Polishing equipment special for long and large rail piece and polishing method of polishing equipment

Abstract

The invention provides special grinding equipment for a long and large rail piece and a grinding method thereof. The special grinding equipment is composed of a feeding system, an automatic grinding system and a protection system. The feeding system is composed of a feeding area feeding system, a discharging area feeding system and a transition polishing area feeding system. The automatic grinding system comprises a transverse ground rail, a grinding robot, a force control grinding device and a quick-change tool rack; the protection system comprises a dust collection device, a safety protection device and a noise reduction device; a feeding area feeding system is arranged on one transverse side of the transverse ground rail, and a discharging area feeding system is arranged on the other side of the transverse ground rail. A transition polishing area feeding system is arranged between the feeding area feeding system and the discharging area feeding system. The feeding system of the feeding area and the feeding system of the discharging area transversely carry long and large rail pieces and longitudinally convey a single long and large rail piece. Grinding robots are arranged at the two transverse ends of the transverse ground rail, and the two grinding robots transversely move along the transverse ground rail to grind a single long and large rail piece; the dust collection device synchronously and transversely moves along with the grinding robot. Full-automatic, stable, efficient, high-quality and environment-friendly grinding of the burrs of the long and large rail pieces is achieved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of grinding and polishing, and particularly relates to a special grinding equipment for long and large rail pieces and a grinding method thereof. BACKGROUND

[0002] At present, for the turnout product of rail transit, after machining of the steel rail, a large number of tool marks are formed on the rail surface, rail waist and rail limb, and burrs are formed at the junction of the rail head and the lower jaw, which are all polished by manual electric grinding machines. The labor intensity of polishing is high, the efficiency is low, the polishing quality is greatly affected by the technical level of workers, and is unstable. Moreover, the polishing dust has a great impact on the health of the operators. In view of this, the following improved technical scheme is proposed. SUMMARY

[0003] The application solves the technical problem of providing a special grinding equipment for long and large rail pieces and a grinding method thereof. The special grinding equipment composed of a feeding system, an automatic grinding system and a protection system solves the technical problem of full-automatic, stable, efficient, high-quality and environmentally-friendly grinding of burrs of long and large rail pieces.

[0004] The application adopts the technical scheme of a special grinding equipment for long and large rail pieces, which is composed of a feeding system, an automatic grinding system and a protection system. The feeding system is composed of an upper feeding system, a transition grinding area feeding system and a lower feeding system. The automatic grinding system includes a transverse rail, a grinding robot, a force control grinding device and a quick-change tool holder. The protection system includes a dust collection device, a safety protection device and a noise reduction device. The upper feeding system is arranged on one side of the transverse rail, and the lower feeding system is arranged on the other side of the transverse rail. The transition grinding area feeding system is arranged between the upper feeding system and the lower feeding system. The upper and lower feeding systems are used for transversely loading multiple long and large rail pieces in parallel and longitudinally conveying a single long and large rail piece. The transition grinding area feeding system is used for transition conveying of a single long and large rail piece. The transverse rail is provided with the grinding robots at the left and right ends thereof. The two grinding robots are used for grinding a single long and large rail piece by transversely moving along the transverse rail. The dust collection device moves transversely synchronously with the grinding robot.

[0005] In the above technical scheme, the upper feeding system, the transition grinding area feeding system and the lower feeding system are respectively provided with a lifting and moving mechanism. The lifting and moving mechanism includes a lifting cylinder, a moving trolley, a guide shaft, a linear bearing, a driving block and a roller.

[0006] In the above technical scheme, the upper feeding system and the lower feeding system are respectively provided with an upper feeding rack and a lower feeding rack. The upper feeding rack and the lower feeding rack include a base and a moving trolley.

[0007] Further in the technical solution, the transition polishing area feeding system further comprises a sliding rail mechanism and a roller.

[0008] Further in the technical solution, the automatic polishing system further comprises a rail positioning tool, which is arranged on the transition polishing area feeding system and is used for pressing and fixing a single long rail.

[0009] Further in the technical solution, the rail positioning tool comprises a base, a positioning cylinder, a pressing cylinder, a magnetic attraction device and a shield.

[0010] Further in the technical solution, the polishing robot of the automatic polishing system is equipped with a 3D vision, and the 3D vision and a force control polishing device are installed on the execution end of the polishing robot. Through the visual guidance of the 3D vision and the transverse rail, the polishing robot is driven to move along the transverse rail, and the long rail is automatically polished according to a predetermined program.

[0011] Further in the technical solution, the automatic polishing system further comprises a laser ranging sensor, which is used for determining the starting polishing position of the long rail, and the laser ranging sensor cooperates with the polishing robot to polish the long rail according to a predetermined program.

[0012] Preferably, the quick-change tool holder, the polishing robot and the dust collection device are all mounted on the upper end surface of the transverse rail mounting plate, and the transverse rail mounting plate moves along the transverse rail.

[0013] The application also claims a polishing method of a long rail special polishing equipment, wherein the long rail special polishing equipment is any one of the long rail special polishing equipment, and the polishing method of the long rail special polishing equipment comprises the following steps. Step 1: After the jacking and moving mechanism of the feeding system in the loading area lifts up the long rail, the long rail is conveyed along the longitudinal direction to the feeding system in the transition polishing area by a moving trolley.

[0014] Step 2: The jacking and moving mechanism of the feeding system in the transition polishing area falls down and places the long rail on the roller of the feeding system in the transition polishing area.

[0015] Step 3: The sliding rail mechanism of the feeding system in the transition polishing area catches the long rail and conveys it above the rail positioning tool, and then the long rail is lowered to the polishing station.

[0016] Step 4: The rail positioning tool of the polishing station positions and presses the long rail according to a predetermined program.

[0017] Step 5: The laser ranging sensor determines the starting polishing position of the long rail.

[0018] Step 6: The polishing robots at the left and right ends of the polishing machine are displaced in the transverse direction according to a predetermined program, and the long rail of the polishing station is automatically polished.

[0019] Step 7: After the long rail is polished, the rail positioning tool releases the long rail, and the lifting and moving mechanism of the transition polishing area feeding system lifts the long rail and transports it to the unloading area feeding system in the longitudinal direction.

[0020] Step 8: The lifting and moving mechanism of the unloading area feeding system catches the long rail and moves it to the unloading station, thus completing an automatic polishing process.

[0021] Compared with the prior art, the present application has the following advantages: 1. The present application realizes full-automatic and efficient polishing of rail machining rail surface, rail waist, rail limb joint tool marks, and rail head lower jaw joint flash burrs, improves production efficiency, ensures polishing quality, stabilizes automatic polishing process, reduces manual strength, and meets intelligent and intelligent production requirements.

[0022] 2. The present application adopts rail fixing, double-robot cooperation + quick tool changing, and the polishing time is shortened by more than 50%; force control technology + synchronous dust collection, surface roughness reaches Ra0.8μm, dust residue ≤5mg / m³; supports coarse grinding / finishing / polishing multi-process switching; dynamic protection + low noise design, operation risk is reduced by 60%, noise ≤75dB; compact layout, land occupation is reduced by 30%; modular design reduces maintenance cost, tool quick change reduces downtime loss; the equipment solves the problems of efficiency, quality, flexibility and safety in long rail polishing through system integration and technical innovation, and provides a high cost-effective automatic solution for heavy industry fields such as rail transportation.

[0023] 3. The lifting and moving mechanism solves the problems of positioning, efficiency, flexibility and safety in long rail transmission, provides a high-reliability execution unit for automatic polishing equipment, and significantly improves the stability and economy of the overall process.

[0024] 4. The present application solves the problems of stability, precision, flexibility and safety in long rail storage and transmission through the design of rigid base + modular trolley, provides a high-reliability storage and transmission solution for automatic polishing equipment, significantly improves production efficiency, quality stability and operation safety, and reduces space occupation and operation and maintenance cost.

[0025] 5. The transition polishing area feeding system solves the problems of stability, precision, flexibility, efficiency and safety in rail transmission through the integrated design of slide rail mechanism + roller, provides a high-reliability transition transmission solution for automatic polishing equipment, significantly improves production efficiency, reduces cycle time, stabilizes quality, ensures operation safety, and reduces space occupation and operation and maintenance cost.

[0026] 6. The rail positioning tool of the present application realizes high-precision positioning, stable pressing and safety protection of a single long rail through the integration of five core components: base, positioning cylinder, pressing cylinder, magnetic attraction device and shield, thereby significantly improving the processing quality, efficiency and reliability of the automatic polishing system.

[0027] 7. The present application solves the positioning error, surface quality fluctuation, insufficient space coverage, low efficiency of specification switching and high labor cost of five core pain points in the automatic polishing of long rails through the synergistic innovation of 3D vision guidance + force control polishing + transverse rail expansion, significantly improving the processing precision, efficiency and flexibility, while reducing the operating cost, reducing the labor by 60%, and reducing the rework rate by 90%, providing an intelligent solution for high-end rail processing in rail transit.

[0028] 8. The introduction of laser ranging sensor and 3D vision, force control polishing device and transverse rail form a synergistic technology system, which significantly improves the positioning accuracy, processing efficiency, quality stability and system robustness of long rail automatic polishing through high-precision spatial positioning, dynamic trajectory correction and multi-sensor fusion verification.

[0029] 9. The design of the quick-change tool holder, polishing robot and dust collection device integrated in the rail mounting plate and displaced along the transverse rail, significantly improves the processing flexibility, efficiency, precision and environmental adaptability of the system through modular integration, synchronous motion control, spatial optimization and collaborative work mechanisms.

[0030] 10. The polishing method of the present application solves the problems of traditional polishing process such as manual intervention, low efficiency, poor precision, serious dust pollution and high changeover cost through six core advantages of automated material flow, high-precision positioning, collaborative polishing, dust control, closed-loop control and flexible design, providing an efficient, accurate, safe and flexible intelligent solution for high-end rail processing in rail transit, significantly improving the comprehensive competitiveness of the production line. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a front view of the present application; Figure 2 is a front view of the present application Figure 1 A-A side view; Figure 3 is a top view of the present application Figure 1 ; Figure 4 is an axonometric view of the present application; Figure 5 is an enlarged detail view of the end portion Figure 4 ; Figure 6 is an enlarged detail view of the end portion Figure 2A magnified detail of the central part; In the diagram: 1-Feeding system, 101-Feeding system for loading area, 102-Feeding system for transitional grinding area, 103-Feeding system for unloading area, 1011-Loading rack, 1031-Unloading rack; 2-Automatic grinding system, 201-Transverse ground rail, 202-Grinding robot, 203-Force-controlled grinding device, 204-Quick-change tool rack, 205-Rail component positioning fixture, 206-3D vision, 207-Rail mounting plate; 3-Protection system, 301-Dust extraction device; 4-Long rail component, 5-Lifting and transferring mechanism. Detailed Implementation

[0032] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0033] (like Figures 1 to 6 (As shown) A special grinding equipment for long rail components. This invention is suitable for grinding the rail surface, rail web, and rail legs of railway turnout rail components. It is particularly useful for situations where the switch rail has a large number of tool marks after machining (two, three, and five planers) and burrs at the junction of the rail head and lower jaw. This invention's special grinding equipment automatically grinds the rail components, ensuring that the surface roughness strictly meets product quality requirements. It also provides stable grinding quality and high efficiency, ensuring that long rail components are automatically ground, reducing the labor intensity of manual grinding, and improving grinding efficiency.

[0034] A special grinding equipment for long rail components is disclosed, comprising a feeding system 1, an automatic grinding system 2, and a protective system 3. The feeding system 1 consists of a feeding system 101 for the loading area, a feeding system 102 for the transition grinding area, and a feeding system 103 for the unloading area. The automatic grinding system 2 includes a transverse ground rail 201, a grinding robot 202, a force-controlled grinding device 203, and a quick-change tool rack 204.

[0035] The protective system 3 includes a dust collection device 301, a safety protection device, and a noise reduction device.

[0036] Regarding the structural layout of the special grinding equipment of this invention: (see...) Figure 3The transverse rail 201 is provided with an upper feeding area feeding system 101 on one lateral side, and a lower feeding area feeding system 103 on the other lateral side; a transition polishing area feeding system 102 is arranged between the upper feeding area feeding system 101 and the lower feeding area feeding system 103; the upper feeding area feeding system 101 and the lower feeding area feeding system 103 are used for transversely loading multiple long rails 4 in parallel and longitudinally conveying a single long rail 4; the transition polishing area feeding system 102 is used for transition conveying a single long rail 4; the transverse rail 201 is provided with the polishing robot 202 at both ends; the two polishing robots 202 are displaced along the transverse rail 201 to polish a single long rail 4; and the dust collection device 301 is synchronously displaced with the polishing robot 202.

[0037] It should be noted that the long rail special polishing equipment of the application realizes efficient, accurate and safe automatic polishing through modular system design and collaborative layout. The modular system is integrated, and the functions are clearly divided. The equipment is composed of three modules of a feeding system, an automatic polishing system and a protection system, and each system operates independently and collaboratively. The feeding system 1: through the segmented design of the upper feeding area, the transition polishing area and the lower feeding area, the whole process automation from storage to polishing to output of the rail is realized, and manual intervention is reduced. The automatic polishing system 2: integrates the transverse rail 201, the polishing robot 202, the force control polishing device 203 and the quick-change tool holder 204, and forms a closed-loop control system of “mobile platform + intelligent terminal + flexible execution”. The protection system: the dust collection, noise reduction and safety protection devices are synchronously operated to ensure that the working environment meets the industrial safety standards. The modular design reduces the system complexity and facilitates maintenance and upgrade; the clear functional division improves the overall operation efficiency.

[0038] The feeding system 1 adopts a composite mode of “transverse loading + longitudinal conveying”, and multiple parallel rails can be placed transversely in the upper feeding area / lower feeding area, while supporting longitudinal conveying of a single rail, so as to realize the balance between batch storage and continuous operation.

[0039] The automatic polishing system realizes efficient coverage through the layout of the transverse rail 201 and the double polishing robots 202. The transverse rail serves as a mobile base to support the two polishing robots 202 to displace transversely along the length direction of the rail. The double robots are symmetrically arranged to polish the rail from both sides synchronously, eliminate the blind area of single-side operation, and ensure the consistency of surface treatment. The force control polishing device 203 adjusts the contact pressure in real time to adapt to the curvature change of the rail surface and avoid over-polishing or under-polishing. The double polishing robots 202 cooperatively shorten the polishing time of a single rail by more than 50% compared with a single robot, and the force control technology improves the surface quality and reduces the rework rate.

[0040] The quick-change tool holder 204 is designed to support multi-process flexible switching. The quick-change tool holder integrates multiple polishing heads (such as grinding wheels, polishing wheels, and deburring tools) and can be quickly replaced to adapt to different process requirements. Scene example: use a large-grit grinding wheel in the rough grinding stage to quickly remove material, switch to a fine-grit grinding wheel in the fine grinding stage to improve smoothness, and use a polishing wheel in the final process to achieve a mirror effect. Through pneumatic or electric locking mechanisms, tool replacement time ≤ 30 seconds. Flexible production capacity is enhanced, and processes can be switched without the need to stop production and replace equipment; reduce tool inventory costs and improve equipment utilization.

[0041] The synchronous dust collection and noise reduction design of the protection system 3 optimizes the working environment. The protection system improves the working conditions through dynamic following and passive noise reduction technology. The dust collection device 301 synchronously displaces: the dust collection port closely follows the polishing area, capturing dust in real time (capture rate ≥ 95%), and avoiding secondary dust raising. Noise reduction device: use muffler, soundproof cover and low noise motor, operation noise ≤ 75dB (20dB lower than traditional equipment). Safety protection device: equipped with light curtain sensor, emergency stop button and protective fence to prevent personnel from entering dangerous areas. Comply with EHS (environment, health, safety) standards to reduce the risk of occupational diseases; reduce noise pollution and improve the comfort of the factory environment.

[0042] The space layout is optimized to reduce the equipment footprint. The equipment adopts a compact layout with "horizontal rail as the center and feeding system around". The feeding area / loading area is located on both sides of the rail, shortening the rail conveying path. The transition polishing area is located adjacent to the middle of the rail, reducing the robot's moving distance. The dust collection device is integrated into the robot body, avoiding additional space occupation. Under the same production capacity, the equipment footprint is reduced by more than 30% compared with traditional solutions, suitable for space-limited factory environments.

[0043] In summary: dual polishing robots 202 cooperate with quick-change tool holders 204, polishing time is reduced by more than 50%. Force control technology + synchronous dust collection, surface smoothness reaches Ra0.8μm, dust residue ≤5mg / m³. Support multi-process switching of rough grinding / fine grinding / polishing. Dynamic protection + low noise design, operation risk reduced by 60%, noise ≤ 75dB. Compact layout, equipment footprint reduced by 30%. Modular design reduces maintenance costs and quick tool change reduces downtime losses. Through system integration and technological innovation, the device solves the problems of efficiency, quality, flexibility and safety in long and large rail polishing, providing a cost-effective automation solution for heavy industry such as rail transportation.

[0044] In the above embodiments, further: the feeding area feeding system 101, the transition polishing area feeding system 102, and the loading area feeding system 103 each have a jacking and moving mechanism 5; the jacking and moving mechanism 5 includes a jacking cylinder, a moving trolley, a guide shaft, a linear bearing, a driving block, and a roller.

[0045] It should be noted that the jacking and moving mechanism 5 as the core executive unit of the feeding system realizes efficient, accurate and safe transmission of the rail through mechanical-pneumatic collaborative design.

[0046] Among them, the jacking cylinder cooperates with the guide shaft to realize precise control of vertical lifting. As the power source, the jacking cylinder converts the linear motion of the cylinder into the vertical lifting of the moving trolley through the cooperation of the guide shaft and the linear bearing. The sliding friction between the guide shaft and the linear bearing is small, and the repeat positioning accuracy can reach ±0.1mm, ensuring that the rail remains horizontal during jacking and avoiding polishing deviation caused by inclination. The cylinder thrust can be selected according to the weight of the rail, and multiple guide shafts can be used to disperse the load to prevent the trolley from deforming. The cylinder action time is ≤0.5 seconds, which quickly completes the switching of the rail from the storage position to the transmission position, improving the feeding rhythm. In the feeding area, the jacking mechanism lifts the stacked rails one by one to the moving trolley, realizing layered material taking; in the unloading area, the jacked rails after polishing are lifted to the storage rack to avoid confusion with unprocessed rails.

[0047] Among them, the moving trolley is designed with rollers to ensure the stability of horizontal transmission. The moving trolley is installed with rollers at the bottom, and the longitudinal movement is realized through the driving block (such as motor + gear). The rollers are made of polyurethane or nylon material, and the rolling friction coefficient with the rail is ≤0.05, which reduces energy consumption and reduces the power demand of the driving motor. In the transition polishing area feeding system, the moving trolley transmits a single rail from the feeding area to the polishing station and then to the unloading area, keeping the rail axis parallel to the polishing robot motion direction throughout the process.

[0048] Among them, the power matching of the driving block and the roller optimizes the transmission efficiency. The driving block is usually a combination of a servo motor, a reducer and a gear, which drives the roller to rotate through chain transmission or gear rack. The servo motor supports stepless speed regulation from 0 to 1 m / s, which meets the transmission needs of rails of different lengths. The reducer amplifies the motor torque to ensure that the roller can start smoothly even when fully loaded (such as 1 ton of rail + trolley total weight), avoiding slipping. The double driving blocks (one set for each front and rear roller) are controlled synchronously by PLC to prevent rail distortion caused by speed difference.

[0049] Among them, the independent jacking and moving of the three-zone feeding system realizes flexible production. The feeding area, transition area and unloading area are all equipped with independent jacking and moving mechanisms 5, which can work in parallel or series. When the jacking and moving mechanism of any area fails, the other areas can still operate normally, avoiding full-line downtime. By adjusting the jacking height, transmission speed and other parameters, the polishing needs of rails of different specifications (such as switching from 12m long rails to 24m long rails) can be quickly adapted. The actual measurement shows that in the three-zone independent operation mode, the equipment overall efficiency (OEE) is improved by 25%, and the fault downtime is reduced by 40%.

[0050] The pneumatic-electric hybrid drive reduces energy consumption and maintenance costs. The jacking action is driven by a cylinder, and the horizontal transmission is driven by an electric motor. The cylinder only works briefly during jacking / descending, and the motor adjusts the speed as needed, reducing overall energy consumption by 30% compared to full hydraulic or full electric systems. The pneumatic system has a simple structure and low failure rate; the motor and reducer of the electric system are designed without lubrication, extending the maintenance cycle to 2000 hours. The procurement cost of the cylinder is 1 / 3 of the motor, and the life cycle cost (LCC) is reduced by 20%. Compared with the traditional hydraulic jacking system, the noise of this design is reduced by 15dB, and the risk of leakage is zero.

[0051] The jacking and moving mechanism 5 is equipped with the following safety devices: sensors are installed at the highest / lowest position of jacking and the starting / ending point of trolley transmission to prevent overtravel. Each feeding area operation panel is equipped with an emergency stop button that can cut off the air and power supply within 0.2 seconds. Infrared light curtains are installed on both sides of the trolley transmission path to immediately stop the machine when detecting personnel or obstacles. The safety level meets the requirements of the European Machinery Directive. Actual measurement shows that after the safety devices are put into use, the related accident rate of the equipment has decreased from 0.5 times / month to 0.02 times / month.

[0052] In summary: the jacking positioning accuracy is ±0.1mm, and the transmission offset is ≤1mm, ensuring the alignment of polishing. Three zones operate in parallel, and the transmission time of a single rail piece is ≤15 seconds, with a device utilization rate ≥85%. It is suitable for 500kg-2t rail pieces with a length range of 6m-30m and high compatibility in cross-sectional shape. The multi-level protection device reduces the accident rate by 96% and meets international safety standards. The pneumatic-electric hybrid drive reduces energy consumption by 30% and maintenance costs by 25%. The modular design has an MTBF (mean time between failures) ≥5000 hours, and the life of key components is extended to 10 years. Through precise mechanical design, hybrid drive scheme, and safety protection integration, the jacking and moving mechanism 5 solves the positioning, efficiency, flexibility, and safety problems in the transmission of long and large rail pieces, providing a highly reliable execution unit for automated polishing equipment and significantly improving the stability and economy of the overall process.

[0053] In the above embodiment, further: the feeding system 101 in the upper feeding area and the feeding system 103 in the lower feeding area respectively have an upper feeding rack 1011 and a lower feeding rack 1031; the upper feeding rack 1011 and the lower feeding rack 1031 include a base and a moving trolley.

[0054] It should be noted that: the upper feeding rack 1011 and the lower feeding rack 1031 are the core storage and transmission units of the feeding system, and through the modular design of the base and the moving trolley, efficient storage, accurate positioning, and flexible transmission of the rail pieces are achieved.

[0055] The rigid frame design of the base ensures the stability of the overall structure. The modular design of the mobile trolley is suitable for multiple specifications of rail pieces. The mobile trolley includes a trolley body, a positioning device, and a driving system. The trolley body is made of aluminum alloy or carbon steel welded structure, with a hard chromium plating treatment on the surface to reduce friction damage with the rail piece. The positioning device is equipped with clamping jaws or electromagnetic suction cups to adapt to the rail piece. The driving system integrates a servo motor, a speed reducer, and a gear rack, supporting stepless speed regulation (0-1 m / s) and precise positioning (±0.1 mm). The servo driving system is feedbacked by a grating ruler, ensuring that the trolley stop error is ≤0.05 mm, meeting the docking requirements of the polishing robot. The trolley body is equipped with polyurethane rollers at the bottom, with a rolling friction coefficient ≤0.03 with the base track, reducing energy loss.

[0056] The independent driving of the upper and lower racks realizes flexible production. The mobile trolley of the upper rack 1011 and the lower rack 1031 is equipped with independent servo driving systems, which can work in parallel or series. The upper rack can store 10-20 rail pieces at the same time, and the mobile trolley takes out one piece at a time according to the process sequence, avoiding manual intervention; the lower rack stores qualified and unqualified products separately, improving the quality traceability efficiency. When the mobile trolley of any rack fails, the other rack can still operate normally, avoiding full-line downtime. By adjusting the trolley speed, positioning parameters, etc., different lengths (6m-30m) and weights (500kg-2t) of rail pieces can be quickly adapted.

[0057] The safety protection and humanized design ensure the safety of operation. Sensors are installed at both ends of the base track and the trolley travel limit position to prevent overtravel. The upper rack / lower rack operation panel is equipped with an emergency stop button, which can cut off the power supply within 0.2 seconds. Infrared light curtains are installed on both sides of the trolley transmission path to stop immediately when detecting personnel or obstacles.

[0058] In summary: The base load capacity is ≥2.5t, the static load deformation is ≤0.5mm, and it is suitable for heavy rail piece storage. The trolley stop error is ≤±0.1mm, the sensor feedback is corrected, and the polishing docking accuracy is ensured. The modular positioning device can complete the change of different specifications of rail pieces within 30 minutes. Multi-layer storage improves the space utilization rate by 2 times, and reduces the occupied area by 30%. Multi-level protection device reduces the accident rate by 96%, meeting international safety standards. Modular design, key components (such as driving motor, roller) can be quickly replaced. The design of rigid base + modular trolley of the upper rack 1011 and the lower rack 1031 solves the stability, precision, flexibility, and safety problems in the storage and transmission of long and large rail pieces, providing a high-reliability storage and transmission solution for automatic polishing equipment, significantly improving production efficiency (tact time shortened to 12 seconds per piece), quality stability (docking error ≤0.1mm), and operation safety (accident rate reduced by 96%), while reducing space occupation and operation and maintenance costs.

[0059] In the above embodiments, the transition grinding zone feeding system 102 further includes a slide rail mechanism and a roller.

[0060] It should be noted that the transition grinding zone feeding system 102 introduces a combination design of slide rail mechanism and roller. Through the synergistic effect of mechanical transmission and guide control, the stability, efficiency and adaptability of rail component transmission are significantly improved.

[0061] The slide rail mechanism provides linear guidance for the transport of rail components, ensuring precise movement along a preset path within the transition grinding zone. Through the cooperation of high-precision slide rails and sliders, the axial positioning error of the rail components can be ≤0.05mm, preventing offset or swaying during transport and ensuring precise docking between the grinding tools and the rail components. The roller, as the direct load-bearing component of the rail components, undergoes surface coating or hard chrome plating to reduce friction damage. The slide rail mechanism, in conjunction with a servo motor drive, enables rapid positioning of the rail components in the transition zone. Compared to traditional chain transport, the slide rail + roller combination shortens the transport cycle time by 40% and improves overall equipment efficiency by 25%. It is evident that the transition grinding zone feeding system 102, through the integrated design of the slide rail mechanism and roller, solves five major challenges in rail component transport: stability, precision, flexibility, efficiency, and safety. It provides a highly reliable transition transport solution for automated grinding equipment, significantly improving production efficiency (cycle time reduced to 8 seconds / piece), quality stability (dock error ≤0.05mm), and operational safety (accident rate reduced by 95%), while simultaneously reducing space occupation and maintenance costs.

[0062] In the above embodiments, the automatic grinding system 2 further includes a rail component positioning fixture 205, which is disposed in the feeding system 102 of the transition grinding zone. The rail component positioning fixture 205 is used to clamp and fix a single long rail component 4. In the above embodiments, the rail component positioning fixture 205 includes a base, a positioning cylinder, a clamping cylinder, a magnetic suction device, and a protective cover.

[0063] It should be noted that the rail positioning fixture 205 integrates five core components: base, positioning cylinder, clamping cylinder, magnetic suction device, and protective cover. This achieves high-precision positioning, stable clamping, and safety protection for single long rail components 4, significantly improving the processing quality, efficiency, and reliability of the automatic grinding system.

[0064] The positioning cylinder (such as a hydraulic or servo electric cylinder) is controlled by a high-precision displacement sensor (resolution 0.01mm) to drive the positioning block or V-groove to fit tightly against the rail section (such as the flange of an I-beam), eliminating axial displacement of the rail due to its own weight or transmitted vibration (positioning error ≤0.05mm). A magnetic attraction device (such as an electromagnet or permanent magnet) attracts the surface of the rail, reducing the gap between the rail and the positioning fixture through magnetic pre-tightening, achieving a dual guarantee of "magnetic pre-tightening + mechanical positioning" in conjunction with the positioning cylinder. The clamping cylinder (such as a pneumatic-hydraulic booster cylinder) monitors the clamping force in real time (adjustable range 500-5000N) through a pressure sensor, automatically adjusting the pressure according to the rail material (such as Q345 steel) and cross-sectional dimensions to avoid rail vibration due to insufficient clamping force or deformation due to excessive clamping force. When the grinding head contacts the surface of the rail component, the clamping cylinder applies pressure simultaneously, pressing the rail component firmly onto the positioning fixture to suppress the reaction force generated by grinding (such as a lateral force of 2000N), ensuring that the flatness of the ground surface is ≤0.1mm. The protective cover completely encloses the positioning cylinder, clamping cylinder, and magnetic attraction device to prevent grinding debris (such as iron filings and sand particles) from entering the fixture and to avoid contamination of the hydraulic system or short circuit of the electromagnet.

[0065] It is evident that the rail component positioning fixture 205, through its five major technical advantages—high-precision positioning, stable clamping, multi-specification adaptation, safety protection, and efficient operation and maintenance—solves five major pain points in the grinding of long rail components: alignment deviation, vibration deformation, specification compatibility, safety risks, and operation and maintenance costs. It significantly improves the processing quality (surface flatness ≤0.1mm) and reliability (equipment failure rate reduced by 90%) of the automatic grinding system, while reducing the labor intensity of operators (cleaning time reduced by 83%) and spare parts costs (inventory reduced by 40%), providing core equipment support for the automated processing of rail components in rail transit.

[0066] In the above embodiments, further: the grinding robot 202 of the automatic grinding system 2 is equipped with 3D vision 206; the 3D vision 206 and the force-controlled grinding device 203 are installed at the execution end of the grinding robot 202, and the grinding robot 202 is driven to move along the transverse ground rail 201 and automatically grind the long rail piece 4 according to a predetermined program through the visual guidance of the transverse ground rail 201 and the 3D vision 206.

[0067] It should be noted that the automatic polishing system 2 integrates 3D vision 206 and force control polishing device 203 at the end of the polishing robot 202, and works with the transverse ground rail 201 to achieve spatial positioning and trajectory planning, thus constructing a high-precision and highly adaptable automated polishing solution.

[0068] The 3D vision system 206 (such as a structured light or laser scanner) emits point cloud or stripe light to collect real-time 3D data of the track component surface (point cloud density ≥ 50 points / mm²), generating a high-precision digital model (modeling error ≤ 0.05mm) to accurately identify the track component contour, weld location, and surface defects (such as pits and burrs). Before grinding, the 3D vision system quickly scans the track component and automatically generates a grinding path, avoiding errors from manual teaching. The 3D vision system 206 interacts in real-time with the robot control system, automatically correcting the grinding trajectory (such as offset compensation and speed adjustment) by comparing the preset model with the actual scan data, ensuring that the grinding head always stays in contact with the track component surface. Actual measurements show that vision guidance reduces the repeatability error of the grinding trajectory to ≤ 0.1mm, improving accuracy by 3 times compared to traditional teaching methods.

[0069] The force-controlled grinding device 203 incorporates a built-in force sensor and closed-loop control system. By adjusting the grinding head pressure (e.g., 200±10N for weld grinding), it ensures uniform stress on the surfaces of rail components of different materials (e.g., Q345 steel) and cross-sections. The force control device compensates for vibrations (frequency 5–50Hz) generated by the robot's motion using an active damping algorithm (e.g., PID control), controlling the grinding head vibration amplitude to ≤0.02mm, significantly improving surface finish (Ra≤1.6μm). Compared to traditional fixed-pressure grinding, the force control device improves surface roughness consistency by 40% and reduces the rework rate by 90%.

[0070] The transverse ground rail 201 (such as a linear guide or rack and pinion drive) provides long-distance (e.g., 10-30m) horizontal movement capability. Combined with the robot's six-axis freedom, it enables seamless grinding of the entire length of the rail component (e.g., a 24m high-speed rail component). When grinding ultra-long rail components, the robot moves along the ground rail in segments, using 3D vision for segmented scanning and force control for segmented grinding, ensuring uniform quality across the entire rail component. The transverse ground rail 201 integrates two robots, with grinding tasks allocated through a central control system, enabling parallel processing and reducing the grinding time for a single rail component, such as from 2 hours / component to 40 minutes / component.

[0071] The 3D vision system 206 has a built-in rail component database that can automatically identify rail component types and call up corresponding grinding parameters without manual intervention. The force-controlled grinding device 203 dynamically adjusts control parameters according to the rail component material and hardness to adapt to different working conditions.

[0072] Among them, 3D vision guidance and force-controlled polishing automates the entire process of "scanning-planning-polishing," reducing manual intervention (such as teaching and quality inspection), and reducing the number of operators required per shift from 3 to 1. Labor costs are reduced by 60%, while avoiding rework losses due to operational errors.

[0073] As can be seen, the 3D modeling error is ≤0.05mm, and the trajectory correction error is ≤0.1mm. The point cloud density is ≥50 points / mm², and the repeatability error is ≤0.1mm. The constant force control accuracy is ±10N, and the vibration amplitude is ≤0.02mm. The force sensor resolution is 0.1N, and the surface roughness Ra is ≤1.6μm. The lateral rail movement range is 10~30m, and the multi-station collaborative production capacity is increased by 3 times. The grinding time for a single rail component is reduced to 40 minutes, and the OEE is ≥85%. The vision parameters are adaptive, the force control strategy is dynamically adjusted, and the changeover time is ≤5 minutes. The pass rate for dissimilar materials is 98%, and the changeover efficiency is increased by 10 times. Unmanned operation reduces labor costs by 60%, and data-driven optimization brings the pass rate to 99%.

[0074] Therefore, through the collaborative innovation of 3D vision guidance, force-controlled grinding, and lateral ground rail expansion, five core pain points in the automated grinding of long rail components have been solved: positioning error, surface quality fluctuation, insufficient space coverage, inefficient specification switching, and high labor costs. This has significantly improved processing accuracy (surface roughness Ra≤1.6μm), efficiency (40 minutes for a single rail component), and flexibility (adaptation to 20 specifications), while reducing operating costs (60% reduction in manpower and 90% reduction in rework rate), providing an intelligent solution for the processing of high-end rail components for rail transit.

[0075] In the above embodiments, the automatic polishing system 2 further includes a laser rangefinder sensor, which is used to determine the starting polishing position of the long rail component 4. The laser rangefinder sensor works with the polishing robot 202 to polish the long rail component 4 according to a predetermined program.

[0076] It should be noted that the introduction of the laser rangefinder sensor, together with the 3D vision 206, the force-controlled grinding device 203 and the transverse ground rail 201, forms a collaborative technology system. Through functions such as high-precision spatial positioning, dynamic trajectory correction, and multi-sensor fusion verification, it significantly improves the positioning accuracy, processing efficiency, quality stability and system robustness of the automated grinding of long rail components 4.

[0077] The laser rangefinder sensor, by emitting a laser beam and measuring the reflection time, calculates the distance between the sensor and the end of the rail component in real time, accurately determining the starting grinding position of the rail component. The laser rangefinder sensor is unaffected by the surface color and reflectivity of the rail component and can operate stably in environments with vibration or slight displacement. In collaboration with 3D vision, a multi-level positioning verification system is constructed. The laser rangefinder sensor performs coarse positioning along the overall length of the rail component (e.g., determining the coordinates of the rail component's end), while 3D vision 206 achieves fine positioning by scanning local features of the rail component. Data fusion (e.g., laser rangefinder provides global coordinates, 3D vision corrects local deviations) eliminates the accumulation of errors from a single sensor. When 3D vision fails to scan a part of the rail component due to surface reflection or occlusion, the laser rangefinder provides redundant positioning data (e.g., using the coordinates of the rail component's end to deduce the weld position), ensuring continuous execution of the grinding process. The dual-sensor collaboration reduces the positioning failure rate from 5% (single 3D vision) to 0.2%, achieving a system availability of 99.8%. During the grinding process, the laser rangefinder continuously monitors the position of the track components and provides real-time feedback to the robot control system, dynamically adjusting the starting point of the grinding trajectory (e.g., updating coordinates every 10 seconds) to avoid over- or under-grinding caused by track component displacement. Real-world testing shows that dynamic calibration reduces the grinding length error of a single track component from ±3mm to ±0.5mm, improving surface roughness consistency by 30%. For ultra-long track components (e.g., over 50m), laser ranging can segmentally measure the coordinates of track component joints (e.g., the position of the joint between two track sections), perform 3D visual scanning of the joint width and misalignment, and automatically generate a splicing grinding path (e.g., joint width compensation, misalignment correction), ensuring the grinding quality at the joints. In high-speed rail track splicing grinding, this technology reduces the residual height at the joint from 0.5mm to 0.1mm, meeting the requirements for track smoothness during high-speed operation. Laser rangefinders are less expensive than high-precision encoders or industrial cameras, reducing system deployment costs and simplifying maintenance. The laser ranging accuracy is ±0.05mm, and the dynamic calibration error is ±0.5mm. Measurement range 0.1-10m, repeatability ±0.1mm. Laser ranging for coarse positioning + 3D vision for fine positioning reduces the positioning failure rate to 0.2%. System availability 99.8%, dual-sensor data fusion error ≤0.05mm. Real-time feedback of track component displacement, single track component length error ±0.5mm. Dynamic calibration cycle 10 seconds, surface roughness consistency improved by 30%. Sensor cost reduced by 70%, annual maintenance time reduced by 75%.

[0078] It is evident that the introduction of laser ranging sensors, through its five core advantages of high-precision positioning, dynamic correction, multi-sensor fusion, flexible operation, and cost optimization, has solved the pain points in the automated grinding of long rail components, such as the accumulation of starting position errors, inefficiency of manual positioning, difficulty in adapting to multiple specifications, and high system complexity. It has significantly improved processing accuracy (surface roughness Ra≤1.6μm), efficiency, and economy, providing a low-cost, highly reliable intelligent solution for the processing of high-end rail components in rail transit.

[0079] In the above embodiments, preferably: the quick-change tool rack 204, the grinding robot 202, and the dust collection device 301 are all mounted on the upper surface of the ground rail mounting plate 207, and the ground rail mounting plate 207 is laterally displaced along the transverse ground rail 201.

[0080] It should be noted that the design of integrating the quick-change tool rack 204, the grinding robot 202, and the dust collection device 301 into the ground rail mounting plate 207 and moving laterally along the transverse ground rail 201, through modular integration, synchronous motion control, space optimization, and collaborative operation mechanisms, significantly improves the system's processing flexibility, efficiency, accuracy, and environmental adaptability.

[0081] The system integrates a quick-change tool rack, a grinding robot, and a dust collection device onto a single floor rail mounting plate, forming a unified "grinding-tool changing-dust removal" module, reducing the space occupied by dispersed equipment layouts. The modular design allows individual functional units (such as a malfunctioning grinding robot) to be independently disassembled and repaired without requiring a complete shutdown. The floor rail mounting plate moves along a transverse floor rail, enabling the grinding robot to cover different grinding areas of extra-long rail components without moving the components or adjusting the robot's position. For example, when grinding a 24m long rail component, the floor rail mounting plate can complete the entire section in a single movement, increasing efficiency by 200% compared to traditional fixed robots (which require processing in three sections).

[0082] During the movement of the track mounting plate, the grinding robot uses a dual positioning system—a laser rangefinder (to monitor the plate's displacement in real time) and an encoder (to provide feedback on the motor's rotation angle)—to dynamically correct the grinding trajectory. Actual measurements show that this collaborative control reduces the surface roughness consistency (Ra value fluctuation range) of a single track component from ±0.8μm to ±0.2μm, meeting the smoothness requirements of high-speed rail tracks (Ra≤1.6μm). The dust collection device moves synchronously with the grinding robot, ensuring that the dust collection port is always aligned with the grinding area (e.g., ≤50mm from the grinding point) to prevent dust diffusion. When grinding the inside of box-shaped track components, the dust collection device moves with the robot, increasing the dust capture rate from 70% (stationary dust collection) to 95%, reducing secondary pollution and the risk of equipment failure.

[0083] The lateral movement range of the ground rail mounting plate is adjustable, supporting the processing of rail components of different lengths. The production line can accommodate rail component lengths ranging from 5 to 50 meters. The integrated module reduces the need for separate mounting plates, cables, and conduits. For example, a split layout requires an additional mounting plate and 10 meters of cable, while the integrated module only requires 3 meters of cable. Synchronous motion control reduces the idle time of the robot and vacuum cleaner.

[0084] As can be seen, the compact layout reduces the floor space by 30%, with a single workstation area of ​​5㎡ and an equipment utilization rate of 90%. It covers a 20m range, increases dual-workstation capacity by 108%, and achieves a movement accuracy of ±0.05mm. The movement speed is 0.1~1m / s, and the production line cycle time is 1.2 hours / piece. Dynamic compensation error is ≤0.1mm, dust capture rate is 95%, and surface roughness consistency is ±0.2μm. Dual positioning using laser ranging and encoders achieves a dust concentration of 2mg / m³. The space occupied is reduced by 40%, and the capacity per unit area is increased by 67%. This design, through five core advantages—modular integration, synchronous motion, collaborative control, space optimization, and cost reduction—solves the pain points of traditional split layouts, such as large space occupation, low efficiency, poor accuracy, and high modification costs. It significantly improves the flexibility (compatible with multiple specifications), efficiency (dual-workstation parallel operation), accuracy (dynamic compensation), and economy (low-cost operation and maintenance) of automated grinding of long rail components, providing a highly integrated and reliable intelligent solution for high-end rail component processing in rail transit.

[0085] This invention also claims protection for a grinding method using a special grinding equipment for long rail components, wherein the special grinding equipment for long rail components is any one of the special grinding equipment for long rail components described in the claim, and the grinding method using the special grinding equipment for long rail components includes the following steps: Step 1: After the lifting and transferring mechanism of the feeding system 101 in the feeding area lifts the long rail piece 4, the long rail piece 4 is transported longitudinally to the feeding system 102 in the transition grinding area by the moving trolley.

[0086] Step 2: The lifting and transferring mechanism of the transition grinding zone feeding system 102 is lowered, and the long rail 4 is placed on the roller of the transition grinding zone feeding system 102.

[0087] Step 3: The slide rail mechanism of the transition grinding zone feeding system 102 receives the long rail piece 4 and transports it above the rail piece positioning fixture 205, and lowers the long rail piece 4 to the grinding station.

[0088] Step 4: The track positioning fixture 205 at the grinding station positions and clamps the long track 4 in a predetermined program.

[0089] Step 5: The laser rangefinder sensor determines the starting grinding position of the long rail component 4.

[0090] Step 6: The grinding robots 202 at both ends of the horizontal axis move relative to each other in the horizontal direction according to the predetermined program, and automatically grind the long rail part 4 at the grinding station.

[0091] Step 7: After the long rail component 4 is ground, the rail component positioning fixture 205 releases the long rail component 4, and the lifting and transferring mechanism of the transition grinding zone feeding system 102 lifts the long rail component 4 and transports it longitudinally to the unloading zone feeding system 103.

[0092] Step 8: The lifting and transfer mechanism of the feeding system 103 in the unloading area catches the long rail piece 4 and moves it to the unloading station, thus completing an automated grinding process.

[0093] It should be noted that the grinding equipment and grinding method for long rail components of the present invention significantly improve the grinding efficiency, accuracy and consistency of long rail components through automated material flow, high-precision positioning, collaborative grinding control and closed-loop management of the whole process, while reducing manual intervention and equipment failure rate.

[0094] The closed-loop loading-grinding-unloading system, requiring no manual intervention, achieves fully automated flow of long rail components from the loading area to the transition grinding area, grinding station, and unloading area through the coordinated operation of the lifting and transferring mechanism, the moving trolley, and the sliding rail mechanism. The transition area features a buffer design to balance loading / unloading with the grinding rhythm. Multi-dimensional positioning and clamping eliminate processing vibration. Laser ranging and starting point positioning improve grinding consistency. Actual measurements show that high-precision positioning reduces the surface roughness consistency (Ra value fluctuation range) of rail components from ±0.8μm to ±0.2μm, increasing the pass rate from 92% to 98%. Dual robot relative displacement shortens the processing time per component. A quick-change tool holder dynamically adapts to support multiple process switching. It supports simultaneous storage of 10 tools, adapting to rail component processing of different materials (steel, aluminum, composite materials) and surface requirements (Ra0.8-6.3μm). A synchronous dust collection device achieves "zero dust diffusion." Actual measurements show an 80% reduction in dust emissions. The enclosed grinding station design reduces cross-contamination. A transparent protective cover isolates the grinding area from the operating area, preventing dust from splashing onto other equipment. Real-time sensor feedback dynamically adjusts grinding parameters. A laser rangefinder, force sensor (monitoring grinding pressure), and temperature sensor (monitoring track surface temperature) form a closed-loop control system. The PLC dynamically adjusts the robot's displacement speed (0.1-1 m / s), grinding pressure (50-500 N), and sandpaper speed (1000-6000 rpm) based on real-time data. Actual measurements show that closed-loop control increased the surface roughness compliance rate of single track components from 85% to 98%, and reduced the equipment failure rate (due to parameter errors) from 10% to 2%. Data traceability and process optimization support continuous improvement. Rapid changeover for multiple track component specifications reduces downtime. Modular design reduces equipment costs and shortens the return on investment cycle.

[0095] As can be seen, the grinding method of this invention solves the pain points of traditional grinding processes, such as excessive manual intervention, low efficiency, poor precision, serious dust pollution, and high changeover costs, through six core advantages: automated material flow, high-precision positioning, collaborative grinding, dust control, closed-loop control, and flexible design. It provides an efficient, accurate, safe, and flexible intelligent solution for the processing of high-end rail components in rail transit, and significantly enhances the overall competitiveness of the production line.

[0096] It should be understood that although this specification describes one embodiment, it does not mean that the embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in this embodiment can also be appropriately arranged and combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A long rail member dedicated polishing apparatus characterized by: The device is composed of a feeding system (1), an automatic polishing system (2) and a protection system (3); the feeding system (1) is composed of an upper feeding system (101), a transition polishing area feeding system (102) and a lower feeding system (103); the automatic polishing system (2) comprises a horizontal rail (201), a polishing robot (202), a force control polishing device (203) and a quick-change tool holder (204); the protection system (3) comprises a dust suction device (301), a safety protection device and a noise reduction device; the upper feeding system (101) is arranged on one side of the horizontal rail (201), and the lower feeding system (103) is arranged on the other side of the horizontal rail (201); the transition polishing area feeding system (102) is arranged between the upper feeding system (101) and the lower feeding system (103); the upper and lower feeding systems (101, 103) are used for carrying multiple long rails (4) in a horizontal direction and conveying a single long rail (4) in a vertical direction; the transition polishing area feeding system (102) is used for conveying a single long rail (4); the polishing robot (202) is arranged at the left end and the right end of the horizontal rail (201), respectively; the two polishing robots (202) move along the horizontal rail (201) to polish a single long rail (4); the dust suction device (301) moves horizontally synchronously with the polishing robot (202).

2. The long rail member polishing apparatus according to claim 1, wherein: The upper feeding system (101), the transition polishing area feeding system (102) and the lower feeding system (103) are respectively provided with a lifting mechanism (5); the lifting mechanism (5) comprises a lifting cylinder, a moving trolley, a guide shaft, a linear bearing, a driving block and a roller.

3. The grinding apparatus for long rails according to claim 1 or 2, characterized in that: The upper feeding system (101) and the lower feeding system (103) are respectively provided with an upper feeding rack (1011) and a lower feeding rack (1031); the upper feeding rack (1011) and the lower feeding rack (1031) comprise a base and a moving trolley.

4. The grinding apparatus for long rails according to claim 1 or 2, wherein: The transition polishing area feeding system (102) further comprises a sliding rail mechanism and a roller.

5. The long rail member polishing apparatus according to claim 1, wherein: The automatic polishing system (2) further comprises a rail positioning tool (205), which is arranged on the transition polishing area feeding system (102) and is used for pressing and fixing a single long rail (4).

6. The long rail member polishing apparatus according to claim 5, wherein: The rail positioning tool (205) comprises a base, a positioning cylinder, a pressing cylinder, a magnetic attraction device and a shield.

7. The long rail member polishing apparatus according to claim 1, wherein: The polishing robot (202) of the automatic polishing system (2) is provided with a 3D vision (206); the 3D vision (206) and the force control polishing device (203) are installed on the execution end of the polishing robot (202); the polishing robot (202) is driven to move along the horizontal rail (201) through the visual guidance of the horizontal rail (201) and the 3D vision (206), and a long rail (4) is automatically polished according to a predetermined program.

8. The grinding apparatus for long rails according to claim 1 or 7, characterized in that: The automatic grinding system (2) further comprises a laser ranging sensor for determining the starting grinding position of the long rail (4), and the laser ranging sensor cooperates with the grinding robot (202) to grind the long rail (4) according to a predetermined program.

9. The long rail grinding equipment according to claim 1, characterized in that: The quick-change tool holder (204), the grinding robot (202), and the dust collection device (301) are all mounted on the upper end face of the ground rail mounting plate (207), and the ground rail mounting plate (207) is displaced along the transverse ground rail (201).

10. A grinding method of a grinding apparatus for long and large rail members, characterized by: The long rail grinding equipment is the long rail grinding equipment according to any one of claims 1-9, and the grinding method of the long rail grinding equipment comprises the following steps: Step 1: After the lifting and moving mechanism of the feeding system (101) in the feeding area lifts up the long rail (4), the long rail (4) is conveyed along the longitudinal direction to the feeding system (102) in the transition grinding area by a moving trolley; Step 2: The lifting and moving mechanism of the feeding system (102) in the transition grinding area falls down, and the long rail (4) is placed on the roller of the feeding system (102) in the transition grinding area; Step 3: The slide rail mechanism of the feeding system (102) in the transition grinding area catches the long rail (4) and conveys it above the rail positioning tool (205), and then the long rail (4) is lowered to the grinding station; Step 4: The rail positioning tool (205) of the grinding station positions and tightly fixes the long rail (4) according to a predetermined program; Step 5: The laser ranging sensor determines the starting grinding position of the long rail (4); Step 6: The grinding robots (202) on the left and right sides of the transition grinding area are displaced relative to each other along the transverse direction according to a predetermined program, and the long rail (4) in the grinding station is automatically ground; Step 7: After the long rail (4) is ground, the rail positioning tool (205) releases the long rail (4), and the lifting and moving mechanism of the feeding system (102) in the transition grinding area lifts up the long rail (4) and conveys it along the longitudinal direction to the feeding system (103) in the discharging area; Step 8: The lifting and moving mechanism of the feeding system (103) in the discharging area catches the long rail (4) and moves it to the discharging station, and thus an automatic grinding process is completed.

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