connecting plate 71, a first mounting plate 72, a first sliding plate 73, a first U-shaped plate 74, a first rotating shaft 75 and a first moving mechanism 76; the side of the first connecting plate 71 is connected to the end of the first rotating shaft 22, and the end of the first mounting plate 72 is connected to the side of the first connecting plate 71 away from the lifting frame 2; the first sliding plate 73 is slidably connected to the side of the first mounting plate 72 through a linear guide rail, and the side of the first U-shaped plate 74 is connected to the side of the first sliding plate 73 away from the first mounting plate 72; the first moving mechanism 76 is installed on the side of the first mounting plate 72, and the first moving mechanism 76 drives the first sliding plate 73 to slide; two first rotating shafts 75 are provided, and the two first rotating shafts 75 are respectively rotatably connected to the side plates at both ends of the first U-shaped plate 74, and the two first grinding heads 21 are respectively connected to the ends of the two first rotating shafts 75, and the second driving mechanism 4 is used to drive the two first rotating shafts 75 to rotate.

[0026] The second driving mechanism 4 includes a second motor 41, a first rotating rod 42, a first bevel gear 43 and a second bevel gear 44; the second motor 41 is installed on the side of the first connecting plate 71 close to the first mounting plate 72; the end of the first rotating rod 42 is connected to the output shaft of the second motor 41, and the first rotating rod 42 passes through the first U-shaped plate 74; a first sleeve 431 is coaxially connected to the middle position of the first bevel gear 43, the first sleeve 431 is rotatably connected to the first U-shaped plate 74, the first rotating rod 42 passes through the first sleeve 431, and a plurality of first guide strips 421 are connected to the circumference of the first rotating rod 42, and a first guide groove that cooperates with the first guide strip 421 is provided on the inner wall of the first sleeve 431; two second bevel gears 44 are provided, and the two second bevel gears 44 are coaxially connected to the ends of the two first rotating shafts 75 close to each other, and the first bevel gear 43 is meshed with the two second bevel gears 44.

[0027] The first moving mechanism 76 includes a first moving motor 761, a first lead screw 762 and a first transmission block 763; the first moving motor 761 is installed on the side of the first mounting plate 72, the first lead screw 762 is coaxially connected to the output shaft of the first moving motor 761, and both ends of the first lead screw 762 are rotatably connected to the side of the first mounting plate 72 through a support plate; the first transmission block 763 is connected to the side of the first sliding plate 73, and the first lead screw 762 passes through the first transmission block 763 and is threadedly transmitted.

[0028] When it is necessary to drive the first grinding head 21 to rotate, the second motor 41 drives the first rotating rod 42 to rotate, the first rotating rod 42 drives the first sleeve 431 to rotate through the first guide bar 421, the first sleeve 431 drives the first bevel gear 43 to rotate, the first bevel gear 43 drives the second bevel gear 44 to rotate, the second bevel gear 44 drives the first rotating shaft 75 to rotate, and the first rotating shaft 75 drives the first grinding head 21 to rotate; when it is necessary to change the relative position of the first grinding head 21 and the rail 01, the first moving motor 761 drives the first lead screw 762 to rotate, the first lead screw 762 drives the first transmission block 763 to move, the first transmission block 763 drives the first sliding plate 73 to move on the side of the first mounting plate 72, the first sliding plate 73 drives the first U-shaped plate 74 to move, the first U-shaped plate 74 drives the first bevel gear 43 and the second bevel gear 44 to move, the first bevel gear 43 slides on the first rotating rod 42, and the first U-shaped plate 74 can drive the first grinding head 21 to move.

[0029] A second mounting frame 8 is provided at both ends of the lifting frame 2, and two groups of second grinding heads 23 are rotatably connected in the second mounting frame 8. The two groups of second grinding heads 23 are respectively located on both sides of the rail 01. The circumference of the second grinding head 23 is pressed tightly against the side of the rail 01. A fourth driving mechanism 6 for driving the second grinding head 23 to rotate is installed on the second mounting frame 8.

[0030] A second rotating shaft 24 is rotatably connected to the other side of the bottom of the lifting frame 2, and both ends of the second rotating shaft 24 are respectively connected to two second mounting frames 8; each group of second grinding heads 23 consists of two, and the two second grinding heads 23 of each group are centrally symmetrically arranged; the third driving mechanism 5 is used to drive the second rotating shaft 24 to rotate.

[0031] After the two second grinding heads 23 in contact with the steel have been grinding for a long time, the temperature of the second grinding heads 23 is too high, which may cause cracking. The lifting frame 2 is driven to rise, and the third driving mechanism 5 drives the second rotating shaft 24 to rotate. The second rotating shaft 24 drives the second mounting frame 8 to rotate. The second mounting frame 8 rotates 180° around the second rotating shaft 24, so that the two second grinding heads 23 of each group are interchanged, and then the lifting frame 2 is driven to descend, so that the interchanged second grinding heads 23 are pressed against the top surface of the rail 01 to continue grinding the rail 01. The second grinding heads 23 with too high temperature can be cooled, which is beneficial to prolonging the service life of the second grinding heads 23.

[0032] The second mounting frame 8 includes a second connecting plate 81, a second mounting plate 82, a second sliding plate 83, a second U-shaped plate 84, a second rotating shaft 85, a third rotating shaft 86 and a second moving mechanism 87; the side of the second connecting plate 81 is connected to the end of the second rotating shaft 24, and the end of the second mounting plate 82 is connected to the side of the second connecting plate 81 away from the lifting frame 2; there are two second sliding plates 83, and the two second sliding plates 83 are slidably connected to the side of the second mounting plate 82 through a linear guide rail; there are two second U-shaped plates 84, and the sides of the two second U-shaped plates 84 are respectively connected to the side of the second sliding plate 83 away from the second mounting plate 82; there are two second moving mechanisms 87, two The second moving mechanism 87 is installed on the side of the first mounting plate 72, and the two second moving mechanisms 87 respectively drive the two second sliding plates 83 to slide; two second rotating shafts 85 are provided, and the two second rotating shafts 85 are respectively rotatably connected to the side plates at both ends of one of the second U-shaped plates 84; two third rotating shafts 86 are provided, and the two third rotating shafts 86 are respectively rotatably connected to the side plates at both ends of the other second U-shaped plate 84; two second grinding heads 23 are respectively connected to the ends of the two second rotating shafts 85, and the other two second grinding heads 23 are respectively connected to the ends of the two third rotating shafts 86; the fourth driving mechanism 6 is used to drive the second rotating shaft 85 and the third rotating shaft 86 to rotate.

[0033] The fourth driving mechanism 6 includes a fourth motor 61, a second rotating rod 62, a third bevel gear 63, a fourth bevel gear 64, a fifth bevel gear 65 and a sixth bevel gear 66; the fourth motor 61 is mounted on the side of the second connecting plate 81 close to the second mounting plate 82; the end of the second rotating rod 62 is connected to the output shaft of the fourth motor 61, and the second rotating rod 62 passes through two second U-shaped plates 84; a second sleeve 67 is coaxially connected to the middle position of the third bevel gear 63 and the fourth bevel gear 64, and the second sleeve 67 is rotatably connected to the second U-shaped plate 84, and the second rotating rod 62 passes through the second U-shaped plate 84. Second sleeve 67, the circumferential surface of the second rotating rod 62 is connected with multiple second guide strips 621, and the inner wall of the second sleeve 67 is provided with second guide grooves that cooperate with the second guide strips 621; there are two fifth bevel gears 65 and six bevel gears 66, the two fifth bevel gears 65 are coaxially connected to the ends of the two second rotating shafts 85 close to each other, the third bevel gear 63 is meshed with the two fifth bevel gears 65, the two sixth bevel gears 66 are coaxially connected to the ends of the two third rotating shafts 86 close to each other, and the fourth bevel gear 64 is meshed with the two sixth bevel gears 66.

[0034] The second moving mechanism 87 includes a second moving motor 871, a second lead screw 872 and a second transmission block 873; the second moving motor 871 is installed on the side of the second mounting plate 82, the second lead screw 872 is coaxially connected to the output shaft of the second moving motor 871, and both ends of the second lead screw 872 are rotatably connected to the side of the second mounting plate 82 through a support plate; the second transmission block 873 is connected to the side of the second sliding plate 83, and the second lead screw 872 passes through the second transmission block 873 and is threadedly transmitted.

[0035] When it is necessary to drive the second grinding head 23 to rotate, the fourth motor 61 drives the second rotating rod 62 to rotate, the second rotating rod 62 drives the second sleeve 67 to rotate through the second guide bar 621, the second sleeve 67 drives the third bevel gear 63 and the fourth bevel gear 64 to rotate, the third bevel gear 63 drives the fifth bevel gear 65 to rotate, the fourth bevel gear 64 drives the sixth bevel gear 66 to rotate, the fifth bevel gear 65 drives the second rotating shaft 85 to rotate, the sixth bevel gear 66 drives the third rotating shaft 86 to rotate, the second rotating shaft 85 and the third rotating shaft 86 drive the second grinding head 23 to rotate; when two second grinding heads 23 are needed to clamp the rail 01, The two second moving motors 871 respectively drive the two second lead screws 872 to rotate, the second lead screws 872 drive the second transmission block 873 to move, the second transmission block 873 drives the second sliding plate 83 to move on the side of the second mounting plate 82, the second sliding plate 83 drives the second U-shaped plate 84 to move, the second U-shaped plate 84 drives the third bevel gear 63, the fourth bevel gear 64, the fifth bevel gear 65 and the sixth bevel gear 66 to move, the third bevel gear 63 and the fourth bevel gear 64 slide on the first rotating rod 42, so that the two second U-shaped plates 84 are close to each other, and the two second U-shaped plates 84 can drive the two second grinding heads 23 to clamp the rail 01.

[0036] The second rotating shaft 85 includes a first rotating tube 851, a first guide shaft 852 and a first spline shaft 853. The first rotating tube 851 is coaxially connected to the inside of the third bevel gear 63, and the end of the first rotating tube 851 is rotatably connected to the end of the second U-shaped plate 84; the first guide shaft 852 slides in the first rotating tube 851, and the end of the first guide shaft 852 extends out of the first rotating tube 851. The end of the first guide shaft 852 is connected to the middle position of the second grinding head 23, and the end of the first spline shaft 853 is connected to the other end of the first guide shaft 852. The inner wall of the first rotating tube 851 is provided with a first spline groove 8511 for the first spline shaft 853 to slide, and the first spline shaft 853 can slide out of the first spline groove 8511.

[0037] The third rotating shaft 86 includes a second rotating tube 861, a second guide shaft 862 and a second spline shaft 863. The second rotating tube 861 is coaxially connected to the inside of the fourth bevel gear 64, and the end of the second rotating tube 861 is rotatably connected to the end of another second U-shaped plate 84; the second guide shaft 862 slides in the second rotating tube 861, and the end of the second guide shaft 862 extends out of the second rotating tube 861. The end of the second guide shaft 862 is connected to the middle position of another second grinding head 23, and the end of the second spline shaft 863 is connected to the other end of the second guide shaft 862. The inner wall of the second rotating tube 861 is provided with a second spline groove 8611 for the second spline shaft 863 to slide, and the second spline shaft 863 can slide out of the second spline groove 8611.

[0038] When the second grinding head 23 is in the process of grinding the rail 01, under the action of its own gravity, the second grinding head 23 located below pulls the first guide shaft 852 and the second guide shaft 862 to slide downward, so that the first spline shaft 853 and the second spline shaft 863 enter the first spline groove 8511 and the second spline groove 8611 respectively, and the fifth bevel gear 65 and the sixth bevel gear 66 can drive the first guide shaft 852 and the second guide shaft 862 to rotate through the first rotating tube 851 and the second rotating tube 861, and the second grinding head 23 can rotate; the second grinding head 23 located above The head 23 pushes the first guide shaft 852 and the second guide shaft 862 to descend, and the first guide shaft 852 and the second guide shaft 862 push the first spline shaft 853 and the second spline shaft 863 to descend. When the second grinding head 23 contacts the side of the second U-shaped plate 84, the first spline shaft 853 and the second spline shaft 863 are disengaged from the first spline groove 8511 and the second spline groove 8611. At this time, the first rotating tube 851 and the second rotating tube 861 cannot drive the first spline shaft 853 and the second spline shaft 863 to rotate. At this time, the second grinding head 23 located above is in a stationary state, which is convenient for maintenance and replacement.

[0039] The third driving mechanism 5 includes a third motor 51, a third synchronous wheel 52, a fourth synchronous wheel 53, a fifth synchronous wheel 54 and a second synchronous belt 55; the third motor 51 is installed on the top surface of the lifting frame 2, the third synchronous wheel 52 is coaxially connected to the output shaft of the third motor 51, the fourth synchronous wheel 53 is coaxially connected to the circumference of the first rotating shaft 22, the fifth synchronous wheel 54 is coaxially connected to the circumference of the second rotating shaft 24, and the second synchronous belt 55 is wound around the third synchronous wheel 52, the fourth synchronous wheel 53 and the fifth synchronous wheel 54.

[0040] When it is necessary to drive the first rotating shaft 22 and the second rotating shaft 24 to rotate, the third motor 51 drives the third synchronous wheel 52 to rotate, and the third synchronous wheel 52 drives the fourth synchronous wheel 53 and the fifth synchronous wheel 54 to rotate through the second synchronous belt 55. The fourth synchronous wheel 53 drives the first rotating shaft 22 to rotate, and the fifth synchronous wheel 54 drives the second rotating shaft 24 to rotate.

[0041] The two sides of the two second U-shaped plates 84 that are away from each other are connected to two guide blocks 9, and the two guide blocks 9 are respectively located on both sides of the second rotating rod 62. A sliding plate 91 slides in the guide block 9, and a push plate 92 is connected between the two ends of the two sliding plates 91. Both ends of the sliding plate 91 are connected to a push plate 93. Grooves 841 for the push plates 93 to enter are provided in both ends of the second U-shaped plate 84. The top surface of the push plate 93 located at the top is in contact with the bottom surface of the second grinding head 23, and the bottom surface of the push plate 93 located at the bottom is in contact with the top surface of the second grinding head 23. The push plate 93 is close to the second grinding head 23. A steel ball 94 is rotatably arranged on the side thereof, and the steel ball 94 rolls on the surface of the second grinding head 23; two mounting blocks 95 are connected to the side of the second U-shaped plate 84 away from the other second U-shaped plate 84, one of which is located above the second rotating rod 62, and the other is located below the second rotating rod 62; the sides of the two mounting blocks 95 are both rotatably connected to one end of a limiting plate 96, and the side of the push plate 92 is connected to a limiting block 97, the bottom surface of the limiting plate 96 located at the bottom is attached to the top surface of the push plate 92, and the other end of the limiting plate 96 located at the top deviates from the limiting block 97 and contacts the guide block 9.

[0042] When the second U-shaped plate 84 rotates around the second rotating shaft 24, the limit plate 96 rotates under the action of automatic gravity. When the second U-shaped plate 84 rotates 180° and is in a vertical state, the sliding plate 91 drives the push plate 93 to move downward under the action of its own weight. The upper push plate 93 enters the groove 841, and the lower push plate 93 moves out of the groove 841 and is tightly attached to the top surface of the second grinding head 23 located below. The rotating plate located below rotates to the top surface of the limit block 97. At this time, the limit plate 96 is attached to the top surface of the limit block 97, and the limit plate 96 limits the limit block 97, so that the positions of the push plate 92 and the push plate 93 connected to the limit block 97 are restricted. At this time, the second grinding head 23 will not vibrate in the vertical direction, thereby improving the stability of the second grinding head 23 when grinding the rail 01.

[0043] The implementation principle of a rail bidirectional turnout grinding robot in the embodiment of the present application is as follows: a moving frame 1 is placed on the rail 01, and the driving shaft 11 and the driven shaft 12 of the moving frame 1 are both overlapped on the top surface of the rail 01; after the rail 01 is detected, the driving member 13 drives the lifting frame 2 to descend, and the lifting frame 2 drives the first mounting frame 7 and the first grinding head 21 to descend, so that the first grinding head 21 is attached to the top surface of the rail 01, and the first driving mechanism 3 drives the driving shaft 11 to rotate, and the driving shaft 11 rolls on the top surface of the rail 01 through friction, and the driving shaft 11 cooperates with the driven shaft 12 to drive the moving frame 1 to move on the top surface of the rail 01, and the moving frame 1 drives the lifting frame 2 to move together, and the second driving mechanism 4 drives the first grinding head 21 to rotate, at this time, the first grinding heads 21 at both ends of the lifting frame 2 grind the top surface of the rail 01, and the grinding heads at both ends of the lifting frame 2 are controlled by the lifting frame 2 to rise and fall synchronously, and the grinding amount of the two rails 01 is the same; thereby, the grinding efficiency of the rail 01 can be improved and the error can be reduced.

[0044] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A rail bidirectional turnout grinding robot, characterized in that: The invention comprises a moving frame (1) and a lifting frame (2), wherein one side of the moving frame (1) is rotatably connected to a driving shaft (11), and the other side of the moving frame (1) is rotatably connected to a driven shaft (12), and both ends of the driving shaft (11) and the driven shaft (12) are in contact with the top surfaces of two rails (01); a first driving mechanism (3) for driving the driving shaft (11) to rotate is installed on the moving frame (1); the lifting machine is installed in the moving machine, and a driving member (13) for driving the lifting frame (2) to move up and down is installed on the moving frame (1), and the driving member (13) is a hydraulic cylinder, and two hydraulic cylinders are provided, and the piston rod ends of the two hydraulic cylinders are connected to the top surface of the lifting frame (2); both ends of the lifting frame (2) are installed with a first mounting frame (7), and a first grinding head (21) is rotatably connected in the first mounting frame (7), and the first grinding head (21) faces the top surface of the rail (01), and a second driving mechanism (4) for driving the first grinding head (21) to rotate is installed on the first mounting frame (7).

2. A rail bidirectional turnout grinding robot according to claim 1, characterized in that: A first rotating shaft (22) is rotatably connected to one side of the bottom of the lifting frame (2), and two ends of the first rotating shaft (22) are respectively connected to two first mounting frames (7); two first grinding heads (21) are rotatably connected to each first mounting frame (7), and the two first grinding heads (21) are centrally symmetrically arranged; and a third driving mechanism (5) for driving the first rotating shaft (22) to rotate is installed on the lifting frame (2).

3. A rail bidirectional turnout grinding robot according to claim 1, characterized in that: The first mounting frame (7) comprises a first connecting plate (71), a first mounting plate (72), a first sliding plate (73), a first U-shaped plate (74), a first rotating shaft (75) and a first moving mechanism (76); the side of the first connecting plate (71) is connected to the end of the first rotating shaft (22), and the end of the first mounting plate (72) is connected to the side of the first connecting plate (71) away from the lifting frame (2); the first sliding plate (73) is slidably connected to the side of the first mounting plate (72) through a linear guide rail, and the side of the first U-shaped plate (74) is connected to The first sliding plate (73) is away from the side of the first mounting plate (72); the first moving mechanism (76) is installed on the side of the first mounting plate (72), and the first moving mechanism (76) drives the first sliding plate (73) to slide; two first rotating shafts (75) are provided, and the two first rotating shafts (75) are respectively rotatably connected to the side plates at both ends of the first U-shaped plate (74); the two first grinding heads (21) are respectively connected to the ends of the two first rotating shafts (75); and the second driving mechanism (4) is used to drive the two first rotating shafts (75) to rotate.

4. A rail bidirectional turnout grinding robot according to claim 3, characterized in that: The second driving mechanism (4) comprises a second motor (41), a first rotating rod (42), a first bevel gear (43) and a second bevel gear (44); the second motor (41) is mounted on a side of the first connecting plate (71) close to the first mounting plate (72); the end of the first rotating rod (42) is connected to the output shaft of the second motor (41), and the first rotating rod (42) passes through the first U-shaped plate (74); a first sleeve (431) is coaxially connected to the middle position of the first bevel gear (43), and the first sleeve (431) is rotated to rotate with the first connecting plate (71). The first rotating rod (42) is connected to the first U-shaped plate (74), passes through the first sleeve (431), and the circumferential surface of the first rotating rod (42) is connected with a plurality of first guide strips (421). The inner wall of the first sleeve (431) is provided with a first guide groove that cooperates with the first guide strips (421); two second bevel gears (44) are provided, and the two second bevel gears (44) are coaxially connected to the ends of the two first rotating shafts (75) that are close to each other, and the first bevel gear (43) is meshed with the two second bevel gears (44).

5. The rail bidirectional turnout grinding robot according to claim 2, characterized in that: A second mounting frame (8) is provided at both ends of the lifting frame (2), and two groups of second grinding heads (23) are rotatably connected in the second mounting frame (8). The two groups of second grinding heads (23) are respectively located on both sides of the rail (01), and the circumference of the second grinding heads (23) is pressed against the side of the rail (01). A fourth driving mechanism (6) for driving the second grinding heads (23) to rotate is installed on the second mounting frame (8); a second rotating shaft (24) is rotatably connected to the other side of the bottom of the lifting frame (2), and the two ends of the second rotating shaft (24) are respectively connected to the two second mounting frames (8); each group of second grinding heads (23) consists of two, and the two second grinding heads (23) of each group are centrally symmetrically arranged; the third driving mechanism (5) is used to drive the second rotating shaft (24) to rotate.

6. A rail bidirectional turnout grinding robot according to claim 5, characterized in that: The second mounting frame (8) comprises a second connecting plate (81), a second mounting plate (82), a second sliding plate (83), a second U-shaped plate (84), a second rotating shaft (85), a third rotating shaft (86) and a second moving mechanism (87); the side surface of the second connecting plate (81) is connected to the end of the second rotating shaft (24), and the end of the second mounting plate (82) is connected to the side surface of the second connecting plate (81) away from the lifting frame (2); two second sliding plates (83) are provided, and the two second sliding plates (83) are slidably connected to the side surface of the second mounting plate (82) through linear guide rails; two second U-shaped plates (84) are provided, and the side edges of the two second U-shaped plates (84) are respectively connected to the side surface of the second sliding plate (83) away from the second mounting plate (82); the second moving mechanism (87) is provided with two The second movable mechanisms (87) are installed on the side of the first mounting plate (72), and the two second movable mechanisms (87) respectively drive the two second sliding plates (83) to slide; two second rotating shafts (85) are provided, and the two second rotating shafts (85) are respectively rotatably connected to the side plates at both ends of one of the second U-shaped plates (84); two third rotating shafts (86) are provided, and the two third rotating shafts (86) are respectively rotatably connected to the side plates at both ends of the other second U-shaped plate (84); two second grinding heads (23) are respectively connected to the ends of the two second rotating shafts (85), and the other two second grinding heads (23) are respectively connected to the ends of the two third rotating shafts (86); the fourth driving mechanism (6) is used to drive the second rotating shaft (85) and the third rotating shaft (86) to rotate.

7. A rail bidirectional turnout grinding robot according to claim 6, characterized in that: The fourth driving mechanism (6) comprises a fourth motor (61), a second rotating rod (62), a third bevel gear (63), a fourth bevel gear (64), a fifth bevel gear (65) and a sixth bevel gear (66); the fourth motor (61) is mounted on a side surface of the second connecting plate (81) close to the second mounting plate (82); the end of the second rotating rod (62) is connected to the output shaft of the fourth motor (61), and the second rotating rod (62) passes through two second U-shaped plates (84); a second sleeve (67) is coaxially connected between the third bevel gear (63) and the fourth bevel gear (64), the second sleeve (67) is rotatably connected to the inside of the second U-shaped plate (84), and the second rotating rod (6 2) passing through the second sleeve (67), the circumferential surface of the second rotating rod (62) is connected with a plurality of second guide strips (621), and the inner wall of the second sleeve (67) is provided with a second guide groove that cooperates with the second guide strips (621); two fifth bevel gears (65) and two sixth bevel gears (66) are provided, the two fifth bevel gears (65) are respectively coaxially connected to the ends of the two second rotating shafts (85) close to each other, the third bevel gear (63) is meshed with the two fifth bevel gears (65), the two sixth bevel gears (66) are respectively coaxially connected to the ends of the two third rotating shafts (86) close to each other, and the fourth bevel gear (64) is meshed with the two sixth bevel gears (66).

8. The rail bidirectional turnout grinding robot according to claim 6, characterized in that: The second rotating shaft (85) comprises a first rotating tube (851), a first guide shaft (852) and a first spline shaft (853); the first rotating tube (851) is coaxially connected to the inside of the third bevel gear (63); the end of the first rotating tube (851) is rotatably connected to the end of the second U-shaped plate (84); the first guide shaft (852) slides in the first rotating tube (851); the end of the first guide shaft (852) extends out of the first rotating tube (851); the end of the first guide shaft (852) is connected to the middle position of the second grinding head (23); the end of the first spline shaft (853) is connected to the other end of the first guide shaft (852); the inner wall of the first rotating tube (851) is provided with a first spline groove (8511) for the first spline shaft (853) to slide; the first spline shaft (853) can slide out of the first spline groove (8511).

9. The rail bidirectional turnout grinding robot according to claim 6, characterized in that: The third rotating shaft (86) comprises a second rotating tube (861), a second guide shaft (862) and a second spline shaft (863); the second rotating tube (861) is coaxially connected to the inside of the fourth bevel gear (64); the end of the second rotating tube (861) is rotatably connected to the end of another second U-shaped plate (84); the second guide shaft (862) slides in the second rotating tube (861); the end of the second guide shaft (862) extends out of the second rotating tube (861); the end of the second guide shaft (862) is connected to the middle position of another second grinding head (23); the end of the second spline shaft (863) is connected to the other end of the second guide shaft (862); the inner wall of the second rotating tube (861) is provided with a second spline groove (8611) for the second spline shaft (863) to slide; the second spline shaft (863) can slide out of the second spline groove (8611).

10. The rail bidirectional turnout grinding robot according to claim 7, characterized in that: Two guide blocks (9) are connected to the sides of the two second U-shaped plates (84) that are away from each other. The two guide blocks (9) are respectively located on both sides of the second rotating rod (62). A sliding plate (91) slides inside the guide block (9). A push plate (92) is connected between the two ends of the two sliding plates (91). Both ends of the sliding plate (91) are connected to a push plate (93). Grooves (841) for the push plate (93) to enter are provided inside the two ends of the second U-shaped plate (84). The top surface of the push plate (93) located at the top is in contact with the bottom surface of the second grinding head (23). The bottom surface of the push plate (93) located at the bottom is in contact with the top surface of the second grinding head (23). The push plate (93) is close to the second grinding head (23). A steel ball (94) is rotatably arranged on the side of the second grinding head (23); the steel ball (94) rolls on the surface of the second grinding head (23); the side of the second U-shaped plate (84) away from the other second U-shaped plate (84) is connected to two mounting blocks (95), one mounting block (95) is located above the second rotating rod (62), and the other mounting block (95) is located below the second rotating rod (62); the sides of the two mounting blocks (95) are both rotatably connected to one end of a limiting plate (96), the side of the push plate (92) is connected to a limiting block (97), the bottom surface of the limiting plate (96) located at the bottom is in contact with the top surface of the push plate (92), and the other end of the limiting plate (96) located at the top deviates from the limiting block (97) and contacts the guide block (9).

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