Intelligent steel rail grinding robot and working group thereof

Abstract

An intelligent steel rail grinding robot is provided with a walking system, a grinding system, a control system and a power supply unit which are all fixed to a frame. The measuring system is independently mounted on the detection vehicle and can also be hung on the frame; the walking system is used for driving the equipment to move along a steel rail; the grinding system comprises a grinding device, a feeding device and a deflection device, the grinding device comprises a grinding motor and a grinding wheel, and the grinding wheel is driven by the grinding motor to rotate to grind the steel rail; the feeding device is used for controlling the feeding amount of the polishing device; the deflection device is used for adjusting the polishing angle of the polishing device; the measuring system is used for measuring the corrugation and profile of the steel rail; the control system intelligently controls the grinding system and the walking system. The steel rail polishing device is designed to be of a double-rail type polishing structure, all the systems and units are arranged on two steel rails respectively, the two rails are connected through a connecting rod, and the function of polishing the two steel rails at the same time in a full-automatic, large-angle and long-distance mode can be achieved.

Description

Technical Field

[0001] The invention relates to the field of rail grinding, and in particular to an intelligent rail grinding robot and a working group thereof. Background Art

[0002] As the demand for extending rail transportation time is increasing, train speeds are getting faster and faster, and various types of rail damage are becoming more and more frequent, which has a great impact on my country's railway transportation capacity and economic benefits, such as rail surface corrugation and severe rail side wear. Improving driving safety, reducing noise and vibration, and increasing passenger comfort objectively require rail grinding to be an important means of line maintenance and repair. At present, in addition to large-scale grinding vehicles, domestic grinding is done manually, but large-scale grinding vehicles are expensive and inconvenient to get on and off the track; manual grinding machines produce a lot of dust, have high requirements for staff, and have low grinding efficiency and grinding accuracy. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, an object of the present invention is to provide an intelligent rail grinding robot.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is:

[0005] An intelligent rail grinding robot is provided with a running system, a grinding system, a control system and a power supply unit, all of which are fixed on a frame; the running system is used to drive the frame to move along the rail; the grinding system includes a grinding device, a feeding device and a deflecting device, the feeding device is used to control the feeding amount of the grinding device; the deflecting device is used to adjust the grinding angle of the grinding device; the control system intelligently controls the grinding system and the running system according to a preset grinding strategy or according to rail corrugation and profile data, so as to enable the grinding system to grind the rail; the power supply unit supplies power to the running system, the grinding system and the control system.

[0006] Preferably, the intelligent rail grinding robot includes two frames and two sets of running systems, grinding systems, control systems, and power supply units respectively fixed to one of the frames; the two frames and the two sets of running systems, grinding systems, control systems, and power supply units respectively fixed to one of the frames are arranged on two rails and are connected and fixed by at least two connecting rods to achieve the function of grinding two rails at the same time.

[0007] Preferably, the intelligent rail grinding robot also includes a measuring system; the measuring system is either connected to the frame or arranged on the rail independently of the frame; the measuring system includes a scanner, and the rail corrugation and profile data are acquired by scanning with the scanner.

[0008] Preferably, the measuring system further comprises a detection vehicle and a measuring control unit; the detection vehicle comprises a power unit for driving the detection vehicle to move along the rail; the scanner is rotatably mounted on the detection vehicle, and the scanning angle of the scanner is adjusted by rotation to obtain rail corrugation and profile data.

[0009] Preferably, the power unit includes a traveling motor, a synchronous belt, a synchronous wheel and a traveling wheel. The traveling motor is driven by a synchronous belt and a plurality of the synchronous wheels and the traveling wheels to drive the inspection vehicle to move along the rails.

[0010] Preferably, the control system includes an electric control box and a detection device, and the detection device is used to detect the working status of the running system and / or the grinding system.

[0011] Preferably, the detection device includes a lifting displacement sensor for measuring the feed amount of the grinding device, a vibration sensor for identifying whether the grinding device contacts the rail, and a first angle sensor for measuring the deflection angle of the grinding device; the lifting displacement sensor, the vibration sensor, and the first angle sensor are all fixedly arranged relative to the grinding device.

[0012] Preferably, the control system further comprises a second angle sensor for measuring a deflection angle of the grinding device, and the second angle sensor is fixedly arranged relative to the deflection device.

[0013] Preferably, the detection device includes a camera; the camera is used to detect the number of sparks generated when the grinding device grinds the rails, and the control system adjusts the feed amount of the feeding device accordingly.

[0014] Preferably, the detection device also includes a noise sensor for monitoring sound.

[0015] Preferably, the control system further comprises a sensor disposed in the electric control box for detecting electrical quantity.

[0016] Preferably, the control system includes a laser radar for detecting whether there are obstacles in front of and behind the intelligent rail grinding robot and the distance of the obstacles.

[0017] Preferably, the control system includes an encoder for detecting the travel distance of the intelligent rail grinding robot.

[0018] Preferably, the grinding device comprises a grinding motor and a grinding wheel, wherein the grinding wheel is connected to an output end of the grinding motor and faces the rail.

[0019] Preferably, the grinding device also includes a grinding motor bracket, a coupling sleeve, a connecting flange, a protective cover and a grinding device base, and the grinding motor bracket, coupling sleeve, connecting flange and protective cover are all connected to the grinding device base; the grinding motor output shaft is connected to the upper end of the coupling sleeve, the lower end of the coupling sleeve is connected to the connecting flange, and the connecting flange is fixedly connected to the grinding wheel; the grinding motor is installed on the grinding motor bracket, and the protective cover is fixedly installed on the bottom end of the grinding motor bracket.

[0020] In another preferred embodiment, the grinding device includes a grinding motor, a milling disc connecting shaft, a milling disc and milling cutter particles; a plurality of milling cutter particles are distributed and installed around the bottom end of the milling disc, and the milling disc is connected to the output end of the grinding motor through the milling disc connecting shaft to achieve milling of the rails.

[0021] Preferably, the feeding device includes a feeding motor, a guide column and a feeding device base; the feeding motor is fixedly connected to the feeding device base, and the guide column is fixedly arranged relative to the feeding device base; the output end of the feeding motor is connected to a lead screw, and the lead screw is arranged parallel to the guide column; the grinding device is connected to the lead screw and moves axially along the lead screw under the drive of the feeding motor to approach or move away from the rail.

[0022] Preferably, the deflection device includes a deflection motor, a deflection reducer, a gear box, a main swing bracket, and a slave swing bracket; the deflection motor, the deflection reducer, and the gear box are all fixedly connected to the frame, and the deflection motor drives the gear box via the deflection reducer; the main swing bracket is connected to the output end of the gear box and deflects under the drive of the deflection motor, so as to drive the grinding device connected to the main swing bracket to deflect relative to the rail, thereby adjusting the grinding angle of the grinding device.

[0023] Furthermore, the deflection device also includes a slave swing bracket, a deflection bearing seat, an electric push rod, a brake and a brake disc; the main swing bracket and the slave swing bracket are respectively arranged on opposite sides of the grinding device, and the main swing bracket and the slave swing bracket are fixedly connected to the grinding device; the deflection bearing seat is fixedly arranged on the frame, and the slave swing bracket is connected to the deflection bearing seat through a connecting shaft, thereby realizing a rotatable connection to the frame; the brake disc is fixedly connected to the connecting shaft, the brake is fixedly arranged on the frame, and the electric push rod is fixedly installed on the frame in an inverted manner; the electric push rod is connected to the brake to control the brake or brake the brake disc to limit the rotation of the slave swing bracket and thereby fix the grinding angle of the grinding device, or release the restriction on the brake disc so that the slave swing bracket can rotate with the main swing bracket to adjust the grinding angle of the grinding device.

[0024] Preferably, the running system includes a running motor, a running reducer, a running bearing seat, a running wheel axle and a first running wheel; the running motor is connected to the input end of the running reducer, the output end of the running reducer is connected to the running wheel axle, the running wheel axle and the bearing are installed on the running bearing seat; the running wheel axle is connected to the first running wheel; the running bearing seat is fixedly installed under the frame, and a second running wheel is arranged on the other side of the frame relative to the first running wheel.

[0025] Preferably, the power supply unit includes a battery and a backup battery; the battery and the backup battery are both placed on the frame and can be quickly removed.

[0026] Preferably, the intelligent rail grinding robot further comprises a dust collection system, and the dust collection system comprises a dust collector and a dust collection box; the dust collector and the dust collection box are fixed on the frame.

[0027] Preferably, wheel-row carts are installed at both ends of the frame.

[0028] Preferably, the frame includes an inverted U-shaped main frame, a first base and a second base, and the first base and the second base are respectively connected to the bottom ends of two vertical brackets of the main frame.

[0029] Preferably, both ends of the frame are provided with detachable lifting rods, and the frame is provided with a horizontal socket and a vertical socket, and the lifting rod can be selectively inserted into the horizontal socket or the vertical socket to realize the function conversion of lifting and pushing.

[0030] Preferably, a plurality of foldable or unfoldable running wheels are provided at the end of the frame; the plurality of running wheels are either unfolded to realize the ground movement of the grinding robot, or flipped and folded to prevent interference during grinding.

[0031] Preferably, the intelligent rail grinding robot is equipped with an Internet of Things communication module to upload grinding operation data and measurement data to a server; the intelligent rail grinding robot has a voice interaction module to realize control of the intelligent rail grinding robot.

[0032] Preferably, the intelligent rail grinding robot is equipped with a fault and emergency voice prompt module.

[0033] Another alternative solution is provided: the running system, grinding system, control system and power supply unit fixed on one side of the frame are replaced with a base trolley to realize the function of grinding a single rail; the intelligent rail grinding robot also includes a measuring system; the measuring system includes a scanner and a measuring control unit, and the scanner is either rotatably mounted on the frame; or is independently mounted on an inspection vehicle from the frame, and the inspection vehicle is arranged on the rail; the scanner obtains rail corrugation and profile data by scanning.

[0034] In this alternative, preferably, the base trolley can be used to place a spare battery.

[0035] The present invention also provides an intelligent rail grinding robot working group, which is composed of several intelligent rail grinding robots as described above arranged on the rails, and the several intelligent rail grinding robots share data to achieve collaborative grinding.

[0036] The beneficial effects of the present invention are as follows:

[0037] 1. High efficiency: The dual-track grinding structure design allows two rails to be ground at the same time, which significantly improves the grinding efficiency compared to traditional manual grinding.

[0038] 2. High degree of automation: Compared with manual grinders, the grinding task can be completed by manual remote control, and the grinding process does not require human intervention;

[0039] 3. High grinding accuracy: Automatically measure the rail corrugation and profile before and after grinding, generate grinding strategies based on the measurement results before grinding, and compare them with the measurement results after grinding to intelligently evaluate the grinding effect;

[0040] 4. Lightweight and easy to get on and off the road: Compared with large grinding vehicles, it is light and easy to get on and off the road. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0042] Figure 2 It is a schematic diagram of the structure of the main body of the present invention;

[0043] Figure 3 It is a side view of the structure of the main body of the present invention;

[0044] Figure 4 It is a schematic diagram of the framework structure of the present invention;

[0045] Figure 5 It is a schematic diagram of the structure of the running system of the present invention;

[0046] Figure 6 It is a schematic structural diagram of the grinding device of the present invention;

[0047] Figure 7 It is a schematic diagram of a partial cross-sectional structure of a grinding device of the present invention;

[0048] Figure 8 A top view of the grinding device of the present invention;

[0049] Fig. 9 and Fig.10 It is a schematic diagram of the brake structure of the present invention;

[0050] Fig.11 It is a schematic diagram of the brake disc structure of the present invention;

[0051] Fig.12 A schematic diagram of the internal structure of the measuring system of the present invention when measuring the rail profile;

[0052] Fig.13 A schematic diagram of the internal structure of the measuring system of the present invention when measuring rail corrugation;

[0053] Fig.14 It is a structural schematic diagram of the wheel rowing vehicle of the present invention;

[0054] Fig.15 It is a structural schematic diagram of the lifting rod of the present invention when it is lifted;

[0055] Fig.16 This is a schematic diagram of the structure of the lifting rod of the present invention when it is pushed;

[0056] Fig.17 This is a schematic diagram of the structure of the present invention when the running wheels are retracted;

[0057] Fig.18 This is a schematic diagram of the structure of Embodiment 2 of the present invention;

[0058] Fig.19 This is a schematic structural diagram of a grinding device according to Embodiment 3 of the present invention;

[0059] Fig. 20 This is a schematic diagram of a partial cross-sectional structure of the grinding device of Example 3 of this embodiment.

[0060] Reference numerals include: 10 - frame, 20 - running system, 30 - grinding system, 40 - control system, 50 - power supply unit, 60 - measuring system, 70 - dust collection system;

[0061] 11-main frame, 12-first base, 13-second base, 14-detachable rod, 15-wheeler, 16-lifting rod, 17-traveling wheel, 18-base trolley;

[0062] 111-crossbeam, 112-first bracket, 113-second bracket;

[0063] 21-travel motor, 22-travel reducer, 23-travel bearing seat, 24-first travel wheel, 25-second travel wheel;

[0064] 31-grinding device, 32-feeding device, 33-deflection device;

[0065] 311-grinding motor, 312-grinding wheel, 313-grinding motor bracket, 314-coupling sleeve, 315-connecting flange, 316-shield, 317-grinding device base;

[0066] 321-feeding motor, 322-guide column, 323-feeding device base, 324-lead screw;

[0067] 331- deflection motor, 332- deflection reducer, 333- gear box, 334- main swing bracket, 335- slave swing bracket, 336- deflection bearing seat, 337- electric push rod, 338- brake, 339- brake disc;

[0068] 41-first electric control box, 42-second electric control box, 43-grinding motor controller, 44-camera, 45-lifting displacement sensor, 46-vibration sensor, 47-angle sensor, 48-noise sensor, 49-laser radar, 410-encoder, 411-second angle sensor;

[0069] 51-battery, 52-spare battery;

[0070] 61- detection vehicle, 62- scanner, 63- rotating device;

[0071] 71-vacuum cleaner, 72-dust collection box;

[0072] 81-milling cutter disc connecting shaft, 82-milling cutter disc, 83-milling cutter grains. DETAILED DESCRIPTION

[0073] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0074] In the description of the present invention, it is necessary to understand that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0075] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0076] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0077] Embodiment 1:

[0078] like Figures 1 to 17 As shown, the intelligent rail grinding robot of the present invention is provided with a running system 20, a grinding system 30, a control system 40 and a power supply unit 50, all of which are fixed on the frame 10; the running system 20 is used to drive the frame 10 to move along the rail; the grinding system 30 includes a grinding device 31, a feeding device 32 and a deflection device 33, the feeding device 32 is used to control the feeding amount of the grinding device 31; the deflection device 33 is used to adjust the grinding angle of the grinding device 31; the control system 40 intelligently controls the grinding system 30 and the running system 20 according to a preset grinding strategy or according to the corrugation and profile data of the rail, so as to realize the grinding of the rail by the grinding system 30; the power supply unit 50 supplies power to the running system 20, the grinding system 30 and the control system 40.

[0079] In this embodiment, the intelligent rail grinding robot includes two frames 10 and two sets of running systems 20, grinding systems 30, control systems 40, and power supply units 50 respectively fixed to one frame 10; the two frames 10 and the two sets of running systems 20, grinding systems 30, control systems 40, and power supply units 50 respectively fixed to one frame 10 are centrally symmetrically arranged on two rails, and are connected and fixed by at least two connecting rods 14 to achieve simultaneous grinding of two rails. More specifically, the two ends of the at least two detachable connecting rods 14 are respectively connected and fixed to the two frames 10.

[0080] In other embodiments different from the present embodiment, as an alternative: the running system 20, the grinding system 30, the control system 40 and the power supply unit 50 fixed on one side of the frame 10 are replaced with the base trolley 18 to realize the function of grinding a single rail; the intelligent rail grinding robot also includes a measuring system 60; the measuring system 60 includes a scanner 62 and a measuring control unit, and the scanner 62 is either rotatably mounted on the frame 10; or is independently mounted on the inspection vehicle 61 of the frame 10, and the inspection vehicle 61 is arranged on the rail; the scanner obtains the rail corrugation and profile data by scanning. In this alternative, preferably, the base trolley 18 can be used to place a backup battery 52.

[0081] The following is in conjunction with the instruction manual Figure 1-17 , the intelligent rail grinding robot of the present invention is described in detail:

[0082] The intelligent rail grinding robot of the present invention includes a frame 10, a traveling system 20, a grinding system 30, a control system 40, a power supply unit 50, a measuring system 60, and a dust collection system 70.

[0083] like Figure 1-Figure 4 As shown, the frame 10 includes an inverted U-shaped main frame 11, a first base 12 and a second base 13, the first base 12 and the second base 13 are respectively connected to the bottom ends of the two vertical brackets of the main frame 11, and the main frame 11 includes a crossbeam 111 and a first bracket 112 and a second bracket 113 connected to the crossbeam. The running system 20, the grinding system 30, the control system 40, the power supply unit 50, and the dust collection system 70 are all fixedly arranged on the frame 10; the measuring system 60 can be fixedly arranged on the frame 10, or can be independent of the frame 10 and can independently travel on the rails.

[0084] As for the measuring system 60, in this embodiment, specifically: the measuring system 60 is independently arranged on the rail; the measuring system 60 includes a detection vehicle 61, a scanner 62, a battery and a measuring control unit; the detection vehicle 61 includes a running motor, a synchronous belt, a synchronous wheel and a running wheel, and the running motor is connected to a plurality of synchronous wheels, a running wheel shaft and a running wheel through a synchronous belt to drive the detection vehicle to move along the rail; the scanner 62 is installed on the detection vehicle 61 through a rotating device 63; the scanner obtains the rail corrugation and profile data by scanning. When working, the detection vehicle 61 moves along the rail to the position where grinding is required, and the rotating device 63 drives the scanner 62 to rotate a certain angle so that the laser line is parallel to the longitudinal section of the rail. As the detection vehicle 61 moves and scans the top surface of the rail, a small section of rail corrugation data can be obtained, and then each small section of the corrugation data obtained by scanning is spliced, so that the long-distance rail corrugation data can be measured. The inspection vehicle 61 stops moving, and the rotating device 63 drives the scanner 62 to rotate a certain angle so that the laser line is parallel to the cross section of the rail. At this time, the rail profile data can be obtained by scanning the rail.

[0085] In other embodiments different from the present embodiment, alternatively: the measuring system 60 includes a scanner 62 and a measuring control unit, and the scanner 62 is mounted on the frame 10 via a rotating device 63; the scanner 62 acquires the rail corrugation and profile data by scanning.

[0086] Specifically, the control system 40 includes two electric control boxes and a grinding motor controller 43, all of which are fixed on the frame 10; it also includes a camera 44 fixed on the grinding motor bracket 313. For the convenience of expression, the two electric control boxes are referred to as the first electric control box 41 and the second electric control box 42 respectively; the camera 44 is used to detect the number of sparks generated during grinding and feed it back to the control system 40, so as to intelligently adjust the feed amount of the grinding device 31; the control unit and the sensor for monitoring the battery power are arranged in the first electric control box 41 and the second electric control box 42; the lifting displacement sensor 45 for measuring the feed amount of the grinding wheel 312, the vibration sensor 46 for identifying whether the grinding device 31 contacts the rail, and the angle sensor 47 for measuring the deflection angle of the grinding device 31 are all fixed on the grinding motor bracket 313.

[0087] Specifically, the control system 40 includes a second angle sensor 411 for measuring the deflection angle of the grinding device 31 fixed to one end of the shaft of the deflection bearing seat 336; and also includes a noise sensor 48 for monitoring sound, fixed on the frame 10.

[0088] Specifically, the control system 40 includes a laser radar 49 for detecting whether there are obstacles in front of and behind the equipment and the distance of the obstacles, and an encoder 410 for detecting the travel distance of the intelligent rail grinding robot, both of which are fixed on the frame 10.

[0089] Specifically, the running system 20 includes a running motor 21, a running reducer 22, a running bearing seat 23, a running wheel axle and a first running wheel 24; the running motor 21 is connected to the input end of the running reducer 22, the output end of the running reducer 22 is connected to the running wheel axle, the running wheel axle and the bearing are installed on the running bearing seat 23; the running wheel axle is connected to the first running wheel 24; the running bearing seat 23 is fixedly installed below the frame 10. A second running wheel 25 is arranged on the other side of the frame 10 relative to the first running wheel 24. The running torque can be increased by the above-mentioned design layout, and the running requirements of the equipment can be met by the dual-wheel drive method, realizing the function of grinding rails over a long distance.

[0090] Specifically, the grinding system 30 includes a grinding device 31, a feeding device 32 and a deflection device 33; the grinding device 31 includes a grinding motor 311, a grinding wheel 312, a grinding motor bracket 313, a coupling sleeve 314, a connecting flange 315, a shield 316 and a grinding device base 317; the grinding motor 311, the grinding wheel 312, the grinding motor bracket 313, the coupling sleeve 314, the connecting flange 315 and the shield 316 are connected to the grinding device base 317; the output shaft of the grinding motor 311 is connected to the upper end of the coupling sleeve 314, the lower end of the coupling sleeve 314 is connected to the connecting flange 315, and the connecting flange 315 is fixedly connected to the grinding wheel 312; the grinding motor 311 is installed on the grinding motor bracket 313, and the shield 316 is fixedly installed at the bottom of the grinding motor bracket 313. Through the above design method, the grinding motor drives the grinding wheel to rotate to grind the rail, and the shield plays a role of safety protection.

[0091] Specifically, the feeding device 32 includes a feeding motor 321, a guide column 322, a feeding device base 323 and a lead screw 324; the feeding motor 321 is fixedly mounted on the feeding device base 323, the feeding motor 321 drives the lead screw 324, the top end of the lead screw 324 is connected to the grinding motor bracket 313, the grinding motor bracket 313 is provided with a guide column 322 for guiding the movement of the lead screw 324, and the bottom of the guide column 322 is fixedly connected to the grinding device base 317.

[0092] Combination Figure 1-3 and Figure 9-11 The deflection device 33 shown includes a deflection motor 331, a deflection reducer 332, a gear box 333, a main swing bracket 334, and a slave swing bracket 335; the deflection motor 331, the deflection reducer 332, and the gear box 333 are all fixedly connected to the frame 10, and the deflection motor 331 drives the gear box 333 via the deflection reducer 332; the main swing bracket 334 is connected to the output end of the gear box 333 and deflects under the drive of the deflection motor 331, so as to drive the grinding device 31 connected to the main swing bracket 334 to deflect relative to the rail, thereby adjusting the grinding angle of the grinding device 31.

[0093] Furthermore, the deflection device 33 also includes a slave swing bracket 335, a deflection bearing seat 336, an electric push rod 337, a brake 338 and a brake disc 339; the main swing bracket 334 and the slave swing bracket 335 are respectively arranged on opposite sides of the grinding device 31, and the main swing bracket 334 and the slave swing bracket 335 are fixedly connected to the grinding device 31; the deflection bearing seat 336 is fixedly arranged on the frame 10, and the slave swing bracket 335 is connected to the deflection bearing seat 336 through a connecting shaft, thereby realizing a rotatable connection to the frame Frame 10; the brake disc 339 is fixedly connected to the connecting shaft, the brake 338 is fixedly arranged on the frame 10, and the electric push rod 337 is fixedly installed on the frame 10 by hanging upside down; the electric push rod 337 is connected to the brake 338 to control the brake 338 or the brake disc 339 to limit the rotation of the slave swing bracket 335 and thus fix the grinding angle of the grinding device 31, or release the restriction on the brake disc 339 so that the slave swing bracket 335 can rotate with the main swing bracket 334 to adjust the grinding angle of the grinding device 31.

[0094] Combination Figure 1-3 and Figure 9-11 As shown, the deflection device 33 is described in more detail:

[0095] The deflection motor 331 is connected to the deflection reducer 332, the deflection reducer 332 is installed under the first base 12 and connected to the input end of the gear box 333, the gear box 333 is fixedly connected to the base, and the main swing bracket 334 is connected to the output end of the gear box 333; the slave swing bracket 335 is connected to the deflection bearing seat 336 through an axis, and the deflection bearing seat 336 is installed under the second base 13; the brake disc 339 is mounted on the axis of the deflection bearing seat 336, the brake 338 is fixedly installed under the second base 13, and the electric push rod 337 is fixedly installed on the frame 10 by hanging upside down; the guide rod of the electric push rod 337 is connected to the brake 338 through a spring and a pull rope. Through the above structure, the deflection motor 331 increases the output torque through the deflection reducer 332 and transmits it to the gear box 333. The output shaft of the gear box 333 rotates to drive the main swing bracket 334 to deflect, thereby controlling the deflection of the grinding device 31. When the deflection reaches the required grinding angle, the electric push rod 337 retracts the spring and the pull rope, the spring and the pull rope tighten the brake 338, and the brake 338 brakes the brake disc 339, so that the grinding device 31 always maintains a constant angle, realizing the function of grinding the rail at a large angle. When the grinding angle needs to be changed, the electric push rod 337 extends, the spring and the pull rope reset and release the brake 338, and the brake 338 releases the brake disc 339, and the deflection device 33 can drive the grinding device 31 to deflect.

[0096] Specifically, the power supply unit 50 includes a battery 51 and a backup battery 52; the battery 51 and the backup battery 52 are both placed on the frame 10 and can be quickly removed. The power supply unit 50 can provide a stable power source for the device to ensure the normal operation of the intelligent rail grinding robot.

[0097] Specifically, the dust collection system 70 includes a dust collector 71 and a dust box 72; the dust collector 71 and the dust box 72 are fixed on the frame 10. During the grinding work, most of the dust is collected in the dust box, and a small part of the dust is sucked into the dust collector. The dust collector 71 and the dust box 72 can reduce the environmental impact caused by the diffusion of dust particles during the grinding work.

[0098] Specifically, in order to increase the running stability and grinding accuracy of the equipment, wheel-row carts 15 are installed at both ends of the frame 10 .

[0099] like Figure 15-17 As shown, both ends of the frame 10 are provided with detachable lifting rods 16, and the lifting rods 16 can realize the function conversion of lifting and pushing by changing the position; specifically: the frame 10 is provided with a horizontal socket and a vertical socket, and the lifting rod 16 can be selectively inserted into the horizontal socket or the vertical socket to realize the function conversion of lifting and pushing. A plurality of foldable or openable running wheels 17 are provided at the end of the frame 10; a plurality of running wheels 17 can be opened to realize the ground movement of the grinding robot, or turned over and folded to prevent interference in the grinding working condition.

[0100] It can be understood that a number of intelligent rail grinding robots arranged on the rails can constitute an intelligent rail grinding robot working group of the present invention, and data can be shared among the intelligent rail grinding robots to achieve collaborative grinding.

[0101] Specifically, the intelligent rail grinding robot is equipped with an Internet of Things communication module to upload the grinding operation data and measurement data to the server; the intelligent rail grinding robot has a voice interaction function to realize the control of the intelligent rail grinding robot; the intelligent rail grinding robot has a voice prompt function for faults and emergencies.

[0102] Working process: before the grinding work begins, the inspection vehicle 61 moves along the rail to the position where grinding is required, and the rotating devices 63 of the two measuring systems 60 respectively drive the 3D laser scanner 62 to rotate a certain angle to make the laser line parallel to the longitudinal section of the rail. As the inspection vehicle 61 moves, the top surface of the rail is scanned respectively, and a small section of rail corrugation data can be obtained. Subsequently, each small section of the scanned corrugation data is spliced, and the long-distance rail corrugation data can be measured respectively; the inspection vehicle 61 stops moving, and the rotating device 63 drives the 3D laser scanner 62 to rotate a certain angle to make the laser line parallel to the cross-section of the rail, and the rail profile can be scanned respectively. The two control systems 40 respectively compare the measurement results of their respective measurement systems 60 with the standard rails and calculate the grinding strategies respectively, and intelligently control the operation of their respective running systems 20, grinding systems 30 and dust collection systems 70, so as to realize the functions of large-angle, long-distance, automatic and intelligent equipment and simultaneous grinding of two rails by controlling the running speed, grinding feed amount and grinding deflection angle, thereby achieving the purpose of eliminating rail diseases and restoring the shape of the rail head. During the grinding process, the dust generated during grinding is collected by the two dust collection systems 70 to reduce pollution to the environment. After the grinding work is completed, the control system 40 sends a signal to make the inspection vehicle 61 move along the polished rails, repeat the above measurement process to measure the corrugation and profile data of the polished rails, and finally compare the measurement results before and after grinding with the standard rail data to intelligently evaluate the grinding effect.

[0103] In summary, the design of the dual-track grinding structure enables each measurement system 60 to scan the rails on its side respectively, and each control system 40 to control the operation of its other systems respectively, and to intelligently perform grinding operations according to the corrugation and profile of each rail, thereby achieving simultaneous grinding of two rails without the need for any manual rail changing operations, thereby achieving a leap in grinding efficiency.

[0104] Embodiment 2:

[0105] like Fig.18 As shown, the difference from Example 1 is that, specifically, the running system 20, the grinding system 30, the control system 40 and the power supply unit 50 fixed on one side of the frame 10 are replaced by a base trolley 18, and the base trolley 18 can be used to place a backup battery 52 to realize the function of grinding a single rail; the intelligent rail grinding robot also includes a measuring system 60; the measuring system 60 includes a scanner 62 and a measuring control unit, and the scanner 62 is installed on the frame 10 through a rotating device 63; the scanner obtains the rail corrugation and profile data by scanning.

[0106] The structure and working principle of the rail grinding system 30 of this embodiment are the same as those of the first embodiment, and will not be described in detail here.

[0107] Embodiment 3:

[0108] like Figure 19-20 As shown, different from Example 1, the grinding wheel 312 in the grinding system 30 is replaced by a milling cutter disc 82, and becomes an intelligent rail milling robot. The grinding device 31 is located below the crossbeam 111, and the output shaft of the grinding motor 311 of the grinding device 31 is connected to the upper end of a milling cutter disc connecting shaft 81, and the lower end of the milling cutter disc connecting shaft 81 is connected to the milling cutter disc 82 through a pin, and a locking nut is installed at the bottom of the milling cutter disc connecting shaft 81, and the milling cutter disc 82 is fixedly connected to the milling cutter grain 83 by bolts. The grinding motor 311 is installed on the grinding motor bracket 313. Through the above structural design, the grinding motor 311 drives the milling cutter to mill the rail. In order to play a role in safety protection, a shield 316 is installed at the lower end of the grinding motor bracket 313. The milling cutter disc connecting shaft 81 of this embodiment can be quickly disassembled and assembled with the output shaft of the grinding motor 311, and the milling cutter disc 82 or the grinding wheel 312 can be mutually converted between this embodiment and Example 1 by quickly disassembling and assembling. Compared with the first embodiment, this embodiment has higher working efficiency when used to treat seriously damaged rails.

[0109] The structures and working principles of other functional systems of this embodiment are the same as those of Embodiment 1 and will not be described in detail here.

[0110] In summary, the present invention solves the deficiencies in the prior art through the above-mentioned structural design, and has the characteristics of reasonable structure, high grinding efficiency, high degree of automation, etc.

[0111] The above are only preferred embodiments of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the present invention through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, and should be within the scope of protection of the claims attached to the present invention.

Claims

1. An intelligent rail grinding robot, characterized in that: A running system (20), a grinding system (30), a control system (40) and a power supply unit (50) are provided, all of which are fixed on a frame (10); the running system (20) is used to drive the frame (10) to move along the rail; the grinding system (30) comprises a grinding device (31), a feeding device (32) and a deflection device (33), wherein the feeding device (32) is used to control the feeding amount of the grinding device (31); the deflection device (33) is used to adjust the grinding angle of the grinding device (31); the control system (40) intelligently controls the grinding system (30) and the running system (20) according to a preset grinding strategy or according to rail corrugation and profile data, so as to enable the grinding system (30) to grind the rail; and the power supply unit (50) supplies power to the running system (20), the grinding system (30) and the control system (40).

2. The intelligent rail grinding robot according to claim 1, characterized in that: The intelligent rail grinding robot comprises two frames (10) and two sets of running systems (20), grinding systems (30), control systems (40), and power supply units (50) respectively fixed to one of the frames (10); the two frames (10) and the two sets of running systems (20), grinding systems (30), control systems (40), and power supply units (50) respectively fixed to one of the frames (10) are arranged on two rails and connected and fixed by at least two connecting rods (14), so as to realize the function of grinding two rails at the same time.

3. The intelligent rail grinding robot according to claim 2, characterized in that: The intelligent rail grinding robot further comprises a measuring system (60); the measuring system (60) is either connected to the frame (10) or arranged on the rail independently of the frame (10); the measuring system (60) comprises a scanner (62), and the scanner (62) is used to scan and obtain rail corrugation and profile data.

4. The intelligent rail grinding robot according to claim 3, characterized in that: The measuring system (60) further comprises a testing vehicle (61) and a measuring control unit; the testing vehicle (61) comprises a power unit for driving the testing vehicle (61) to move along the rail; the scanner (62) is rotatably mounted on the testing vehicle (61), and the scanning angle of the scanner (62) is adjusted by rotation to obtain rail corrugation and profile data.

5. The intelligent rail grinding robot according to claim 4, characterized in that: The power unit comprises a running motor, a synchronous belt, a synchronous wheel and a running wheel. The running motor is driven by a synchronous belt and a plurality of the synchronous wheels and the running wheels to drive the inspection vehicle (61) to move along the rail.

6. The intelligent rail grinding robot according to claim 2, characterized in that: The control system (40) comprises an electric control box (41, 42) and a detection device, wherein the detection device is used to detect the working state of the running system (20) and / or the grinding system (30).

7. The intelligent rail grinding robot according to claim 6, characterized in that: The detection device comprises a lifting displacement sensor (45) for measuring the feed amount of the grinding device (31), a vibration sensor (46) for identifying whether the grinding device (31) contacts the rail, and a first angle sensor (47) for measuring the deflection angle of the grinding device (31); the lifting displacement sensor (45), the vibration sensor (46), and the first angle sensor (47) are all fixedly arranged relative to the grinding device (31).

8. The intelligent rail grinding robot according to claim 7, characterized in that: The control system (40) further comprises a second angle sensor (411) for measuring the deflection angle of the grinding device (31), wherein the second angle sensor (411) is fixedly arranged relative to the deflection device (33).

9. The intelligent rail grinding robot according to claim 6, characterized in that: The detection device comprises a camera (44); the camera (44) is used to detect the number of sparks generated when the grinding device (31) grinds the rail, and the control system (40) adjusts the feeding amount of the feeding device (32) accordingly.

10. The intelligent rail grinding robot according to claim 6, characterized in that: The detection device also includes a noise sensor (48) for monitoring sound.

11. The intelligent rail grinding robot according to claim 6, characterized in that: The control system (40) also includes a sensor disposed in the electrical control box (41, 42) and used for detecting electrical quantity.

12. The intelligent rail grinding robot according to claim 6, characterized in that: The control system (40) comprises a laser radar (49) for detecting whether there are obstacles in front of and behind the intelligent rail grinding robot and the distance of the obstacles.

13. The intelligent rail grinding robot according to claim 6, characterized in that: The control system comprises an encoder (410) for detecting the travel distance of the intelligent rail grinding robot.

14. The intelligent rail grinding robot according to claim 2, characterized in that: The grinding device (31) comprises a grinding motor (311) and a grinding wheel (312), wherein the grinding wheel (312) is connected to the output end of the grinding motor (311) and faces the rail.

15. The intelligent rail grinding robot according to claim 14, characterized in that: The grinding device (31) further comprises a grinding motor support (313), a coupling sleeve (314), a connecting flange (315), a shield (316) and a grinding device base (317); the grinding motor support (313), the coupling sleeve (314), the connecting flange (315) and the shield (316) are all connected to the grinding device base (317); the output shaft of the grinding motor (311) is connected to the upper end of the coupling sleeve (314), the lower end of the coupling sleeve (314) is connected to the connecting flange (315), and the connecting flange (315) is fixedly connected to the grinding wheel (312); the grinding motor (311) is mounted on the grinding motor support (313), and the shield (316) is fixedly mounted on the bottom end of the grinding motor support (313).

16. The intelligent rail grinding robot according to claim 2, characterized in that: The grinding device (31) comprises a grinding motor (311), a milling cutter disc connecting shaft (81), a milling cutter disc (82) and milling cutter particles (83); a plurality of milling cutter particles (83) are distributed and installed around the bottom end of the milling cutter disc (82); the milling cutter disc (82) is connected to the output end of the grinding motor (311) via the milling cutter disc connecting shaft (81) to achieve milling of the rail.

17. The intelligent rail grinding robot according to claim 2, characterized in that: The feeding device (32) comprises a feeding motor (321), a guide column (322) and a feeding device base (323); the feeding motor (321) is fixedly connected to the feeding device base (323), and the guide column (322) is fixedly arranged relative to the feeding device base (323); the output end of the feeding motor (321) is connected to a lead screw (324), and the lead screw (324) is arranged parallel to the guide column (322); the grinding device (31) is connected to the lead screw (324) and moves axially along the lead screw (324) under the drive of the feeding motor (321) to approach or move away from the rail.

18. The intelligent rail grinding robot according to claim 2, characterized in that: The deflection device (33) comprises a deflection motor (331), a deflection reducer (332), a gear box (333), a main swing bracket (334), and a slave swing bracket (335); the deflection motor (331), the deflection reducer (332), and the gear box (333) are all fixedly connected to the frame (10), and the deflection motor (331) drives the gear box (333) via the deflection reducer (332); the main swing bracket (334) is connected to the output end of the gear box (333) and deflects under the drive of the deflection motor (331), so as to drive the grinding device (31) connected to the main swing bracket (334) to deflect relative to the rail, thereby adjusting the grinding angle of the grinding device (31).

19. The intelligent rail grinding robot according to claim 18, characterized in that: The deflection device (33) further comprises a slave swing bracket (335), a deflection bearing seat (336), an electric push rod (337), a brake (338) and a brake disc (339); the main swing bracket (334) and the slave swing bracket (335) are respectively arranged on opposite sides of the grinding device (31), and the main swing bracket (334) and the slave swing bracket (335) are fixedly connected to the grinding device (31); the deflection bearing seat (336) is fixedly arranged on the frame (10), and the slave swing bracket (335) is connected to the deflection bearing seat (336) via a connecting shaft, thereby realizing a rotatable connection to the frame (10); The brake disc (339) is fixedly connected to the connecting shaft, the brake (338) is fixedly arranged on the frame (10), and the electric push rod (337) is fixedly installed on the frame (10) in an inverted manner; the electric push rod (337) is connected to the brake (338) to control the brake (338) or brake the brake disc (339) to limit the rotation of the slave swing bracket (335) and thereby fix the grinding angle of the grinding device (31), or release the restriction on the brake disc (339) so that the slave swing bracket (335) can rotate with the main swing bracket (334) to adjust the grinding angle of the grinding device (31).

20. The intelligent rail grinding robot according to claim 2, characterized in that: The running system (20) comprises a running motor (21), a running reducer (22), a running bearing seat (23), a running wheel axle and a first running wheel (24); the running motor (21) is connected to the input end of the running reducer (22), the output end of the running reducer (22) is connected to the running wheel axle, the running wheel axle and the bearing are mounted on the running bearing seat (23); the running wheel axle is connected to the first running wheel (24); the running bearing seat (23) is fixedly mounted below the frame (10); a second running wheel (25) is arranged below the frame (10) on the other side of the first running wheel (24).

21. The intelligent rail grinding robot according to claim 2, characterized in that: The power supply unit (50) comprises a battery (51) and a backup battery (52); the battery (51) and the backup battery (52) are both placed on the frame (10) and can be quickly removed.

22. The intelligent rail grinding robot according to claim 2, characterized in that: The intelligent rail grinding robot further comprises a dust collection system (70), wherein the dust collection system (70) comprises a dust collector (71) and a dust collection box (72); the dust collector (71) and the dust collection box (72) are fixed on the frame (10).

23. The intelligent rail grinding robot according to claim 2, characterized in that: Wheel-row carts (15) are installed at both ends of the frame (10).

24. The intelligent rail grinding robot according to claim 2, characterized in that: The frame (10) comprises an inverted U-shaped main frame (11), a first base (12) and a second base (13), wherein the first base (12) and the second base (13) are respectively connected to the bottom ends of two vertical brackets of the main frame (11).

25. The intelligent rail grinding robot according to claim 2, characterized in that: Both ends of the frame (10) are provided with detachable lifting rods (16), and the frame (10) is provided with a horizontal plug hole and a vertical plug hole. The lifting rod (16) can be selectively inserted into the horizontal plug hole or the vertical plug hole to realize the function conversion of lifting and pushing.

26. The intelligent rail grinding robot according to claim 2, characterized in that: A plurality of foldable or unfoldable running wheels (17) are arranged at the end of the frame (10); the plurality of running wheels (17) are either unfolded to realize the ground movement of the grinding robot, or flipped and folded to prevent interference during grinding.

27. The intelligent rail grinding robot according to claim 2, characterized in that: The intelligent rail grinding robot is equipped with an Internet of Things communication module to upload grinding operation data and measurement data to a server; the intelligent rail grinding robot is provided with a voice interaction module to realize control of the intelligent rail grinding robot.

28. The intelligent rail grinding robot according to claim 2, characterized in that: The intelligent rail grinding robot is provided with a fault and emergency voice prompt module.

29. The intelligent rail grinding robot according to any one of claims 2 to 26, characterized in that: The running system (20), the grinding system (30), the control system (40) and the power supply unit (50) fixed on one side of the frame (10) are replaced with a base trolley (18) to realize the function of grinding a single rail; the intelligent rail grinding robot also includes a measuring system (60); the measuring system (60) includes a scanner (62) and a measuring control unit, the scanner (62) is either rotatably mounted on the frame (10) or independently mounted on a detection vehicle (61) from the frame (10), and the detection vehicle (61) is arranged on the rail; the scanner (62) obtains rail corrugation and profile data through scanning.

30. The intelligent rail grinding robot according to claim 29, characterized in that: The base trolley (18) can be used to place a backup battery (52).

31. An intelligent rail grinding robot working group, characterized by: Several intelligent rail grinding robots as described in any one of claims 1 to 28 are arranged on the rails, and data is shared among the several intelligent rail grinding robots to achieve collaborative grinding.

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