Rail reciprocating dynamic grinding system

Abstract

The invention mainly aims to provide a track reciprocating dynamic grinding system, and aims to solve the problem that a grinding system in the prior art is difficult to synchronously realize reciprocating movement and inclined grinding, the system comprises a moving mechanism and a grinding mechanism, and the grinding mechanism comprises an inclined assembly, a grinding assembly and a swinging assembly; the inclined assembly drives an inclined plate and a connected swing assembly to carry out basic angle coarse adjustment through an internal transmission unit; the grinding assembly transmits power through a grinding shaft of a three-joint universal joint structure. The swing assembly is arranged on the periphery of the grinding shaft, and a parallel mechanism formed by a telescopic rod and a spherical hinge is used for driving a third joint of the grinding shaft to conduct multi-dimensional angle deflection around the center of a second joint. And through double cooperative adjustment of macroscopic inclination and microcosmic swing, self-adaptive accurate fitting of the polishing head to the complex profile of the track is achieved, corrugation and fat edges are effectively eliminated, and the maintenance quality of the track is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of rail transit technology, and in particular to a dynamic grinding system for reciprocating tracks. Background Technology

[0002] Rail grinding is a crucial part of railway maintenance, aiming to eliminate corrugations, thick edges, and fatigue cracks on the track surface and restore the standard profile of the rails, thereby ensuring the smoothness and safety of train operation. With the rapid development of high-speed and heavy-haul tracks, more stringent requirements have been placed on the precision of track grinding and the quality of finishing specific parts of the track (such as gauge angle and side).

[0003] However, existing rail grinding equipment is often designed in a simple way. Traditional grinding units usually use a fixed-angle linear feed method or only have a simple single-axis swing function. Although this rigid or low-degree-of-freedom adjustment method can handle the flat area of ​​the rail top surface, it is difficult to make flexible attitude adjustments according to the curvature changes of the rail surface when facing the complex transverse cross-sectional profile of the rail.

[0004] This lack of adaptability to complex curved surfaces makes it difficult for the grinding head to maintain a close fit with the side or transition area of ​​the rail during actual operation. This can easily lead to localized missed grinding or over-grinding, damaging the ideal profile of the rail, and may also result in obvious sharp edges or ripples remaining on the ground rail surface, failing to meet the requirements of high-precision dynamic grinding.

[0005] Therefore, it is particularly important to develop a grinding system that can flexibly adapt to complex curved surfaces and achieve multi-dimensional dynamic fit. Summary of the Invention

[0006] The main objective of this invention is to provide a dynamic reciprocating grinding system that aims to solve the problem that existing grinding systems cannot simultaneously achieve reciprocating movement and tilting grinding.

[0007] To achieve the above objectives, the present invention provides a track reciprocating dynamic grinding system, the grinding system comprising a moving mechanism and a grinding mechanism, the moving mechanism being movably mounted on a track, and the grinding mechanism being mounted on the moving mechanism; The grinding mechanism includes a tilting component, a grinding component, and a swinging component. The tilting component includes a connecting seat, a tilting plate, and a transmission unit. The connecting seat is internally connected to the moving mechanism. One end of the tilting plate is fixedly connected to the swinging component. The transmission unit is disposed inside the connecting seat, and the output end of the transmission unit is connected to the other end of the tilting plate. The polishing assembly includes a drive unit, a polishing shaft, and a polishing head. The output end of the drive unit is connected to the polishing shaft, and the output end of the polishing shaft is connected to the polishing head. The swing assembly is fixedly connected to the tilting plate, and the swing assembly is also disposed on the outer periphery of the grinding shaft. The swing assembly is used to adjust the tilt angle of the grinding shaft.

[0008] Optionally, the transmission unit includes a transmission motor, a transmission rod, an inclined seat, and an inclined rod. The transmission motor is fixedly installed inside the connecting seat. An eccentric wheel is connected to the output end of the transmission motor. The eccentric wheel is connected to one end of the transmission rod. The inclined seat is fixedly installed on the lower end face of the connecting seat. The transmission seat is fixedly installed on the other end of the inclined plate. The other end of the transmission rod is connected to the inclined rod. The inclined rod is also connected to the inclined seat and the transmission seat.

[0009] Optionally, the grinding shaft includes a first joint, a second joint, and a third joint, which are connected in sequence to form a universal joint structure to allow for angular deflection during rotational transmission.

[0010] Optionally, the swing assembly includes a fixed plate, a movable seat, and a swing member. The fixed plate is fixedly connected to the inclined plate, and the movable seat is movably connected to the fixed plate through the swing member. The movable seat is rotatably disposed on the outer periphery of the third joint through a rotary bearing.

[0011] Optionally, the swinging component includes a plurality of swing rods arranged in pairs, the plurality of swing rods being distributed in a circular array with the axis of the third joint as a reference, and the two ends of the swing rods being connected to the fixed plate and the movable seat respectively.

[0012] Optionally, the swing arm includes a telescopic rod and a ball joint. Both ends of the telescopic rod are connected to the fixed plate and the movable seat through the ball joint, so that by changing the length of the telescopic rod at different positions, the movable seat can drive the third joint to deflect around the center of the second joint.

[0013] Optionally, the polishing system further includes a reciprocating mechanism, and the connecting seat is movably disposed inside the moving mechanism via the reciprocating mechanism.

[0014] Optionally, the swing assembly further includes a bellows, with its two ends connected to the inclined plate and the grinding head, respectively, and its middle part connected to the fixed plate, so that the grinding shaft and the swing assembly are enclosed within it.

[0015] Optionally, the polishing system further includes a vision module, which is disposed on one side of the polishing mechanism and is used to acquire contour data and wear data of the track surface.

[0016] Optionally, the grinding system further includes a control module, which has a preset standard track model to determine the area to be ground and the target grinding amount. The control module is used to obtain the target length change of each telescopic rod required for the third joint to deflect around the center of the second joint based on the area to be ground, the target grinding amount, the contour data, and the wear data, so as to control the grinding head to fit the area to be ground in an inclined posture.

[0017] The beneficial effects that this invention can achieve are as follows: This invention constructs a dynamic track reciprocating grinding system integrating macroscopic reciprocating movement, mesoscopic tilt coarse adjustment, and microscopic flexible fine adjustment. Specifically, it utilizes the eccentric linkage mechanism of the transmission unit to provide the basic tilt angle, and combines it with a parallel swing assembly composed of multiple sets of telescopic rods and ball hinges to drive a three-joint universal grinding shaft for multi-degree-of-freedom spatial attitude decoupling adjustment. This significantly alleviates the limitations of existing grinding equipment, which suffers from rigid feed or single-axis swing, making it unable to effectively conform to complex nonlinear curved surfaces such as rail gauge angles and sides, resulting in localized missed grinding and residual edges. This addresses the technical challenge of profile restoration distortion; it achieves adaptive and precise envelope-like fitting of the grinding head to any complex cross-sectional profile of the track. The universal joint structure ensures the lossless continuity of power transmission under angular deflection, while the closed-loop control based on visual feedback ensures precise control of the grinding depth. This multi-dimensional dynamic adjustment mechanism not only eliminates cutting vibrations that may be caused by rigid contact and significantly improves the surface finish and profile fit of the ground track, but also effectively extends the service life of the grinding tools, providing strong technical support for the operation and maintenance safety of high-speed heavy-haul railways. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the grinding system in Embodiment 1 of the present invention; Figure 2 This is another structural schematic diagram of the polishing system in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the grinding assembly in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the internal structure of the tilting component in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the internal structure of the grinding component in Embodiment 1 of the present invention.

[0019] Figure label: 1-Moving mechanism, 2-Grinding mechanism; 21-Tilting component, 22-Grinding component, 23-Oscillating component; 211-Connecting seat, 212-Inclined plate, 213-Transmission unit; 2131-Drive motor, 2132-Drive rod, 2133-Inclined seat, 2134-Drive seat, 2135-Inclined rod, 2136-Eccentric wheel; 221-Drive unit, 222-Grinding shaft, 223-Grinding head; 2221 - First joint, 2222 - Second joint, 2223 - Third joint; 231-Fixed plate, 232-Modible seat, 233-Swing component, 234-Bellwall; 2331 - Swing lever.

[0020] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.

[0022] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0023] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0025] Example 1: Please refer to the attached document as well. Figures 1 to 5 This embodiment provides a track reciprocating dynamic grinding system. The grinding system includes a moving mechanism 1 and a grinding mechanism 2. The moving mechanism 1 is movably mounted on the track, and the grinding mechanism 2 is mounted on the moving mechanism 1. The grinding mechanism 2 includes a tilting component 21, a grinding component 22, and a swinging component 23. The tilting component 21 includes a connecting seat 211, a tilting plate 212, and a transmission unit 213. The connecting seat 211 is internally connected to the moving mechanism 1. One end of the tilting plate 212 is fixedly connected to the swinging component 23. The transmission unit 213 is disposed inside the connecting seat 211, and the output end of the transmission unit 213 is connected to the other end of the tilting plate 212. The polishing assembly 22 includes a drive unit 221, a polishing shaft 222, and a polishing head 223. The output end of the drive unit 221 is connected to the polishing shaft 222, and the output end of the polishing shaft 222 is connected to the polishing head 223. The swing assembly 23 is fixedly connected to the tilting plate 212, and the swing assembly 23 is also disposed on the outer periphery of the grinding shaft 222. The swing assembly 23 is used to adjust the tilt angle of the grinding shaft 222.

[0026] It should be noted that in traditional track grinding operations, the existing equipment's structural design is limited to linear feed at a fixed angle or single-axis oscillation, resulting in a lack of multi-degree-of-freedom dynamic adjustment capabilities. The essence of this problem lies in the rigid adjustment mechanism's inability to adjust the grinding head 223's posture in real time according to the curvature changes of the rail's transverse cross-section profile. This leads to geometric mismatches between the grinding head 223 and the rail surface contact area. Consequently, in complex curved areas such as the rail gauge angle and side surfaces, uneven contact pressure distribution easily occurs, potentially causing localized under-grinding or over-grinding, thus affecting the accurate restoration of the track's standard profile and the smoothness of train operation.

[0027] Based on the above problems, this embodiment proposes a track-based reciprocating dynamic grinding system, comprising a moving mechanism 1 and a grinding mechanism 2. The moving mechanism 1 is responsible for the system's movement and positioning on the track. It can employ a traditional track wheel structure, with the wheels driven by a motor to roll on the track, achieving reciprocating movement along the track direction. The grinding mechanism 2 is mounted on the moving mechanism 1, serving as the core unit for performing the actual grinding operation. Specifically, the grinding mechanism 2 can be fixedly mounted on the chassis of the moving mechanism 1, or connected to the moving mechanism 1 via a lifting mechanism to facilitate adjustment of the grinding height.

[0028] It is understandable that the structure of the grinding mechanism 2 includes a tilting component 21, a grinding component 22, and a swing component 23. These components work together to achieve precise posture adjustment of the grinding head 223 in space and efficient grinding. The tilting component 21 is responsible for providing a basic tilt angle adjustment, the grinding component 22 performs the actual grinding operation, and the swing component 23, based on the tilting component 21, makes a more precise adjustment to the tilt angle of the grinding axis 222.

[0029] The tilting assembly 21 comprises a connecting seat 211, a tilting plate 212, and a transmission unit 213. The connecting seat 211, serving as the base of the tilting assembly 21, is securely connected to the internal structure of the moving mechanism 1, for example, by bolts or welding, ensuring the stability of the tilting assembly 21 during movement. The tilting plate 212 is a movable component of the tilting assembly 21, with one end fixedly connected to the swing assembly 23 and the other end connected to the output end of the transmission unit 213. The transmission unit 213 is located inside the connecting seat 211 and its function is to drive the tilting plate 212 to rotate or swing around a certain axis, thereby changing the overall tilting posture of the tilting plate 212, the connected swing assembly 23, and the grinding shaft 222. The transmission unit 213 can take various forms, such as a rotating shaft driven by a worm gear mechanism, or a mechanism that uses a hydraulic cylinder or pneumatic cylinder to push a connecting rod to achieve swinging.

[0030] The grinding assembly 22 is the unit that directly performs the grinding function. It includes a drive unit 221, a grinding shaft 222, and a grinding head 223. The drive unit 221, such as a high-speed rotary motor, has its output end mechanically connected to the grinding shaft 222, providing rotational power to the grinding shaft 222. The grinding shaft 222 then transmits the rotational power from the drive unit 221 to the grinding head 223. The grinding head 223 is mounted on the output end of the grinding shaft 222 and is the tool that directly contacts the track surface and performs grinding. The grinding head 223 can be made of different shapes and materials of grinding discs or grinding wheels according to different grinding requirements. For example, it can be a flat grinding wheel or a non-standard grinding wheel with a specific curvature.

[0031] The swing assembly 23 is fixedly connected to the tilting plate 212 and is disposed on the outer periphery of the grinding shaft 222. The main function of the swing assembly 23 is to adjust the tilt angle of the grinding shaft 222. Through the movement of the swing assembly 23, the grinding shaft 222 can make further local angular deflections on the basic tilt angle provided by the tilting plate 212. For example, the swing assembly 23 can be a universal joint connection realized by multiple linkage mechanisms, allowing the grinding shaft 222 to be tilted in multiple directions within a certain range. This design allows the grinding head 223 to adapt more flexibly to the complex curvature changes of the track surface, achieving a closer fit for grinding. The fixed connection between the swing assembly 23 and the tilting plate 212 ensures that it moves synchronously with the tilting plate 212, while its structure disposed on the outer periphery of the grinding shaft 222 allows it to act directly on the grinding shaft 222, enabling precise control of its attitude.

[0032] In the specific working process of this embodiment, there is an area on a certain section of track that requires high-precision grinding. The track gauge angle and the side of this area have irregular wear, and its curvature changes are relatively complex. Traditional fixed-angle grinding equipment is difficult to handle effectively. At this time, the track reciprocating dynamic grinding system of this embodiment is deployed to this track area.

[0033] First, the moving mechanism 1 is driven, causing the entire grinding system to travel along the track to the starting position of the area to be ground. The precise control of the moving mechanism 1 ensures that the grinding system can be accurately positioned on the track section where the work needs to be done. Once the positioning is completed, the grinding mechanism 2 begins to work.

[0034] During the polishing process, the tilting component 21 in the polishing mechanism 2 first comes into play. The connecting seat 211 is firmly fixed inside the moving mechanism 1, and the transmission unit 213 is activated to drive the tilting plate 212 to tilt at a preset angle. For example, if the side of the track needs a larger initial tilt angle for polishing, the transmission unit 213 will drive the tilting plate 212 to deflect to that angle. One end of the tilting plate 212 is fixedly connected to the swing component 23. Therefore, the tilting of the tilting plate 212 will drive the swing component 23 and the polishing shaft 222 inside it to tilt as a whole.

[0035] Subsequently, the oscillating component 23 finely adjusts the tilt angle of the grinding shaft 222 based on the basic tilt angle provided by the tilting plate 212. For example, when the grinding head 223 approaches an area with a large change in track gauge angle or side curvature, the oscillating component 23 will drive the grinding shaft 222 to make a local angle deflection according to the preset trajectory or the track profile data detected in real time. This deflection allows the grinding head 223 to dynamically adjust its posture to ensure that the working surface of the grinding head 223 always keeps in close contact with the track surface, avoiding local missed grinding or over-grinding.

[0036] Meanwhile, the drive unit 221 in the grinding assembly 22 continuously provides high-speed rotational power to the grinding shaft 222, which transmits this power to the grinding head 223. While rotating at high speed, the grinding head 223 contacts the track surface with a precisely adjusted tilted posture, performing efficient grinding. Because the grinding head 223 can dynamically conform to the track surface, the grinding process is more uniform, effectively eliminating corrugations, thick edges, and fatigue cracks on the track surface, and restoring the standard profile of the rail.

[0037] Understandably, through the aforementioned collaborative work, the moving mechanism 1 provides a stable moving platform, the tilting component 21 provides basic attitude adjustment capabilities, and the swing component 23, based on this, achieves refined and dynamic tilt angle adjustment of the grinding axis 222. The grinding component 22 is responsible for the actual grinding operation. The close cooperation of these components allows the grinding head 223 to flexibly adapt to the complex curved surface of the track, achieving multi-dimensional dynamic contact grinding. This solves the problem in the prior art that the grinding head 223 is difficult to closely contact with complex curved surfaces, significantly improving grinding quality and efficiency. Multi-dimensional dynamic tilt angle adjustment of the grinding axis 222 is achieved. The tilting component 21 provides a basic, adjustable overall tilt attitude, while the swing component 23, based on this, performs refined and dynamic adjustment of the local tilt angle of the grinding axis 222. This allows the grinding head 223 to flexibly adapt to the complex curvature changes of the track surface. In the example above, when the grinding head 223 transitions from the top surface of the track to the gauge angle and then to the side, the tilting component 21 can provide a general tilt angle, while the swing component 23 can finely adjust the posture of the grinding head 223 in real time to ensure that its working surface is always in close contact with the complex curved surfaces of the gauge angle and the side.

[0038] In this embodiment, the transmission unit 213 includes a transmission motor 2131, a transmission rod 2132, an inclined seat 2133, a transmission seat 2134, and an inclined rod 2135. The transmission motor 2131 is fixedly disposed inside the connecting seat 211. An eccentric wheel 2136 is connected to the output end of the transmission motor 2131. The eccentric wheel 2136 is connected to one end of the transmission rod 2132. The inclined seat 2133 is fixedly disposed on the lower end face of the connecting seat 211. The transmission seat 2134 is fixedly disposed on the other end of the inclined plate 212. The other end of the transmission rod 2132 is connected to the inclined rod 2135. The inclined rod 2135 is also connected to the inclined seat 2133 and the transmission seat 2134.

[0039] Understandably, the drive motor 2131 acts as a power source, and its output end is connected to the eccentric wheel 2136, which converts the rotational motion into the reciprocating linear motion of the drive rod 2132. One end of the drive rod 2132 is connected to the eccentric wheel 2136, and the other end is connected to the tilting rod 2135. The two ends of the tilting rod 2135 are respectively connected to the tilting seat 2133 fixed to the lower end face of the connecting seat 211 and the drive seat 2134 fixed to the other end of the tilting plate 212. When the drive motor 2131 drives the eccentric wheel 2136 to rotate, the drive rod 2132 reciprocates under the action of the eccentric wheel 2136, thereby causing the tilting rod 2135 to swing. Since one end of the tilting rod 2135 is fixed to the tilting seat 2133 and the other end is connected to the transmission seat 2134, the swinging of the tilting rod 2135 will drive the transmission seat 2134, together with the tilting plate 212, to pivot around the connection point between the tilting seat 2133 and the transmission seat 2134, thereby achieving precise angle adjustment of the tilting plate 212. This linkage mechanism design ensures a definite mechanical relationship between the tilt angle change of the tilting plate 212 and the rotation angle of the transmission motor 2131, thus enabling high-precision and high-stability tilt angle control, effectively solving the problems of insufficient angle adjustment accuracy and poor dynamic stability that may exist in traditional transmission units 213.

[0040] It is also understandable that the above structure utilizes a linkage mechanism consisting of a drive motor 2131 driving an eccentric wheel 2136, a drive rod 2132, and an inclined rod 2135 to achieve precise and stable angle adjustment of the inclined plate 212. This mechanical transmission method has high rigidity and stability, and can effectively resist external disturbances during the dynamic operation of the grinding system, ensuring that the inclined plate 212 maintains the set inclined posture, thereby significantly improving the contact accuracy between the grinding head 223 and the track surface and the stability of the grinding operation, thus improving the grinding quality and efficiency.

[0041] In this embodiment, the grinding shaft 222 includes a first joint 2221, a second joint 2222, and a third joint 2223. The first joint 2221, the second joint 2222, and the third joint 2223 are connected in sequence to form a universal joint structure, so as to perform angular deflection during rotation transmission.

[0042] It is understood that the universal joint structure is a mechanical device capable of transmitting rotational motion between two shafts, whether their axes intersect or not. Its core feature is that even when there is a certain angle between the input and output shafts, the universal joint can still maintain continuous transmission of rotational power. Common universal joint structures include cross-type universal joints, ball-cage universal joints, and flexible universal joints. Cross-type universal joints, through the cooperation of two fork-shaped parts and a cross shaft, allow for power transmission and angular deflection within a certain angle range. Ball-cage universal joints, through the cooperation of spherical inner and outer raceways and steel balls, achieve greater angular deflection capacity and smoother power transmission.

[0043] It is also understandable that the above structure, by designing the grinding shaft 222 as a universal joint structure including a first joint 2221, a second joint 2222, and a third joint 2223, enables the grinding shaft 222 to deflect at an angle during rotational transmission. Specifically, when the drive unit 221 starts and outputs rotational power, this power is first transmitted to the first joint 2221 of the grinding shaft 222. Since the grinding shaft 222 is internally formed by the first joint 2221, the second joint 2222, and the third joint 2223 connected in sequence to form a universal joint structure, the universal joint structure can automatically adapt to this angle change when the swing assembly 23 adjusts the tilt angle of the grinding shaft 222 according to the grinding requirements. The relative movement between the first joint 2221, the second joint 2222, and the third joint 2223 allows the overall axis of the grinding shaft 222 to deflect without hindering the transmission of rotational power. More specifically, in the cross-shaped universal joint, the cross shaft rotates between two fork-shaped components, allowing an included angle between the fork-shaped components to achieve angular deflection. This ensures that even when the grinding shaft 222 is tilted, the rotational power of the drive unit 221 can be smoothly and continuously transmitted to the grinding head 223 through the universal joint structure, enabling the grinding head 223 to effectively perform grinding operations in various tilting postures. The cooperation between this universal joint structure and the swing assembly 23 allows the grinding system to flexibly adjust the posture of the grinding head 223 to adapt to the complex geometry and wear conditions of the track surface, greatly improving the system's adaptability and grinding accuracy.

[0044] In this embodiment, the swing assembly 23 includes a fixed plate 231, a movable seat 232, and a swing member 233. The fixed plate 231 is fixedly connected to the inclined plate 212, and the movable seat 232 is movably connected to the fixed plate 231 through the swing member 233. The movable seat 232 is rotatably disposed on the outer periphery of the third joint 2223 through a rotating bearing.

[0045] It should be noted that the above structure, by fixing the fixed plate 231 to the inclined plate 212, provides the swing assembly 23 with a stable reference base. The movable seat 232 is movably connected to the fixed plate 231 via the swing element 233, which provides the movable seat 232 with controlled motion freedom relative to the fixed plate 231. Simultaneously, the movable seat 232 is rotatably connected to the outer periphery of the third joint 2223 of the grinding shaft 222 via a rotary bearing. This means that any controlled movement of the movable seat 232 will directly act on the third joint 2223, causing it to deflect angularly around the center of the second joint 2222. When the swing element 233 is driven, by changing its length or position, it forces the movable seat 232 to swing or displace under the constraint of the fixed plate 231. Because the movable seat 232 and the third joint 2223 are tightly fitted through a rotating bearing, the movement of the movable seat 232 will cause the third joint 2223 to deflect at a corresponding angle. This deflection utilizes the inherent characteristics of the universal joint structure of the grinding shaft 222, but is also actively and precisely controlled by the swing assembly 23, thereby achieving fine adjustment of the tilt angle of the grinding head 223. The entire mechanism works in concert, enabling the grinding head 223 to precisely conform to the track surface according to actual needs, effectively solving the problem of angle control of the grinding shaft 222.

[0046] In this embodiment, the swing member 233 includes a plurality of swing rods 2331 arranged in pairs. The plurality of swing rods 2331 are arranged in a circular array with the axis of the third joint 2223 as a reference, and the two ends of the swing rods 2331 are respectively connected to the fixed plate 231 and the movable seat 232.

[0047] It should be noted that when the tilting posture of the grinding head 223 (i.e., the third joint 2223) needs to be adjusted, an external driving mechanism (e.g., changing the effective length or relative position of the swing rods 2331) can drive these paired swing rods 2331 to work together and apply a precise push-pull force to the movable seat 232. Because the swing rods 2331 are distributed in a circumferential array, this force can be evenly or as needed distributed around the third joint 2223, allowing the movable seat 232 to stably drive the third joint 2223 to deflect at a preset angle around the center of the second joint 2222. This multi-point, balanced support and driving method effectively avoids the structural instability or imprecise control problems that may result from traditional single-point or few-point driving, thereby ensuring that the grinding head 223 can conform to the track surface with high precision and high stability.

[0048] In one specific implementation, the swing element 233 can be composed of three pairs of swing rods 2331, which are evenly distributed at 120-degree intervals around the axis of the third joint 2223. The two ends of each pair of swing rods 2331 can be connected to the fixed rod and the movable seat 232 respectively via ball joints, allowing free rotation in three-dimensional space. When it is necessary to adjust the tilt angle of the third joint 2223, the extension and retraction length of each swing rod 2331 can be precisely controlled by a linear actuator (e.g., a lead screw mechanism driven by a stepper motor) connected to the swing rods 2331. By coordinating the length changes of the swing rods 2331 at different positions, the movable seat 232 can be driven to shift and tilt relative to the fixed rod, thereby causing the third joint 2223 connected to the movable seat 232 to deflect around the center of the second joint 2222 by a preset angle.

[0049] In this embodiment, the swing rod 2331 includes a telescopic rod and a ball joint. Both ends of the telescopic rod are connected to the fixed plate 231 and the movable seat 232 through the ball joint, so that by changing the length of the telescopic rod at different positions, the movable seat 232 drives the third joint 2223 to deflect around the center of the second joint 2222.

[0050] Understandably, the movable seat 232 is rotatably mounted on the outer periphery of the third joint 2223 via a rotary bearing. When the swing member 233 consists of a telescopic rod and a ball joint, the telescopic rod acts as the active driving element, with its two ends flexibly connected to the fixed plate 231 and the movable seat 232 via the ball joint. When it is necessary to adjust the working angle of the grinding head 223, the control system calculates the target length required for each telescopic rod based on the preset grinding strategy or the track data detected in real time. Subsequently, the control system drives the telescopic rods at different positions to extend or shorten. Due to the change in the length of the telescopic rod, the spatial position and posture of the movable seat 232 relative to the fixed plate 231 will change. Since the movable seat 232 is connected to the outer periphery of the third joint 2223 via a rotary bearing, this change in the posture of the movable seat 232 will directly drive the third joint 2223 to make a precise angular deflection around the center of the second joint 2222. The presence of the ball joint ensures that the connection point between the telescopic rod and the fixed plate 231 and the movable seat 232 can flexibly adapt to the angle change during the extension and retraction process, ensuring smooth force transmission and jam-free movement of the mechanism. In this way, the grinding head 223 can conform to the track surface in a controlled tilting posture to achieve fine grinding.

[0051] Example 2: In this embodiment, the polishing system further includes a reciprocating mechanism, and the connecting seat 211 is movably disposed inside the moving mechanism 1 through the reciprocating mechanism.

[0052] It is understandable that a reciprocating mechanism is a mechanical device that can convert rotary motion into linear reciprocating motion, or achieve linear reciprocating motion. Its function is to provide a controllable linear movement within a limited range, enabling the components it carries to perform repetitive, back-and-forth movements in a specific direction. This reciprocating mechanism can be implemented in various ways. For example, a screw-nut mechanism can be used, where a drive motor rotates the screw, and the nut on the screw is fixedly connected to the connecting seat 211, thereby causing the connecting seat 211 to perform reciprocating linear motion along the screw axis within the moving mechanism 1.

[0053] It is also understandable that the reciprocating mechanism can also employ a pneumatic or hydraulic cylinder. By controlling the extension and retraction of the piston rod of the pneumatic or hydraulic cylinder, the connecting seat 211 can be directly driven to perform reciprocating linear motion within the moving mechanism 1. Alternatively, a rack and pinion mechanism can be used, where a motor drives the gears to roll on the rack, thereby driving the connecting seat 211 to achieve reciprocating motion. The connecting seat 211 is movably disposed within the moving mechanism 1 through the reciprocating mechanism. This structural configuration means that the connecting seat 211 is no longer simply fixedly connected to the moving mechanism 1, but rather gains the ability to perform a limited range of linear reciprocating motion within the moving mechanism 1 through the reciprocating mechanism.

[0054] It should be noted that by introducing a reciprocating mechanism on the basis of the original moving mechanism 1 of the grinding system, the connecting seat 211 of the tilting component 21 can be moved within the moving mechanism 1 through the reciprocating mechanism. When the grinding system moves on the track, if it is necessary to perform fine grinding on a local area of ​​the track surface or to compensate for local unevenness, the reciprocating mechanism will be activated, driving the connecting seat 211 to perform linear reciprocating motion in a preset direction within the moving mechanism 1.

[0055] In this embodiment, the swing assembly 23 further includes a bellows 234, the two ends of which are connected to the inclined plate 212 and the grinding head 223 respectively, and the middle part of the bellows 234 is also connected to the fixed plate 231, and is wrapped inside the grinding shaft 222 and the swing assembly 23.

[0056] It should be noted that the two ends of the bellows 234 are connected to the tilting plate 212 and the grinding head 223, respectively. It can synchronously extend, retract, and bend with the tilting movement of the tilting plate 212 and the angular deflection of the grinding head 223 (via the grinding shaft 222 and the swing assembly 23). Simultaneously, the middle of the bellows 234 is connected to the fixed plate 231, allowing the bellows 234 to stably enclose the grinding shaft 222 and the swing assembly 23. Through this structural configuration, the bellows 234 forms a flexible and sealed protective cavity, isolating the universal joint structure of the grinding shaft 222 and the internal mechanical structure of the swing assembly 23 from the external grinding environment. This effectively prevents dust, debris, and other contaminants generated during grinding from entering these critical moving parts, ensuring their clean and smooth operation.

[0057] Example 3: In this embodiment, the polishing system further includes a vision module, which is disposed on one side of the polishing mechanism 2. The vision module is used to acquire contour data and wear data of the track surface.

[0058] In this embodiment, the grinding system further includes a control module. The control module has a preset standard track model to determine the area to be ground and the target grinding amount. The control module is used to obtain the target length change of each telescopic rod required for the third joint 2223 to deflect around the center of the second joint 2222 based on the area to be ground, the target grinding amount, the contour data, and the wear data, so as to control the grinding head 223 to fit the area to be ground in an inclined posture.

[0059] It should be noted that the contour data is obtained by scanning the track surface using a vision module (such as a line laser contour sensor), and this data is a set of discrete three-dimensional coordinate points. It also characterizes the actual geometry of the orbit.

[0060] For the standard track model, the ideal rail cross-section curve equation is pre-stored in the control module database.

[0061] For the area to be polished, the contour data is registered with the standard track model in coordinates, and the difference in normal distance between the two is calculated. When the difference exceeds a preset threshold, the area is marked as the area to be polished.

[0062] For wear data, the normal deviation between the actual profile and the standard model at a certain point in the area to be polished.

[0063] It should also be noted that, in order to achieve the goal of fitting in an inclined posture, this embodiment requires calculating the spatial pose of the grinding head (third joint 2223) relative to the reference (second joint 2222). This embodiment introduces the concept of a normal vector field from differential geometry. Specifically, at the center point P of the area to be ground, the control module first calculates the unit normal vector of that point on the track surface. To ensure that the grinding head 223 (grinding wheel) and the track surface have ideal tangential contact to eliminate sharp edges, the rotation axis vector of the grinding head 223 maintains a specific geometric relationship with the track normal vector (usually coincident or perpendicular; in this example, since it is end face grinding, coincidence is required).

[0064] Based on the Rodrigues transformation principle, the target rotation matrix R required to transform from the current grinding axis 222 vector to the target normal vector satisfies the following expression: ; Where θ is the rotation angle, obtained from the dot product formula, with data derived from current sensor feedback and visual computation results. The dot product formula satisfies: ; The axis of rotation vector; ω is the unit vector of the rotation axis, obtained by the cross product formula, which satisfies: ; Let be an antisymmetric matrix composed of vectors ω; n is the unit normal vector.

[0065] The above expression describes the rotation of the rigid body in three-dimensional space. Using this expression, the transformation from the current attitude to the theoretically fitted attitude can be described with the fewest parameters (axis of rotation and angle of rotation), avoiding the gimbal lock problem that may be caused by Euler angles.

[0066] Furthermore, for the position compensation calculation, let the center (rotation center) of the second joint 2222 be O, and the distance from the center of the grinding head contact surface to point O be H (tool length); in order to achieve a depth of For grinding, the target spatial position vector T at the center of the second joint 2222 should satisfy: ; Where P is the coordinate of the point to be polished in the world coordinate system, which comes from the contour data of the vision module; H is the physical length of the grinding head 223, which is a known mechanical constant; The target grinding amount is derived from the decision data of the control module.

[0067] Finally, substituting the calculated attitude R and position T into the inverse equation of the parallel mechanism, the physical length of each telescopic rod is calculated, and the expression satisfies: ; in, The change in target length; i The number of the swing arm; The vector of the hinge point of the moving platform; For the fixed platform hinge point vector This is the current pole length.

[0068] Example 4: Based on embodiments 1 to 3, this embodiment provides a specific configuration of the grinding mechanism 2 and its matching grinding stone specifications and dust removal system for long-distance, high-efficiency linear track grinding requirements.

[0069] In this embodiment, the grinding mechanism 2 is arranged in a longitudinal linear array along both sides of the moving mechanism 1 and is located directly above the track. To improve work efficiency and ease of replacement, the grinding head 223 no longer uses a rotating grinding wheel, but instead adopts a reciprocating grinding stone structure. The grinding assembly 22 also includes an automatic clamping unit, which is located at the end of the grinding shaft 222. Specifically, the automatic clamping unit adopts a pneumatic or hydraulically driven jaw structure, which can automatically open or close upon receiving external control commands, thereby achieving rapid clamping and release of the grinding stone. This design allows operators to quickly replace the grinding stone without using complex tools when it is depleted, significantly shortening equipment downtime for maintenance.

[0070] To ensure consistent grinding quality, the grinding assembly 22 also integrates a pressure-sensing telescopic mechanism to drive the grinding stone to extend and retract vertically. Pressure sensors (such as piezoelectric sensors or torque sensors) are installed inside or at the connection point of the telescopic mechanism to sense the contact pressure of the grinding stone on the track surface in real time. The control system adjusts the extension length of the telescopic mechanism in real time through closed-loop feedback logic based on a preset grinding pressure threshold: when the sensed pressure is less than the set value (e.g., due to wear of the grinding stone leading to a decrease in contact force), the mechanism is pressed down; when the sensed pressure is too high (e.g., encountering a protrusion on the track), the mechanism is retracted. This constant-pressure floating grinding method effectively avoids under-grinding or over-burning caused by pressure fluctuations.

[0071] To complement the aforementioned high-frequency reciprocating grinding system, the grinding stone used in this embodiment ensures a balance between wear resistance and cutting force. The material ratio of the grinding stone is: brown corundum: zirconia corundum: ceramic corundum = 5:3:2 (by weight).

[0072] Binder selection: Resin binder to provide good self-sharpening and impact resistance.

[0073] Hardness grade: JM (medium-soft to medium-hard) is selected to accommodate rail materials of different hardness and prevent grinding stones from clogging or burning the rails.

[0074] Structure number: Select 7-9 (loose structure), the larger porosity is beneficial for the discharge of grinding chips and heat dissipation.

[0075] Finally, considering that high-frequency reciprocating grinding generates a large amount of metal dust, this embodiment also includes a dust collection system. The dust collection system comprises a negative pressure fan, a dust filter box, and a dust collection hood. The dust collection hood is closely attached to the perimeter of the grinding stone working area and is connected to the negative pressure fan via a flexible hose. During grinding operations, the dust collection system is activated simultaneously, drawing the generated sparks and grinding debris into the filter box for settling. This protects the operating environment and prevents dust contamination of electrical equipment around the track.

[0076] It should be noted that the above expression is based on the vector closed-loop principle, ensuring that the mechanical structure's movements can accurately reproduce the mathematical pose calculated by the algorithm. Through the above algorithm, the control module mathematically couples the visually perceived contour data, the area to be ground, the target grinding amount required by the process, the wear data, and the target length change of the mechanical structure. Specifically, the introduction of a normal vector ensures that the grinding head is always perpendicular / tangential to the change in track curvature, avoiding sharp edges; the introduction of a grinding amount correction displacement vector ensures precise control of the grinding depth. This closed-loop control based on the full data link enables high-precision dynamic contour grinding on complex curved surfaces.

[0077] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A dynamic grinding system for reciprocating tracks, characterized in that, The polishing system includes a moving mechanism and a polishing mechanism. The moving mechanism is movably mounted on a track, and the polishing mechanism is mounted on the moving mechanism. The grinding mechanism includes a tilting component, a grinding component, and a swinging component. The tilting component includes a connecting seat, a tilting plate, and a transmission unit. The connecting seat is internally connected to the moving mechanism. One end of the tilting plate is fixedly connected to the swinging component. The transmission unit is disposed inside the connecting seat, and the output end of the transmission unit is connected to the other end of the tilting plate. The polishing assembly includes a drive unit, a polishing shaft, and a polishing head. The output end of the drive unit is connected to the polishing shaft, and the output end of the polishing shaft is connected to the polishing head. The swing assembly is fixedly connected to the tilting plate, and the swing assembly is also disposed on the outer periphery of the grinding shaft. The swing assembly is used to adjust the tilt angle of the grinding shaft.

2. The track reciprocating dynamic grinding system as described in claim 1, characterized in that, The transmission unit includes a transmission motor, a transmission rod, an inclined seat, and an inclined rod. The transmission motor is fixedly installed inside the connecting seat. An eccentric wheel is connected to the output end of the transmission motor. The eccentric wheel is connected to one end of the transmission rod. The inclined seat is fixedly installed on the lower end face of the connecting seat. The transmission seat is fixedly installed on the other end of the inclined plate. The other end of the transmission rod is connected to the inclined rod. The inclined rod is also connected to the inclined seat and the transmission seat.

3. The track reciprocating dynamic grinding system as described in claim 1, characterized in that, The grinding shaft includes a first joint, a second joint, and a third joint, which are connected in sequence to form a universal joint structure to allow for angular deflection during rotational transmission.

4. The track reciprocating dynamic grinding system as described in claim 3, characterized in that, The swing assembly includes a fixed plate, a movable seat, and a swinging component. The fixed plate is fixedly connected to the inclined plate, and the movable seat is movably connected to the fixed plate through the swinging component. The movable seat is rotatably disposed on the outer periphery of the third joint through a rotary bearing.

5. The track reciprocating dynamic grinding system as described in claim 4, characterized in that, The swinging component includes several pairs of swing rods, which are arranged in a circular array with the axis of the third joint as a reference, and the two ends of the swing rods are respectively connected to the fixed plate and the movable seat.

6. The track reciprocating dynamic grinding system as described in claim 5, characterized in that, The swing arm includes a telescopic rod and a ball joint. Both ends of the telescopic rod are connected to the fixed plate and the movable seat through the ball joint, so that by changing the length of the telescopic rod at different positions, the movable seat can drive the third joint to deflect around the center of the second joint.

7. The track reciprocating dynamic grinding system as described in claim 1, characterized in that, The polishing system also includes a reciprocating mechanism, and the connecting seat is movably disposed inside the moving mechanism via the reciprocating mechanism.

8. The track reciprocating dynamic grinding system as described in claim 4, characterized in that, The swing assembly also includes a bellows, with its two ends connected to an inclined plate and a grinding head, respectively, and its middle part connected to a fixed plate, with the grinding shaft and swing assembly enclosed within it.

9. The track reciprocating dynamic grinding system as described in claim 6, characterized in that, The polishing system also includes a vision module, which is located on one side of the polishing mechanism and is used to acquire contour data and wear data of the track surface.

10. The track reciprocating dynamic grinding system as described in claim 9, characterized in that, The grinding system also includes a control module, which has a preset standard track model to determine the area to be ground and the target grinding amount. The control module is used to obtain the target length change of each telescopic rod required for the third joint to deflect around the center of the second joint based on the area to be ground, the target grinding amount, the contour data, and the wear data, so as to control the grinding head to fit the area to be ground in an inclined posture.

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