Bogie side beam welding and grinding device and method

Abstract

The invention relates to the field of welding, and provides a bogie side beam welding and grinding device and method. The bogie side beam welding and grinding device comprises a workpiece clamping station mechanism used for positioning and clamping a bogie side beam; the welding unit is used for welding a welding seam on the positioned and clamped bogie side beam; the accurate grinding unit is used for carrying out accurate grinding treatment on the welded welding seam; the laser tracking system is used for carrying out three-dimensional scanning on a welding seam area on the side beam of the bogie so as to obtain track data of a welding seam; the central control system is respectively connected with the welding unit, the accurate grinding unit and the laser tracking system; and the central control system is configured to respectively generate a welding path and a fine grinding path based on the same group of welding seam track data obtained by single tracking of the laser tracking system, and control the welding unit and the fine grinding unit to complete welding operation and fine grinding operation in sequence under the same workpiece clamping state according to the welding path and the fine grinding path. The bogie side beam welding and grinding device can perform continuous operation on complex welding seams of the bogie side beam.

Description

Technical Field

[0001] This invention relates to the field of welding, and provides a welding and grinding device and method for bogie side beams. Background Technology

[0002] Bogie side beams are crucial load-bearing components in rail transit equipment such as high-speed trains and EMUs. They not only bear the weight of the entire vehicle and vibrations during operation, but also directly affect the vehicle's safety performance, service life, and aesthetic appearance. The quality of the welds largely determines the performance of the bogie side beams. Currently, post-weld grinding is an important step, directly affecting the final weld surface finish, and is one of the key indicators for evaluating weld quality.

[0003] A common standard for surface finish is the Ra value. For example, for some stringent requirements, the surface finish needs to reach Ra4.3, which requires extremely precise operation and polishing techniques. In most cases, these standards can only be achieved through manual polishing.

[0004] Traditional methods present numerous challenges in weld grinding. Firstly, the unique dovetail structure and fan-shaped transition areas on the bogie side beams exhibit complex three-dimensional curved surfaces with irregular shapes. This makes it difficult to precisely grind using commonly used automated grinding equipment (such as belt grinders), let alone achieve a fine grinding effect. Therefore, these delicate tasks often require repeated manual grinding, which is inefficient and yields inconsistent results. Secondly, achieving a high standard of surface finish typically requires highly precise manual operation, making grinding extremely time-consuming, labor-intensive, and in harsh working environments, making it difficult to guarantee consistent grinding quality. To address these challenges, many rail transit equipment manufacturers have experimented with automated grinding technologies, such as using robotic welding systems or automated grinding equipment for simple welds.

[0005] In the relevant technologies, there is no mature and widely used method that can effectively solve the grinding problem of complex welds on bogie side beams, especially those welds with special shapes, which are difficult to achieve integrated continuous operation from welding to fine grinding. Summary of the Invention

[0006] This invention provides a bogie side beam welding and grinding device to solve the problem of low grinding accuracy for complex welds on bogie side beams in related technologies.

[0007] This invention provides a method for welding and grinding bogie side beams.

[0008] A first aspect of the present invention provides a bogie side beam welding and grinding device, comprising: The workpiece clamping station mechanism is used to position and clamp the side beams of the bogie; The welding unit is used to weld the welds on the bogie side beams after they have been positioned and clamped. The precision grinding unit is used to perform precision grinding on the weld after welding is completed; A laser tracking system is used to perform three-dimensional scanning of the weld area on the bogie side beam to obtain the trajectory data of the weld. The central control system is connected to the welding unit, the fine grinding unit, and the laser tracking system, respectively. The central control system is configured to generate welding paths and fine grinding paths based on the same set of weld trajectory data obtained by the laser tracking system in a single tracking operation, and control the welding unit and the fine grinding unit to complete the welding operation and the fine grinding operation in sequence under the same workpiece clamping state.

[0009] According to one embodiment of the present invention, the fine grinding unit includes a balance point identification system; The equilibrium point identification system includes: A force / torque sensor is installed at the end of the fine grinding unit to detect the contact force and torque between the fine grinding tool and the weld surface in real time. A control module containing a self-learning algorithm is connected to the force / torque sensor and the central control system. The control module is used to identify and maintain the optimal contact balance point between the grinding tool and the weld surface based on the real-time data fed back by the force / torque sensor and through the self-learning algorithm, so as to achieve high-precision grinding.

[0010] According to one embodiment of the present invention, the fine grinding unit further includes a high-precision power spindle, the end of which is used to mount a fine grinding tool, and the force / torque sensor is integrated on the high-precision power spindle; The high-precision power spindle is controlled by the central control system to achieve precise adjustment of the grinding tool's speed, feed rate, and attitude, thereby enabling the weld surface finish to reach Ra4.3 under the control of the balance point identification system.

[0011] According to one embodiment of the present invention, the balance point identification system further includes an auxiliary sensor; The auxiliary sensors include high-resolution visual sensors or tactile sensors, used to acquire microscopic morphology data of the weld area to be fine-ground during the fine-grinding process. The control module is further configured to receive the microstructure data for real-time evaluation of the grinding effect and to assist in adaptive control decisions.

[0012] According to one embodiment of the present invention, the welding unit is an automated welding robot, and the fine grinding unit is a high-precision grinding robot; The automated welding robot and the high-precision grinding robot are integrated into the same flexible workstation or gantry-type work platform to form an integrated equipment.

[0013] A second aspect of the present invention provides a method for welding and grinding a bogie side beam based on the above-described bogie side beam welding and grinding apparatus, comprising: The bogie side beam to be processed is positioned and clamped in one go on the workpiece clamping station mechanism; A laser tracking system was used to perform a single three-dimensional scan and precise tracking of the weld area on the bogie side beam, obtaining a set of general positioning references and trajectory planning data for the weld. Based on the same set of trajectory planning data, the welding unit is controlled to automatically weld the welds of the bogie side beams along the planned welding path. Without changing the clamping state of the bogie side beams, based on the same set of trajectory planning data, the precision grinding unit is controlled to automatically perform precision grinding on the welded seams along the planned precision grinding path.

[0014] According to one embodiment of the present invention, the automated fine grinding process includes: During the fine grinding process, the contact force and torque between the fine grinding tool and the weld surface are sensed in real time by a force / torque sensor. The real-time data of the contact force and torque are fed back to the control module, which includes a self-learning algorithm; The control module performs calculations using the self-learning algorithm to identify the optimal contact state balance point for achieving the preset fine grinding effect. Based on the identification results of the balance point, the operating parameters of the fine grinding unit are automatically adjusted to continuously find and maintain the optimal contact state balance point, thereby achieving adaptive high-precision fine grinding of the weld.

[0015] According to one embodiment of the present invention, the operating parameters of the fine grinding unit include at least one of the feed rate, rotational speed, attitude, and pressure of the fine grinding tool.

[0016] According to one embodiment of the present invention, the automated fine grinding process further includes: High-resolution vision or tactile sensors are used to collect microscopic morphology data such as weld reinforcement and surface roughness in the grinding area. When performing calculations, the control module combines the microscopic morphology data to evaluate the fine grinding effect in real time, and uses the real-time data of contact force and torque as the basis for adjusting the operating parameters of the fine grinding unit.

[0017] According to one embodiment of the present invention, the welding and fine grinding processes are continuous operations along the same trajectory, that is, the motion trajectory of the fine grinding unit basically replicates the motion trajectory of the welding unit, thereby realizing the integrated processing of welding and fine grinding of the bogie side beam.

[0018] The bogie side beam welding and grinding device provided by the first aspect of the present invention, based on the welding and grinding path design of the same set of trajectory data, enables continuous connection between the welding and fine grinding processes, eliminating the need for manual intervention in process switching and completely replacing the traditional manual grinding and fine grinding steps. Especially for complex welds such as dovetail structures and fan-shaped transition surfaces, automated operation avoids the limitations of manual operation, solves the problems of low efficiency and unstable quality in manual fine grinding, and significantly reduces labor costs and labor intensity. The use of high-precision scanning by the laser tracking system ensures the accuracy of the welding and grinding path, and the automated operation of the welding and fine grinding units avoids human error, ensuring consistent weld formation quality and fine grinding finish. The fine grinding unit accurately reproduces the welding path, effectively removing weld excess without damaging the base material, ensuring the structural strength and surface quality of the bogie side beam, and meeting high-standard weld requirements. One-time positioning and clamping and continuous operation along the same trajectory eliminate the time spent on workpiece transfer, secondary positioning, and process waiting in traditional processes, significantly shortening the production cycle. The laser tracking system eliminates the cumbersome process of multiple positioning steps with a single tracking operation, improving data utilization and operational continuity, making the entire welding and grinding process highly efficient and smooth, and significantly improving production efficiency. The bogie side beam welding and grinding device integrates the welding unit, fine grinding unit, and laser tracking system to work collaboratively, replacing traditional separate welding and grinding equipment. It eliminates the need for multiple workstations, significantly saving production space. The device's multi-functionality reduces equipment downtime, improves overall equipment utilization, and lowers equipment investment costs, meeting the demands of high-efficiency production. Each unit of the bogie side beam welding and grinding device is adapted to the operational requirements of complex curved weld seams. The laser tracking system can accurately capture the trajectory data of complex weld seams, and the welding and fine grinding units can operate stably along complex paths, effectively solving the welding and grinding challenges of complex weld seams such as dovetail structures and fan-shaped transition surfaces. The clamping range and operating range of the bogie side beam welding and grinding device are adaptable to different specifications of bogie side beams, demonstrating strong versatility and wide applicability.

[0019] According to the bogie side beam welding and grinding method provided in the second aspect of the present invention, welding and fine grinding are performed based on the same set of trajectory data. The fine grinding path accurately replicates the welding path, eliminating the need for manual intervention in process switching and completely replacing the traditional manual grinding and fine grinding steps. Especially for complex welds, automated operation avoids the limitations of manual operation, solves the problems of low efficiency and unstable quality in manual fine grinding, and significantly reduces labor costs and labor intensity. One-time positioning and clamping avoid deviations caused by secondary positioning, and a single scan of the laser tracking system ensures the accuracy of the welding and fine grinding paths. The automated operation of the welding unit and the fine grinding unit eliminates human operation errors, ensuring that the welding quality and fine grinding effect of all welds remain highly consistent, and the weld surface finish is uniform, meeting the high standard requirements of the bogie side beam. There is no need for workpiece transfer, secondary positioning, or process waiting. Fine grinding operations can be seamlessly connected after welding, significantly shortening the interval time between processes. A single scan of the laser tracking system reduces data acquisition time, and operation along the same trajectory reduces equipment debugging time, resulting in a highly efficient and smooth overall production process and a significantly shortened production cycle. The bogie side beam welding and grinding method is implemented using an integrated device, eliminating the need for separate welding and grinding stations and saving production space. The equipment is multi-functional, with close coordination between the welding and grinding units, reducing equipment downtime, improving overall equipment utilization, and lowering investment costs. The laser tracking system accurately captures the trajectory data of complex welds, and the generated trajectory planning data can be adapted to both welding and grinding operations simultaneously. This allows the bogie side beam welding and grinding method to effectively handle the welding and grinding needs of complex welds such as dovetail structures and fan-shaped transition surfaces. This bogie side beam welding and grinding method is adaptable to the processing of bogie side beams of different specifications and weld types, demonstrating strong versatility and wide applicability. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic front view of the bogie side beam welding and grinding device provided by the present invention.

[0022] Figure 2 This is a schematic left view of the bogie side beam welding and grinding device provided by the present invention.

[0023] Figure 3 This is a schematic right view of the bogie side beam welding and grinding device provided by the present invention.

[0024] Figure 4This is a schematic top view of the bogie side beam welding and grinding device provided by the present invention.

[0025] Figure 5 This is a schematic flowchart of the bogie side beam welding and grinding method provided by the present invention.

[0026] Figure label: 100. Workpiece clamping station mechanism; 102. Welding unit; 104. Precision grinding unit; 106. Laser tracking system; 108. Force / torque sensor; 110. High-precision power spindle. Detailed Implementation

[0027] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0028] like Figures 1 to 4 As shown, a first aspect of the present invention provides a bogie side beam welding and grinding device, comprising: The workpiece clamping station mechanism 100 is used to position and clamp the side beam of the bogie; Welding unit 102 is used to weld the welds on the bogie side beam after positioning and clamping; The fine grinding unit 104 is used to perform fine grinding on the weld after welding is completed; The laser tracking system 106 is used to perform three-dimensional scanning of the weld area on the bogie side beam to obtain the trajectory data of the weld. The central control system is connected to the welding unit 102, the fine grinding unit 104 and the laser tracking system 106 respectively; The central control system is configured to generate welding paths and fine grinding paths based on the same set of weld trajectory data obtained by the laser tracking system 106 in a single tracking operation, and control the welding unit 102 and the fine grinding unit 104 to complete the welding operation and fine grinding operation in sequence under the same workpiece clamping state.

[0029] The bogie side beam welding and grinding device provided in the first aspect of the present invention, based on the welding and grinding path design of the same set of trajectory data, enables continuous connection between the welding and fine grinding processes, eliminating the need for manual intervention in process switching and completely replacing the traditional manual grinding and fine grinding steps. Especially for complex welds such as dovetail structures and fan-shaped transition surfaces, automated operation avoids the limitations of manual operation, solves the problems of low efficiency and unstable quality in manual fine grinding, and significantly reduces labor costs and labor intensity. The use of high-precision scanning by the laser tracking system 106 ensures the accuracy of the welding and grinding path. The automated operation of the welding unit 102 and the fine grinding unit 104 avoids human error, ensuring consistent weld formation quality and fine grinding finish. The fine grinding unit 104 accurately reproduces the welding path, effectively removing weld excess without damaging the base material, ensuring the structural strength and surface quality of the bogie side beam, and meeting high-standard weld requirements. One-time positioning and clamping and continuous operation along the same trajectory eliminate the time spent on workpiece transfer, secondary positioning, and process waiting in traditional processes, significantly shortening the production cycle. The laser tracking system 106 eliminates the cumbersome process of multiple positioning steps with a single tracking operation, improving data utilization and operational continuity, making the entire welding and grinding process efficient and smooth, and significantly improving production efficiency. The bogie side beam welding and grinding device integrates the welding unit 102, the fine grinding unit 104, and the laser tracking system 106 for collaborative work, replacing traditional separate welding and grinding equipment. It eliminates the need for multiple workstations, significantly saving production space. The device's multi-functionality reduces equipment downtime, improves overall equipment utilization, and lowers equipment investment costs, meeting the demands of high-efficiency production. Each unit of the bogie side beam welding and grinding device is adaptable to the operational requirements of complex curved weld seams. The laser tracking system 106 can accurately capture the trajectory data of complex weld seams, while the welding unit 102 and the fine grinding unit 104 can operate stably along complex paths, effectively solving the welding and grinding challenges of complex weld seams such as dovetail structures and fan-shaped transition surfaces. The clamping range and operating range of the bogie side beam welding and grinding device are adaptable to different specifications of bogie side beams, demonstrating strong versatility and wide applicability.

[0030] Please continue reading Figures 1 to 4 The workpiece clamping station mechanism 100 is a rigid frame structure with dual functions of positioning and clamping, enabling precise positioning and secure clamping of the bogie side beam. The positioning structure is adapted to the shape of the bogie side beam, ensuring accurate positioning after installation and precise matching with the scanning range and welding / grinding path of the laser tracking system 106. The clamping structure adopts a flexible clamping design to avoid damage to the side beam surface, while possessing sufficient clamping force to resist vibrations during welding and fine grinding, ensuring the side beam remains fixed throughout the entire operation without displacement or loosening. The clamping range of the mechanism can accommodate bogie side beams of different specifications, offering strong versatility and convenient operation, facilitating rapid clamping and disassembly of the side beam.

[0031] Welding unit 102 is an automated welding device with high-precision welding capabilities. It can automatically weld the welds on the bogie side beams according to preset welding process parameters and paths. The movement range of welding unit 102 covers all weld areas of the bogie side beams and can adapt to the welding requirements of straight, curved, and complex curved surface welds. During the welding process, welding parameters can be precisely controlled through the central control system to ensure stable weld quality and meet the strength requirements of the bogie side beams. Welding unit 102 is signal-connected to the central control system, receives welding path instructions, and feeds back the welding status to the central control system in real time, achieving closed-loop control of the welding process.

[0032] The fine grinding unit 104 is an automated fine grinding device equipped with tools adapted for weld fine grinding, enabling high-precision fine grinding of the weld after welding. The fine grinding unit 104 boasts high motion precision, accurately replicating the motion trajectory of the welding unit 102, ensuring a perfect match between the fine grinding range and the weld without damaging the base material. Connected to a central control system, the fine grinding unit 104 receives fine grinding path and process parameter instructions, adjusting the fine grinding intensity and speed according to the actual weld conditions to adapt to fine grinding requirements of different weld reinforcement heights and surface finishes. The fine grinding tools of the fine grinding unit 104 can be quickly changed to accommodate the fine grinding requirements of different types of welds, enhancing the equipment's flexibility.

[0033] The laser tracking system 106 features 3D scanning capabilities, enabling a comprehensive scan of the weld area on the bogie side beams. It accurately acquires data on the weld's geometric features, spatial trajectory, and surface undulations. During scanning, the system automatically identifies the weld's start point, end point, and key inflection points, ensuring the integrity and accuracy of the trajectory data. After scanning, the trajectory data is transmitted in real-time to the central control system, serving as a unified benchmark for generating welding and grinding paths. This allows for single-path tracking and dual-path reuse, eliminating the need for secondary scanning or positioning and improving operational efficiency. The laser tracking system 106 boasts high scanning accuracy, capturing subtle morphological changes in the weld and providing data support for high-precision welding and grinding.

[0034] The central control system is the core control unit of the entire device, establishing stable signal connections with welding unit 102, fine grinding unit 104, and laser tracking system 106 to achieve coordinated control throughout the entire process. After receiving weld trajectory data transmitted by laser tracking system 106, the system generates suitable operating paths for welding unit 102 and fine grinding unit 104 according to the welding and fine grinding process requirements, ensuring that the two paths are based on the same set of trajectory data and achieve simultaneous operation along the same trajectory. During operation, the central control system first controls welding unit 102 to complete the welding operation along the welding path. After welding is completed, without adjusting the side beam clamping state, it directly controls fine grinding unit 104 to perform fine grinding operations along the fine grinding path, achieving continuous welding and grinding. The system has real-time monitoring capabilities, receiving operational status feedback from each unit, adjusting operating parameters promptly, handling emergencies, and ensuring the stable and reliable welding and grinding process.

[0035] According to one embodiment of the present invention, the fine grinding unit 104 includes a balance point identification system; The balance point identification system includes: Force / torque sensor 108 is installed at the end of the fine grinding unit 104 to detect the contact force and torque between the fine grinding tool and the weld surface in real time; A control module containing a self-learning algorithm is connected to the force / torque sensor 108 and the central control system signal. The control module is used to identify and maintain the optimal contact balance point between the grinding tool and the weld surface through a self-learning algorithm based on real-time data fed back by the force / torque sensor 108, so as to achieve high-precision grinding.

[0036] In one embodiment of the present invention, a force / torque sensor 108 is installed at the end of the fine grinding unit 104 and is tightly connected to the fine grinding tool. It can detect in real time the three-dimensional contact force and torque generated when the fine grinding tool contacts the weld surface. The sensor's detection range is adapted to the force range of the fine grinding operation, and it has a fast response speed, capable of capturing subtle changes in contact force and torque, ensuring the real-time nature and accuracy of data acquisition.

[0037] The control module incorporates a self-learning algorithm and establishes signal connections with the force / torque sensor 108 and the central control system. The self-learning algorithm integrates expert experience models, enabling rapid computation and analysis of real-time data from the sensors. The module also features data storage capabilities, recording fine grinding data for different weld types. Through continuous learning, it optimizes the control strategy and improves the accuracy of balance point identification.

[0038] The control module uses a self-learning algorithm, combined with preset fine grinding effect standards, to identify the optimal contact balance point between the fine grinding tool and the weld surface. This balance point is the critical state that effectively removes weld excess without damaging the substrate, while ensuring a smooth finish. After identifying the balance point, the control module sends a signal to the central control system to dynamically adjust the operating parameters of the fine grinding unit 104, ensuring that the contact force and torque are always maintained near the balance point, thus guaranteeing a stable fine grinding process.

[0039] The control module receives the grinding path and process parameter instructions from the central control system, and feeds back the balance point identification results and adjustment requirements to the central control system. Based on the feedback signals, the central control system precisely regulates the motion trajectory and operating parameters of the grinding unit 104, forming a closed-loop control of detection, analysis, decision-making, and execution to achieve adaptive high-precision grinding.

[0040] The force / torque sensor 108 captures the contact state in real time, and the self-learning algorithm accurately identifies the balance point, avoiding the problems of substrate damage caused by excessive contact force or incomplete fine grinding caused by insufficient contact force during the fine grinding process. It achieves precise control of hard contact and significantly improves the fine grinding accuracy.

[0041] The self-learning algorithm can dynamically adjust the control strategy according to the actual situation of the weld. Even when faced with irregular shapes of complex welds such as dovetail structures and fan-shaped transition surfaces, it can adaptively identify the equilibrium point and maintain stable fine grinding, thus solving the defect that traditional automated equipment is difficult to adapt to complex welds.

[0042] The balance point recognition system ensures consistent contact state and effect in each fine grinding process, avoiding quality fluctuations caused by experience differences in manual fine grinding. It achieves 100% replacement of manual fine grinding and improves the stability of product quality.

[0043] Precise balance point control allows the grinding tool to operate in optimal condition, avoiding ineffective grinding and excessive wear, which shortens the grinding time, extends the service life of the grinding tool, and reduces production costs.

[0044] According to one embodiment of the present invention, the fine grinding unit 104 further includes a high-precision power spindle 110, the end of which is used to mount a fine grinding tool, and a force / torque sensor 108 is integrated on the high-precision power spindle 110; The high-precision power spindle 110 is controlled by a central control system to achieve precise adjustment of the grinding tool's speed, feed rate, and attitude, thereby enabling the weld surface finish to reach Ra4.3 under the control of the balance point recognition system.

[0045] In one embodiment of the present invention, the high-precision power spindle 110 has a high-rigidity, high-speed structure and a fine grinding tool mounting interface at its end, allowing for quick replacement of fine grinding tools such as sanding belts and grinding discs. A force / torque sensor 108 is integrated into the power spindle and works in conjunction with the spindle's transmission structure, without affecting the spindle's rotational accuracy or power transmission. The spindle's mounting position is precisely calibrated to ensure that the movement trajectory of the fine grinding tool precisely matches the weld seam trajectory.

[0046] The power spindle is controlled by a central control system, which can precisely adjust the speed, feed rate, and attitude of the grinding tool. The speed adjustment range can be adapted to the needs of different grinding tools and weld materials, the feed rate can be finely adjusted at the micrometer level, and the attitude adjustment can be adapted to the three-dimensional curved surface morphology of the weld, ensuring uniform contact between the grinding tool and the weld surface.

[0047] The power spindle receives adjustment commands from the central control system based on feedback from the balance point identification system and adjusts its operating parameters in real time. When the balance point identification system detects that the contact force deviates from the ideal range, the spindle adjusts its speed, feed rate, or attitude to bring the contact force back to the balance point, ensuring that the fine grinding process is always in optimal condition.

[0048] Through the high-precision adjustment of the power spindle and the precise control of the balance point identification system, the fine grinding tool can efficiently remove the excess weld height while ensuring that the surface finish of the weld meets the preset standard, thus satisfying the stringent requirements of the bogie side beam for weld surface quality.

[0049] The high-precision power spindle 110, with its precise parameter adjustment and balance point recognition system, enables the weld surface finish to reach the preset standard, completely solving the problem of achieving high surface finish with automatic fine grinding and replacing the fine grinding effect that can only be achieved manually.

[0050] The high-speed characteristics and precise adjustment function of the power spindle, combined with the stable control of the balance point, greatly improve the efficiency of fine grinding operations. Compared with traditional manual fine grinding and ordinary automated fine grinding, it significantly shortens the fine grinding time of a single weld seam, thereby shortening the overall production cycle.

[0051] The power spindle supports quick replacement of various fine grinding tools. With parameter adjustment function, it can adapt to the fine grinding requirements of different types of welds. There is no need to configure a separate fine grinding unit 104 for different welds, which reduces tool replacement costs and work preparation time.

[0052] The high rigidity structure and precise control of the spindle reduce vibration and impact during the fine grinding process, which not only ensures the stability of the fine grinding quality, but also reduces equipment wear, extends the service life of the fine grinding unit 104, and reduces maintenance costs.

[0053] According to one embodiment of the present invention, the welding unit 102 is an automated welding robot, and the fine grinding unit 104 is a high-precision grinding robot; Automated welding robots and high-precision grinding robots are integrated into the same flexible workstation or gantry-type work platform to form an integrated equipment.

[0054] In one embodiment of the invention, the flexible workstation or gantry-type work platform has a rigid frame structure with sufficient load-bearing capacity and stability. An automated welding robot and a high-precision grinding robot are installed on the platform at preset positions, their movement ranges complementing each other to cover the entire weld area of ​​the bogie side beams, eliminating blind spots. The platform is equipped with unified power supply, air supply, and signal transmission interfaces, simplifying equipment connections.

[0055] Both robots are connected to a central control system, receiving unified trajectory planning data and operation instructions. The central control system rationally schedules the operation time of the two robots according to the welding and grinding process sequence, avoiding motion interference. After the welding robot completes a section of weld, the grinding robot can seamlessly follow up with the grinding operation, achieving continuous operation along the same trajectory.

[0056] The integrated equipment uses the shared positioning reference of the workpiece clamping station mechanism 100. The welding robot and the precision grinding robot operate based on the same set of trajectory data from the laser tracking system 106, eliminating the need for secondary positioning. The platform has high mechanical precision, ensuring that the deviation of the motion trajectory of the two robots is within the allowable range, and ensuring that the welding path and the precision grinding path correspond precisely.

[0057] The integrated equipment is equipped with a unified control panel and monitoring system. Operators can set process parameters and start / stop the equipment via the control panel, and monitor the welding and grinding operation status in real time via the monitoring system. The equipment's maintenance access is rationally designed to facilitate daily maintenance and troubleshooting of both robots.

[0058] The integrated equipment combines welding and fine grinding functions into one unit, replacing traditional separate equipment. It eliminates the need for separate welding and grinding stations, saving 50% of on-site space. Simultaneously, the continuous operation mode reduces equipment downtime, significantly improving equipment utilization.

[0059] The two robots work seamlessly together, eliminating the need for workpiece transfer and secondary positioning. This shortens the waiting time between processes, significantly accelerates the production cycle, and greatly improves overall production efficiency, solving the problem of low production efficiency in traditional split-type equipment.

[0060] By sharing positioning references and trajectory data, the grinding path can accurately reproduce the welding path, avoiding deviations caused by secondary positioning, ensuring that the welding quality and grinding quality of the weld are highly consistent, and improving the overall quality stability of the product.

[0061] The integrated operation and monitoring system simplifies equipment operation procedures and reduces the number of operators. The centralized maintenance design reduces the difficulty and workload of equipment maintenance, further reducing labor costs.

[0062] According to one embodiment of the present invention, the balance point identification system further includes an auxiliary sensor; the auxiliary sensor includes a high-resolution visual sensor or a tactile sensor, used to acquire microscopic morphology data of the weld area to be fine-ground during the fine grinding process; The control module is also configured to receive microscopic morphology data for real-time evaluation of the grinding effect and to assist in adaptive control decisions.

[0063] In one embodiment of the present invention, the auxiliary sensor includes a high-resolution vision sensor or a tactile sensor, which is installed at a preset position in the fine grinding unit 104, maintaining a fixed distance from the fine grinding tool so as not to interfere with the normal operation of the fine grinding. The sensor's acquisition range accurately covers the working area of ​​the fine grinding tool, ensuring that the microscopic morphology of the weld area to be fine ground can be completely captured. The acquisition angle is adapted to the fine grinding direction, and the fine features of the weld surface can be clearly obtained.

[0064] The auxiliary sensors collect real-time microscopic morphological data of the weld area to be finely ground, including key information such as weld reinforcement height, surface roughness, and weld edge contour integrity. The vision sensor captures images of the weld surface using high-definition imaging technology and extracts morphological parameters through built-in algorithms. The tactile sensor detects changes in the weld surface's unevenness through contact detection, generating corresponding morphological data. The acquisition frequency of both sensors is synchronized with the force / torque sensor to ensure data timing consistency.

[0065] The auxiliary sensor supplements the data in the micro-morphology dimension, so that the control module no longer relies solely on force / torque data to judge the fine grinding state. It can more comprehensively and objectively evaluate whether the weld reinforcement and surface roughness meet the standards, avoiding misjudgment of the fine grinding effect caused by a single data dimension. It also solves the problem that the force may meet the standard but the morphology does not meet the standard or over-grinding may occur when controlling by contact force alone.

[0066] like Figure 5 As shown, a second aspect of the present invention provides a bogie side beam welding and grinding method based on the above-described bogie side beam welding and grinding device, comprising: Step 10: Position and clamp the bogie side beam to be processed on the workpiece clamping station mechanism 100 in one go; Step 20: Use the laser tracking system 106 to perform a single three-dimensional scan and precise tracking of the weld area on the bogie side beam to obtain a set of general positioning references and trajectory planning data for the weld. Step 30: Based on the same set of trajectory planning data, control the welding unit 102 to automatically weld the weld seam of the bogie side beam along the planned welding path; Step 40: Without changing the clamping state of the bogie side beam, based on the same set of trajectory planning data, control the fine grinding unit 104 to automatically fine grind the welded seam along the planned fine grinding path.

[0067] According to the bogie side beam welding and grinding method provided in the second aspect of the present invention, welding and fine grinding are performed based on the same set of trajectory data. The fine grinding path accurately replicates the welding path, eliminating the need for manual intervention in process switching and completely replacing the traditional manual grinding and fine grinding steps. Especially for complex welds, automated operation avoids the limitations of manual operation, solves the problems of low efficiency and unstable quality in manual fine grinding, and significantly reduces labor costs and labor intensity. One-time positioning and clamping avoid deviations caused by secondary positioning, and the single scan of the laser tracking system 106 ensures the accuracy of the welding and fine grinding paths. The automated operation of the welding unit 102 and the fine grinding unit 104 eliminates human operation errors, ensuring that the welding quality and fine grinding effect of all welds remain highly consistent, and the weld surface finish is uniform, meeting the high standard requirements of the bogie side beam. There is no need for workpiece transfer, secondary positioning, or process waiting. Fine grinding operations can be seamlessly connected after welding, significantly shortening the interval time between processes. The single scan of the laser tracking system 106 reduces data acquisition time, and the same trajectory operation reduces equipment debugging time, making the overall production process efficient and smooth, and significantly shortening the production cycle. The bogie side beam welding and grinding method is implemented based on an integrated device, eliminating the need for separate welding and grinding stations and saving production space. The equipment is multi-functional, with close coordination between the welding unit 102 and the grinding unit 104, reducing equipment downtime, improving overall equipment utilization, and lowering investment costs. The laser tracking system 106 accurately captures the trajectory data of complex welds, and the generated trajectory planning data can be adapted to both welding and grinding operations simultaneously, enabling the bogie side beam welding and grinding method to effectively handle the welding and grinding needs of complex welds such as dovetail structures and fan-shaped transition surfaces. This bogie side beam welding and grinding method is adaptable to the processing of bogie side beams of different specifications and weld types, exhibiting strong versatility and a wide range of applications.

[0068] Please continue reading Figure 5 The bogie side beam welding and grinding method provided in the second aspect of the present invention realizes continuous operation of welding and fine grinding along the same trajectory based on an integrated device.

[0069] Step 10: One-time positioning and clamping of the bogie side beam. The bogie side beam to be processed is placed on the workpiece clamping station mechanism 100. Precise positioning is achieved through the mechanism's positioning structure, ensuring that the weld area of ​​the side beam is precisely aligned with the scanning range of the laser tracking system 106, the working range of the welding unit 102, and the fine grinding unit 104. After positioning, the clamping structure is activated, firmly clamping the side beam from multiple key points. The clamping force is adapted to the side beam's material and structural strength, avoiding damage from excessive clamping or displacement during operation due to excessively loose clamping. This positioning and clamping is completed in one step; the clamping state of the side beam remains unchanged during subsequent welding and fine grinding operations, requiring no secondary adjustments.

[0070] Step 20: Single 3D Scan and Data Acquisition of the Weld Area. The laser tracking system 106 is activated to perform a comprehensive 3D scan and precise tracking of all weld areas on the bogie side beam. During the scan, the system automatically captures the geometric features, spatial trajectory, surface undulations, and key inflection point positions of the weld, covering all morphological data of straight welds, curved welds, and complex welds such as dovetail structures and fan-shaped transition surfaces. After scanning, the system integrates and processes the acquired data to generate a complete set of universal weld positioning references and trajectory planning data. This data contains all the trajectory information required for welding and fine grinding operations, eliminating the need for secondary scanning or data supplementation. The data is transmitted to the central control system in real time, serving as a unified basis for the generation of subsequent welding and fine grinding paths.

[0071] Step 30: After receiving the trajectory planning data transmitted by the laser tracking system 106, the automated welding central control system based on trajectory data adaptively processes the data according to preset welding process parameters to generate a welding path adapted to the welding unit 102. The welding unit 102 performs automated welding operations on the welds of the bogie side beams according to the generated welding path. During the welding process, the central control system adjusts the operating parameters of the welding unit 102 in real time, such as welding speed, welding current, and wire feed speed, to ensure uniform and strong weld formation, meeting the structural strength requirements of the bogie side beams. After completing the welding of all welds, the welding unit 102 sends a welding completion signal to the central control system, preparing to enter the fine grinding stage.

[0072] Step 40: Automated Fine Grinding under the Same Clamping State. Without changing the clamping state of the bogie side beam, the central control system generates a fine grinding path corresponding to the welding path based on the same set of trajectory planning data obtained in Step 20, combined with the fine grinding process requirements. The fine grinding path accurately reproduces the trajectory of the welding path, and is finely optimized according to the operating characteristics of the fine grinding tool to ensure that the fine grinding range is completely matched with the weld. After the fine grinding unit 104 is started, it automatically fine grinds the weld along the planned fine grinding path. By adjusting the rotation speed, feed rate, and pressure of the fine grinding tool, the weld excess height is effectively removed, so that the weld surface reaches the preset surface finish standard. During the fine grinding process, the central control system monitors the operating status of the fine grinding unit 104 in real time and dynamically adjusts the operating parameters according to the actual fine grinding condition of the weld to ensure uniform and consistent fine grinding results.

[0073] According to one embodiment of the present invention, the automated fine grinding process includes: During the fine grinding process, the contact force and torque between the fine grinding tool and the weld surface are sensed in real time by the force / torque sensor 108. Real-time data of contact force and torque are fed back to the control module, which includes a self-learning algorithm; The control module uses a self-learning algorithm to calculate and identify the optimal contact balance point to achieve the preset fine grinding effect; Based on the identification results of the balance point, the operating parameters of the fine grinding unit 104 are automatically adjusted to continuously find and maintain the optimal contact balance point, thereby achieving adaptive high-precision fine grinding of the weld.

[0074] In one embodiment of the present invention, after the fine grinding operation begins, the force / torque sensor 108 continuously senses the contact force and torque between the fine grinding tool and the weld surface, and transmits the real-time data to the control module at a high frequency. The sensor can capture the force fluctuations caused by changes in weld reinforcement and differences in surface roughness, ensuring that the data fully reflects the contact state.

[0075] The control module's self-learning algorithm processes real-time data and, combined with preset fine-grinding finish standards and weld material characteristics, quickly identifies the optimal contact equilibrium point. The algorithm eliminates data analysis errors caused by external interference factors, ensuring the accuracy and stability of equilibrium point identification.

[0076] After identifying the equilibrium point, the control module automatically generates parameter adjustment commands based on the deviation, including one or more of the following: feed rate, rotation speed, attitude, and pressure of the grinding tool. The adjustment commands are transmitted to the central control system via signals, and the central control system precisely controls the grinding unit 104 to perform the adjustments, so that the contact force and torque quickly return to the equilibrium point.

[0077] During the fine grinding process, the control module continuously monitors the contact data. If the equilibrium point shifts due to changes in weld morphology, the algorithm re-identifies and adjusts the parameters in real time. Through dynamic optimization, it ensures that the entire fine grinding process remains in an optimal state, adapting to the dynamic changes in the weld.

[0078] The combination of real-time sensing and dynamic adjustment enables the fine grinding unit 104 to automatically adapt to the actual situation of the weld. Regardless of whether the weld reinforcement is uniform or the surface is flat, it can maintain a stable fine grinding effect, avoiding over-grinding or under-grinding, and greatly improving the stability of fine grinding quality.

[0079] Precise balance point control enables the grinding tool to remove weld excess in the optimal state, eliminating the need for repeated grinding and significantly improving grinding efficiency. The grinding time for a single weld is greatly reduced, meeting the efficiency requirements of mass production.

[0080] This avoids excessive wear of the fine grinding tool due to improper contact force, extends the tool's service life, reduces the frequency and cost of tool replacement, and also reduces the risk of decreased fine grinding quality due to tool wear.

[0081] The automated balance point identification and parameter adjustment eliminate the need for manual intervention by operators, simplifying the operation process. Even operators with average skill levels can ensure the quality of fine grinding, reducing the skill requirements and training costs for operators.

[0082] According to one embodiment of the present invention, the operating parameters of the fine grinding unit 104 include at least one of the feed rate, rotational speed, attitude and pressure of the fine grinding tool.

[0083] In one embodiment of the present invention, the feed rate of the fine grinding tool can be flexibly adjusted according to the weld reinforcement height, material, and fine grinding stage. When the reinforcement height is large, a large feed rate is used to quickly remove the excess portion, while a small feed rate is used in the later stages of fine grinding to ensure surface finish. The adjustment accuracy of the feed rate can meet the micron-level control requirements, ensuring precise adjustment.

[0084] The rotation speed of the fine grinding tool is adapted to different fine grinding tools and weld materials. High rotation speed is used to improve fine grinding efficiency for hard weld materials, while low rotation speed is used for soft materials or in the later stages of fine grinding to avoid damaging the substrate. The rotation speed adjustment range covers the commonly used range of fine grinding operations, and the adjustment process is smooth and shock-free.

[0085] The precision grinding unit 104 adjusts the posture of the precision grinding tool through multi-axis linkage, ensuring that the tool surface and the weld surface always maintain the optimal contact angle. For complex curved welds, the posture can be dynamically adjusted in real time to ensure consistent contact in each area and avoid precision grinding blind spots.

[0086] The contact pressure between the grinding tool and the weld surface can be dynamically adjusted based on contact force feedback, maintaining a stable pressure near the equilibrium point. The pressure adjustment range adapts to the grinding requirements of different weld types, ensuring grinding effectiveness while avoiding tool wear or substrate damage caused by excessive pressure.

[0087] The operating parameters are not adjusted independently, but are optimized collaboratively based on the results of balance point identification. For example, when adjusting the feed rate, the rotational speed and pressure are adjusted simultaneously to ensure that the parameter combination maintains the best grinding state and achieves the optimal adjustment effect.

[0088] The flexible adjustment of multiple parameters enables the precision grinding unit 104 to adapt to the precision grinding needs of welds with different heights, materials, and types. Whether it is a simple planar weld or a complex curved weld, the best precision grinding effect can be obtained through parameter optimization, covering a variety of production conditions.

[0089] By adjusting the parameters, the fine grinding requirements of different surface finish standards can be met, satisfying the high standard requirements of the bogie side beams and adapting to the fine grinding requirements of other components, thus enhancing the versatility and flexibility of the device.

[0090] By optimizing the parameter combination based on the fine grinding stage and the actual condition of the weld, the fine grinding quality is ensured while quickly removing excess material, achieving the best balance between efficiency and quality, and avoiding the problems of low efficiency or substandard quality caused by adjusting a single parameter.

[0091] The flexible adjustment of parameters allows the equipment to adapt to new fine grinding requirements without large-scale modifications when changing weld types. It only requires adjusting relevant parameters through the central control system, reducing the difficulty of equipment debugging and shortening the production changeover time.

[0092] According to one embodiment of the present invention, the automated fine grinding process further includes: High-resolution vision or tactile sensors are used to collect microscopic morphology data such as weld reinforcement and surface roughness in the grinding area. When performing calculations, the control module combines microscopic morphology data to evaluate the fine grinding effect in real time, and uses the real-time data of contact force and torque as the basis for adjusting the operating parameters of the fine grinding unit 104.

[0093] In one embodiment of the present invention, a high-resolution visual sensor or a tactile sensor is installed at a suitable position in the fine grinding unit 104, maintaining a preset distance from the fine grinding tool so as not to affect the fine grinding operation. The sensor can collect microscopic morphological data such as weld reinforcement and surface roughness in the grinding area in real time. The collection range covers the working area of ​​the fine grinding tool, and the data resolution is high, enabling it to capture subtle morphological changes.

[0094] The microscopic topography data collected by the sensor is transmitted to the control module in real time and integrated with the contact force and torque data from the force / torque sensor 108. The control module performs synchronous analysis of the two types of data to comprehensively evaluate the fine grinding effect and avoid judgment bias caused by a single data dimension.

[0095] The control module combines microscopic morphology data with contact force and torque data, and re-evaluates the equilibrium point through a self-learning algorithm to adjust the operating parameters of the fine grinding unit 104. For example, if the weld reinforcement is still not up to standard, the feed rate or pressure is increased appropriately; if the surface roughness meets the requirements, the current parameters are maintained or the rotation speed is reduced appropriately to ensure that the fine grinding effect meets the standard.

[0096] The control module feeds back the microscopic morphology data and parameter adjustment results to the central control system. The central control system records the relevant data to form a complete data archive of the fine grinding process, which facilitates subsequent quality traceability and process optimization.

[0097] The combination of microscopic morphology data with contact force and torque data enables the control module to have a more comprehensive grasp of the fine grinding state, avoiding misjudgments of the fine grinding effect caused by relying solely on contact force data. Parameter adjustments are more precise, and the fine grinding quality is further improved.

[0098] The sensor collects microscopic morphology data in real time, and the control module adjusts the parameters in a timely manner, forming a closed-loop optimization of acquisition, analysis and adjustment. This ensures that morphological deviations that occur during the fine grinding process can be corrected in a timely manner, avoiding substandard final fine grinding results.

[0099] Complete microstructure data and parameter adjustment records make the fine grinding process of each weld traceable, allowing for rapid identification of the cause if quality issues are subsequently discovered. Simultaneously, the accumulated data provides a rich basis for process optimization, contributing to further improvements in the consistency of fine grinding.

[0100] By monitoring surface roughness in real time, parameters can be adjusted or fine grinding can be stopped in a timely manner when the preset standard is reached, thus avoiding tool wear, substrate damage and time waste caused by over-grinding and reducing production costs.

[0101] According to one embodiment of the present invention, the welding and fine grinding processes are continuous operations along the same trajectory, that is, the motion trajectory of the fine grinding unit 104 basically replicates the motion trajectory of the welding unit 102, thereby realizing the integrated processing of welding and fine grinding of the bogie side beam.

[0102] In one embodiment of the present invention, the same set of weld trajectory data acquired by the laser tracking system 106 in a single tracking operation serves as the basis for generating both the welding path and the fine grinding path. The central control system adaptively processes the trajectory data to generate a working path that adapts to both the welding unit 102 and the fine grinding unit 104, ensuring that the fine grinding path essentially replicates the welding path and that trajectory deviation is controlled within an allowable range.

[0103] After the bogie side beam is positioned and clamped in one go, the welding unit 102 completes the welding operation along the welding path. After welding is completed, there is no need to change the workpiece clamping state. The fine grinding unit 104 directly starts the fine grinding operation along the fine grinding path. The two processes are seamlessly connected, without intervals or transfers, realizing continuous operation.

[0104] The central control system rationally schedules the operation time and movement trajectory of the automated welding robot and the high-precision grinding robot to avoid interference between them during operation. While the welding robot is working, the grinding robot is in standby mode; after welding is completed, the grinding robot immediately starts its operation, minimizing the interval between processes.

[0105] The fine grinding path is based on the welding path, but with minor adjustments made according to the fine grinding process requirements, such as path offset and movement speed, to ensure that the fine grinding tool can accurately act on the weld area. The process parameters for welding and fine grinding are optimized collaboratively through a central control system to ensure a match between welding quality and fine grinding effect.

[0106] The workpiece is positioned and clamped in one go, and welding and fine grinding are carried out based on the same set of trajectory data, which completely avoids trajectory deviation caused by secondary positioning, ensuring that fine grinding can be accurately applied to the welding area, and significantly improving the processing accuracy.

[0107] Continuous operation along the same trajectory eliminates the need for workpiece transfer, secondary positioning, and waiting for processes. The two processes are seamlessly connected, greatly simplifying the production process and significantly shortening the production cycle. Compared with traditional split-process operation, production efficiency is greatly improved.

[0108] The continuous operation mode eliminates the need for manual intervention in process switching and workpiece transfer, reducing the labor intensity of operators and the number of operators required, thereby further reducing labor costs.

[0109] Integrated continuous operation significantly reduces the idle time of welding unit 102 and fine grinding unit 104, and significantly improves equipment utilization. At the same time, it reduces the risk of collisions during workpiece transfer, lowers the scrap rate, and saves production costs.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bogie side beam welding and grinding device, characterized in that, include: The workpiece clamping station mechanism (100) is used to position and clamp the side beam of the bogie; Welding unit (102) is used to weld the welds on the bogie side beam after positioning and clamping; The fine grinding unit (104) is used to perform fine grinding on the weld after welding is completed; A laser tracking system (106) is used to perform three-dimensional scanning of the weld area on the bogie side beam to obtain the trajectory data of the weld. The central control system is connected to the welding unit (102), the fine grinding unit (104), and the laser tracking system (106), respectively. The central control system is configured to generate welding paths and fine grinding paths based on the same set of weld trajectory data obtained by the laser tracking system (106) in a single tracking, and control the welding unit (102) and the fine grinding unit (104) to complete welding and fine grinding operations in sequence under the same workpiece clamping state.

2. The bogie side beam welding and grinding device according to claim 1, characterized in that, The fine grinding unit (104) includes a balance point identification system; The equilibrium point identification system includes: A force / torque sensor (108) is installed at the end of the fine grinding unit (104) to detect the contact force and torque between the fine grinding tool and the weld surface in real time; A control module containing a self-learning algorithm is connected to the force / torque sensor (108) and the central control system. The control module is used to identify and maintain the optimal contact balance point between the grinding tool and the weld surface based on the real-time data fed back by the force / torque sensor (108) and the self-learning algorithm, so as to achieve high-precision grinding.

3. The bogie side beam welding and grinding device according to claim 2, characterized in that, The fine grinding unit (104) also includes a high-precision power spindle (110), the end of which is used to mount fine grinding tools, and the force / torque sensor (108) is integrated on the high-precision power spindle (110); The high-precision power spindle (110) is controlled by the central control system to achieve precise adjustment of the grinding tool speed, feed rate and attitude, thereby enabling the weld surface finish to reach Ra4.3 under the control of the balance point identification system.

4. The bogie side beam welding and grinding device according to claim 2, characterized in that, The equilibrium point identification system also includes auxiliary sensors; The auxiliary sensors include high-resolution visual sensors or tactile sensors, used to acquire microscopic morphology data of the weld area to be fine-ground during the fine-grinding process. The control module is further configured to receive the microstructure data for real-time evaluation of the grinding effect and to assist in adaptive control decisions.

5. The bogie side beam welding and grinding device according to any one of claims 1 to 4, characterized in that, The welding unit (102) is an automated welding robot, and the fine grinding unit (104) is a high-precision grinding robot; The automated welding robot and the high-precision grinding robot are integrated into the same flexible workstation or gantry-type work platform to form an integrated equipment.

6. A method for welding and grinding bogie side beams based on the bogie side beam welding and grinding apparatus according to any one of claims 1 to 5, characterized in that, include: The bogie side beam to be processed is positioned and clamped in one go on the workpiece clamping station mechanism (100); A laser tracking system (106) is used to perform a single three-dimensional scan and precise tracking of the weld area on the bogie side beam to obtain a set of general positioning reference and trajectory planning data for the weld. Based on the same set of trajectory planning data, the control welding unit (102) automatically welds the weld seam of the bogie side beam along the planned welding path; Without changing the clamping state of the bogie side beam, based on the same set of trajectory planning data, the precision grinding unit (104) is controlled to perform automated precision grinding on the welded seam along the planned precision grinding path.

7. The bogie side beam welding and grinding method according to claim 6, characterized in that, The automated fine grinding process includes: During the fine grinding process, the contact force and torque between the fine grinding tool and the weld surface are sensed in real time by a force / torque sensor (108); The real-time data of the contact force and torque are fed back to the control module, which includes a self-learning algorithm; The control module performs calculations using the self-learning algorithm to identify the optimal contact state balance point for achieving the preset fine grinding effect. Based on the identification results of the balance point, the operating parameters of the fine grinding unit (104) are automatically adjusted to continuously find and maintain the optimal contact state balance point, thereby achieving adaptive high-precision fine grinding of the weld.

8. The bogie side beam welding and grinding method according to claim 7, characterized in that, The operating parameters of the fine grinding unit (104) include at least one of the following: feed rate, rotation speed, attitude, and pressure of the fine grinding tool.

9. The bogie side beam welding and grinding method according to claim 7, characterized in that, The automated fine grinding process also includes: High-resolution vision or tactile sensors are used to collect microscopic morphology data such as weld reinforcement and surface roughness in the grinding area. When performing calculations, the control module combines the microscopic morphology data to evaluate the fine grinding effect in real time, and uses the real-time data of contact force and torque as the basis for adjusting the operating parameters of the fine grinding unit (104).

10. The bogie side beam welding and grinding method according to any one of claims 6 to 9, characterized in that, The welding and fine grinding processes are continuous operations on the same trajectory, that is, the motion trajectory of the fine grinding unit (104) basically replicates the motion trajectory of the welding unit (102), thereby realizing the integrated processing of welding and fine grinding of the bogie side beam.

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