Milling equipment for guiding steel rail welding seam based on visual identification

Abstract

The utility model discloses milling equipment for guiding a steel rail welding seam based on visual identification, and relates to the technical field of steel rail machining. The milling equipment for guiding the steel rail welding seam based on visual identification comprises a rack, a conveying device, clamps, a detection device, a milling device and a milling control device, wherein the clamps are used for clamping the two opposite sides of the steel rail welding seam in the first direction; the detection device is used for collecting section contours of two opposite sides of a welding seam of the steel rail in a first direction in a non-contact manner, and generating a welding seam milling reference based on the section contours; and the milling device is used for milling the welding seam of the steel rail. According to the technical scheme of the utility model, the detection device adopts a non-contact mode to collect the section contours of the two opposite sides of the steel rail welding seam, and compared with a contact mode, the non-contact mode can save the time for contacting with and leaving the steel rail section, and can collect the section contours of the steel rail at one time, so that the detection efficiency is improved compared with a mode of taking points for multiple times by changing positions. And the detection time can be further saved.

Description

Technical Field

[0001] The utility model relates to the technical field of rail processing, and particularly relates to a milling device for guiding rail welds based on visual recognition. Background Art

[0002] In rail transit such as subways, light rails, railways, and high-speed rails, rails are used as running guides. The production process of rails includes the following steps: butt-welding short rails, and after welding, pushing the weld bead, rough milling, heat treatment, and finish milling the weld to process it into a longer rail for use.

[0003] For the rough milling process, before rough milling, a detection device is required to detect the cross-sections at both ends of the weld to form a reference for rough milling. Currently, the commonly used detection device is a contact measurement probe. During detection, the measurement probe is successively brought into contact with the cross-sections at both ends of the weld to obtain multiple detection points, and the multiple detection points are processed to form a reference for rough milling. The existing contact measurement probe needs to contact the cross-section of the rail, and for one cross-section, the position needs to be changed to detect multiple points, resulting in a long detection cycle, which affects the processing cycle of the entire rough milling process and makes it difficult for the rough milling processing rhythm to meet the actual requirements. Summary of the Utility Model

[0004] The main object of the utility model is to propose a milling device for guiding rail welds based on visual recognition, aiming to solve the problem of the long rough milling processing rhythm of existing rail welds.

[0005] To achieve the above object, a milling device for guiding rail welds based on visual recognition proposed by the utility model includes:

[0006] A frame having a feeding station, a positioning station, a detection station, and a milling station;

[0007] A conveying device provided corresponding to the feeding station for conveying rails with welds;

[0008] A fixture provided corresponding to the positioning station for clamping the two opposite sides of the weld of the rail in the first direction, where the first direction corresponds to the length direction of the rail;

[0009] A detection device provided corresponding to the detection station for non-contact acquisition of the cross-sectional profiles of the two opposite sides of the weld of the rail in the first direction and generating a weld milling reference based on the cross-sectional profiles;

[0010] A milling device provided corresponding to the milling station and movable for milling the weld of the rail; and,

[0011] A milling control device, communicatively connected to the detection device and electrically connected to the milling device, is configured to control the movement of the milling device according to the weld milling reference generated by the detection device.

[0012] In one embodiment, the detection device includes:

[0013] A 2D vision recognition camera for collecting the cross-sectional profiles on the two opposite sides of the weld of the rail in the first direction; and,

[0014] A data processing unit, communicatively connected to the 2D vision recognition camera and the milling control device respectively, is configured to sequentially generate point cloud data, curves, and surfaces from the cross-sectional profiles collected by the 2D vision recognition camera, and form the weld milling reference with the surfaces;

[0015] Wherein, on any one side in the first direction, there are at least two cross-sectional profiles.

[0016] In one embodiment, the fixture includes:

[0017] A bottom support structure, arranged on one side of the rail weld in the third direction, for supporting the rail;

[0018] A top pressing structure, arranged on the other side of the rail weld in the third direction and movable in the third direction to press the top of the rail; and,

[0019] A lateral clamping structure, arranged on the two opposite sides of the rail weld in the second direction and movable in the second direction to clamp the two sides of the rail;

[0020] Wherein, the second direction corresponds to the lateral direction of the rail, and the third direction corresponds to the height direction of the rail.

[0021] In one embodiment, the top pressing structure includes a first support rod movable in the third direction, a mounting seat arranged on the first support rod, and a pressing head movably arranged on the mounting seat, and a first elastic member is arranged between the pressing head and the mounting seat; and / or,

[0022] The lateral clamping structure includes a first lateral clamping structure and a second lateral clamping structure. The first lateral clamping structure includes a second support rod movable in the second direction and a clamping head arranged on the second support rod;

[0023] The second lateral clamping structure includes a third support rod movable in the second direction and a clamping member movably arranged on the third support rod, and the clamping member is arranged opposite to the clamping head.

[0024] In one embodiment, the first elastic member includes a disc spring; and / or,

[0025] The pressing head is mounted on the mounting seat through a guiding assembly, and the guiding assembly includes:

[0026] A guiding portion, which is arranged on the pressing head and faces the mounting seat;

[0027] A mating portion, which is arranged on the mounting seat and corresponds to the guiding portion;

[0028] One of the guiding portion and the mating portion is a guiding rod, and the other is a guiding hole.

[0029] In an embodiment, the first support rod includes the piston rod of a first hydraulic cylinder; and / or,

[0030] The second support rod includes the piston rod of a second hydraulic cylinder, and the third support rod includes the piston rod of a third hydraulic cylinder; and / or,

[0031] The lateral clamping structure further includes a position sensor, which is arranged on the second support rod and whose detection end faces the clamping member, for detecting whether the pressing head contacts the side surface of the rail.

[0032] In an embodiment, the clamping member includes:

[0033] A connecting plate, which is hinged to the third support rod, and the connecting plate has a connecting end far from the third support rod;

[0034] A clamping plate, which is hinged to the connecting end, and the clamping plate has a clamping surface facing the pressing head;

[0035] A second elastic member, which is arranged between the connecting plate and the clamping plate.

[0036] In an embodiment, the clamping surface is inclined in a direction away from the pressing head.

[0037] In an embodiment, the milling equipment for guiding the welding seam of the rail based on visual recognition further includes:

[0038] A tool rest, which is arranged on the frame and is rotatable, and the tool rest has a tool picking and placing station;

[0039] At least one milling cutter, which is installed circumferentially on the tool rest, and the projections of the plurality of milling cutters on the horizontal plane formed by the first direction and the second direction are annular, and the angle between the axis of each milling cutter and the horizontal plane formed by the first direction and the second direction does not exceed 20°; and,

[0040] The milling cutter transfer device is arranged on the frame and is movable. The moving range of the milling cutter transfer device covers the tool picking and placing station and the milling station, and is used to transfer the milling cutter on the tool carrier at the tool picking and placing station to the milling device at the milling station, and / or transfer the milling cutter on the milling device at the milling station to the tool carrier at the tool picking and placing station.

[0041] In the technical solution of the present utility model, the conveying device is used to convey the rail to be processed so that the rail weld corresponds to the milling station. The fixture clamps and positions the two opposite sides of the rail weld in the first direction. The detection device uses a non-contact method to collect the cross-sectional profiles of the two opposite sides of the rail weld. Compared with the contact type, the non-contact type can save the time for contacting and leaving the rail cross-section, and can collect the rail cross-sectional profile at one time. Compared with taking multiple points by changing positions, it can further save the detection time, effectively reduce the milling processing beat, improve the processing efficiency, and better meet the actual needs. In addition, 600 - 1600 feature points can be extracted based on the cross-sectional profile. Compared with the existing detection of about 20 points, the accuracy of the weld milling reference generated is higher. The milling control device controls the movement of the milling device according to the weld milling reference to mill the weld of the rail, effectively improving the quality of the milling process.

[0042] The technical solution of the present utility model uses visual recognition to guide the milling process of the rail weld, which not only reduces the milling processing beat but also improves the milling processing accuracy, and can achieve high-precision milling processing. The technical solution of the present utility model is also applicable to the precision milling process after the heat treatment of the rail in the rail production line. Description of the Drawings

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0044] Figure 1 It is a three-dimensional structure schematic diagram of an embodiment of a milling device for guiding the rail weld based on visual recognition provided by the present utility model;

[0045] Figure 2 For Figure 1 It is a top view structure schematic diagram of a milling device for guiding the rail weld based on visual recognition;

[0046] Figure 3 For Figure 1Schematic diagram of the weld on the medium rail and the structure of the cross-sectional profile;

[0047] Figure 4 Schematic diagram of the structure of an embodiment of the fixture provided by the present utility model;

[0048] Figure 5 For Figure 4 Enlarged schematic diagram of part A in;

[0049] Figure 6 For Figure 4 Schematic diagram of the structure in the B-B direction in;

[0050] Figure 7 Schematic diagram of the structure of another embodiment of the fixture provided by the present utility model;

[0051] Figure 8 For Figure 7 Schematic diagram of the structure in which the fixture in clamps the rail;

[0052] Figure 9 For Figure 8 Schematic diagram of the structure in the C-C direction in;

[0053] Figure 10 For Figure 7 Schematic diagram of the structure in which the clamping member in pre-clamps the other side of the rail;

[0054] Figure 11 Schematic diagram of the structure in which the first milling cutter mills the top of the guide rail and one side of the top of the guide rail;

[0055] Figure 12 Schematic diagram of the structure in which the second milling cutter mills the lower jaw of the rail head and the upper part of the rail web;

[0056] Figure 13 Schematic diagram of the structure in which the third milling cutter mills the lower part of the rail web and the upper jaw of the rail base;

[0057] Figure 14 Schematic diagram of the structure in which the fourth milling cutter mills the bottom of the guide rail and one side of the bottom of the guide rail;

[0058] Figure 15 Schematic diagram of the structure in which the fifth milling cutter mills the lower chamfer on the side of the rail top;

[0059] Figure 16 Schematic diagram of the structure in which the fifth milling cutter mills the upper chamfer on the side of the rail base;

[0060] Figure 17 Schematic diagram of the structure in which the sixth milling cutter finely mills the upper jaw of the rail base;

[0061] Figure 18 Schematic diagram of the structure in which the seventh milling cutter finely mills the bottom of the guide rail.

[0062] Description of the reference numerals in the drawings:

[0063] 100. Milling equipment for rail welds; 1. Frame; 2. Conveying device; 3. Fixture; 31. Bottom support structure; 32. Top pressing structure; 321. First hydraulic cylinder; 322. First support rod; 323. Mounting seat; 323a. Fitting part; 324. Pressing head; 324a. Guide part; 325. First elastic part; 326. Limiting part; 33. Clamping head; 331. Second hydraulic cylinder; 332. Second support rod; 34. Clamping part; 341. Third hydraulic cylinder; 342. Third support rod; 343. Clamping plate; 343a. Clamping surface; 344. Second elastic part; 345. Connecting plate; 35. Position sensor; 351. Connecting part; 4. 2D vision recognition camera; 5. Milling device; 51. First installation groove; 6. Mounting plate; 7. Tool holder; 71. Second installation groove; 721. First milling cutter; 722. Second milling cutter; 723. Third milling cutter; 724. Fourth milling cutter; 725. Fifth milling cutter; 726. Sixth milling cutter; 727. Seventh milling cutter; 8. Milling control device; 9. Rail; 91. Top of the rail; 92. One side of the rail; 93. The other side of the rail; 94. Bottom of the rail; 95. Weld; 96. Cross-sectional profile.

[0064] The realization, functional features and advantages of the purpose of the present utility model will be further described in conjunction with the embodiments and with reference to the accompanying drawings. Detailed implementation manners

[0065] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0066] It should be noted that if there are directional indications (such as up, down, left, right, front, back,...) involved in the embodiments of the present utility model, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0067] In addition, if descriptions such as "first", "second", etc. are involved in the embodiments of the present utility model, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes Scenario A, or Scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on what can be achieved by those of ordinary skill in the art. When the combination of technical solutions results in contradictions or cannot be achieved, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0068] For the rough milling process of rail welds, a detection device is required to detect the cross-sections at both ends of the weld to form a reference for rough milling. Currently, the commonly used detection device is a contact measurement probe. During detection, the measurement probe is successively brought into contact with the cross-sections at both ends of the weld to obtain multiple detection points, and the multiple detection points are processed to form a reference for rough milling. The existing contact measurement probe needs to contact the cross-section of the rail and needs to change its position to detect multiple points for one cross-section, resulting in a relatively long detection cycle, which affects the processing cycle of the entire rough milling process. Moreover, in each cross-section, the number of detection points is often around 20, which is relatively small, resulting in a low accuracy of the formed rough milling reference and affecting the quality of milling.

[0069] In view of this, the present utility model proposes a milling device for rail welds guided by visual recognition to solve the problem of the long rough milling processing cycle of existing rail welds.

[0070] Please refer to Figures 1 to 3, in an embodiment of the present utility model, the milling device 100 for guiding the rail weld seam based on visual recognition includes a frame 1, a conveying device 2, a fixture 3, a detection device, a milling device 5, and a milling control device 8. The frame 1 has a feeding station, a positioning station, a detection station, and a milling station; the conveying device 2 is arranged corresponding to the feeding station for conveying the rail 9 with a weld seam 95; the fixture 3 is arranged corresponding to the positioning station for clamping the two opposite sides of the weld seam 95 of the rail 9 in a first direction, where the first direction corresponds to the length direction of the rail 9; the detection device is arranged corresponding to the detection station for non-contact acquisition of the cross-sectional profiles 96 of the two opposite sides of the weld seam 95 of the rail 9 in the first direction, and generating a weld milling reference based on the cross-sectional profiles 96; the milling device 5 is arranged corresponding to the milling station and is movable for milling the weld seam 95 of the rail 9; the milling control device 8 is communicatively connected to the detection device and electrically connected to the milling device 5 for controlling the movement of the milling device 5 according to the weld milling reference generated by the detection device.

[0071] In the technical solution of the present utility model, the conveying device 2 is used to convey the rail 9 to be processed so that the weld seam 95 of the rail 9 corresponds to the milling station. The fixture 3 clamps and positions the two opposite sides of the weld seam of the rail in the first direction. The detection device uses a non-contact method to acquire the cross-sectional profiles 96 of the two opposite sides of the weld seam of the rail. Compared with the contact method, the non-contact method can save the time for contacting and leaving the rail cross-section, and can acquire the cross-sectional profile 96 of the rail at one time. Compared with taking multiple points by changing positions, it can further save the detection time. In addition, based on the cross-sectional profiles 96, 600 - 1600 feature points can be extracted during data processing. Compared with the existing detection of about 20 points, the accuracy of the generated weld milling reference is higher. The milling control device 8 controls the movement of the milling device 5 according to the weld milling reference to mill the weld seam of the rail, improving the quality of the milling process.

[0072] It should be noted that "the fixture 3 is used to clamp the two opposite sides of the rail weld seam in the first direction" means that there are at least a pair of fixtures 3, and each pair of fixtures 3 includes two fixtures 3. In a pair of fixtures 3, one fixture 3 is located on one side of the rail weld seam in the first direction, and the other fixture 3 is located on the other side of the rail weld seam in the first direction. It can be understood that the number of positioning stations is adapted to the number of fixtures 3.

[0073] Specifically, in the embodiment of the present utility model, the number of the fixtures 3 is two, and both the detection device and the milling device 5 are located between the two fixtures 3, which is convenient for acquiring the cross-sectional profiles 96 of the two opposite sides of the rail weld seam in the first direction and is also convenient for milling the weld seam.

[0074] In order to better collect the cross-sectional profiles 96 of the rail welds, the detection device includes a 2D vision recognition camera 4 and a data processing unit. The 2D vision recognition camera 4 is used to collect the cross-sectional profiles 96 on the two opposite sides of the rail weld in the first direction. The data processing unit is communicatively connected to the 2D vision recognition camera 4 and the milling control device 8 respectively, and is used to sequentially generate point cloud data, curves, and surfaces from the cross-sectional profiles 96 collected by the 2D vision recognition camera 4, and form the weld milling reference with the surfaces. Wherein, on any one side in the first direction, the number of the cross-sectional profiles 96 is at least two.

[0075] In the technical solution of the present invention, the 2D vision recognition camera 4 is used to collect the cross-sectional profiles 96 on the two opposite sides of the rail weld 95 in the first direction. The 2D vision recognition camera 4 does not contact the rail, and the corresponding cross-sectional profile of the rail can be quickly collected by shooting, avoiding the problem of long detection cycle caused by the existing need to collect multiple different positions in a contact way. It should be noted that "any one side in the first direction" means either one of the two sides, namely one side in the first direction and the other side in the first direction. The number of the collected cross-sectional profiles 96 is at least two. Then, the number of the cross-sectional profiles 96 corresponding to the two sides is at least four. The data processing unit sequentially generates point cloud data, curves, and 3D surfaces from each cross-sectional profile 96, that is, forms at least four 3D surfaces. The weld milling reference generated based on at least four 3D surfaces can improve the milling accuracy of the milling device 5. It can be understood that in each cross-sectional profile, the data processing unit can extract 600-1600 feature points, that is, corresponding to 600-1600 point cloud data, form the corresponding curves according to the point cloud data, and then form 3D surfaces.

[0076] In order to better collect the cross-sectional profile 96 of the rail weld, the milling device 100 for guiding the rail weld based on visual recognition further includes a mounting plate 6. The mounting plate 6 is mounted on the frame 1, and the mounting plate 6 is arranged on both sides of the rail weld 95 opposite to each other in the second direction. The mounting plate 6 can move in the first direction, the second direction, and the third direction, where the second direction corresponds to the lateral direction of the rail, the third direction corresponds to the height direction of the rail, the first direction is perpendicular to the second direction, and the first direction and the second direction form a horizontal plane, and the third direction is perpendicular to the first direction and the second direction. There are two 2D visual recognition cameras 4, and the two 2D visual recognition cameras 4 are arranged on the corresponding mounting plates 6, and the two 2D visual recognition cameras 4 are arranged opposite to each other. In this way, the two 2D visual recognition cameras 4 can simultaneously collect both sides of the cross-sectional profile 96 of the rail weld opposite to each other in the second direction, that is, one 2D visual recognition camera 4 collects half of the cross-sectional profile, and the other 2D visual recognition camera 4 collects the other half of the cross-sectional profile. The half cross-sectional profile and the other half cross-sectional profile collected by the two 2D visual recognition cameras 4 at the same time form the cross-sectional profile 96, which improves the collection efficiency. Moreover, the 2D visual recognition camera 4 can move along with the mounting plate 6 to realize the collection of multiple cross-sectional profiles 96, making the formed weld milling reference more conform to the characteristics of the actual rail weld and improving the milling accuracy.

[0077] Furthermore, in order to better mill the rail weld, there are two milling devices 5. The two milling devices 5 are mounted on the corresponding mounting plates 6, and the two milling devices 5 are arranged opposite to each other. In this way, the milling devices 5 can simultaneously mill both sides of the weld opposite to each other in the second direction, which improves the milling efficiency. Moreover, the milling devices 5 can move along with the mounting plate 6 in the first direction, the second direction, and the third direction to better mill the weld.

[0078] In order to better position and clamp the rail, refer to Figures 4 to 6 , the fixture 3 includes a bottom support structure 31, a top pressing structure 32, and a lateral clamping structure. The bottom support structure 31 is arranged on one side of the rail weld in the third direction to support the rail. The top pressing structure 32 is arranged on the other side of the rail weld in the third direction and can move in the third direction to press the top 91 of the rail. The lateral clamping structure is arranged on both sides of the rail weld opposite to each other in the second direction and can move in the second direction to clamp both sides of the rail.

[0079] By adopting the above technical solution, the bottom support structure 31 can contact with the bottom 94 of the rail to support the rail. When the top pressing structure 32 moves in the direction towards the bottom support structure 31, it can press the top 91 of the rail. The lateral clamping structure is located on both sides of the rail and can clamp both sides of the rail. In this way, the rail can be stably clamped, which is convenient for milling the weld seam.

[0080] In order to avoid the rail itself being bent or even twisted, resulting in interference between the clamping structure in the second direction and the pressing structure in the third direction during the clamping process of the fixture 3, which affects the clamping effect of the rail. In an embodiment of the present invention, the top pressing structure 32 includes a first support rod 322 that can move in the third direction, a mounting seat 323 provided on the first support rod 322, and a pressing head 324 movably provided on the mounting seat 323. And a first elastic member 325 is provided between the pressing head 324 and the mounting seat 323.

[0081] By adopting the above technical solution, the first support rod 322 can move in the third direction to drive the pressing head 324 to move towards the rail, so as to apply a pre-pressing force to the top 91 of the rail. Since the pressing head 324 is movably provided on the mounting seat 323, during the lateral clamping process, the pressing head 324 has room for movement. After the lateral clamping, the pressure of the pressing head 324 acting on the top 91 of the rail is increased to better clamp the rail, which can effectively avoid the influence of the irregularity of the rail on the clamping effect of the rail during the clamping process of the fixture 3, and can also reduce the generation of harsh noise. And a first elastic member 325 is provided between the mounting seat 323 and the pressing head 324. The first elastic member 325 can be a disc spring, and the first elastic member 325 has a shock absorption and buffering effect, so that the pressing head 324 presses the top 91 of the rail more stably.

[0082] In another embodiment of the present invention, refer to Figures 7 to 10 , the lateral clamping structure includes a first lateral clamping structure and a second lateral clamping structure. The first lateral clamping structure includes a second support rod 332 that can move in the second direction, and a clamping head 33 provided on the second support rod 332. The second lateral clamping structure includes a third support rod 342 that can move in the second direction, and a clamping member 34 movably provided on the third support rod 342. And the clamping member 34 is disposed opposite to the clamping head 33.

[0083] By adopting the above technical solution, when laterally clamping the rail, the second support rod 332 is driven to move towards the rail, so that the clamping head 33 fits against one side 92 of the rail, but does not act on the rail. The third support rod 342 is driven to move towards the rail, so that the clamping member 34 applies a pre-compression force to the other side 93 of the rail. Since the clamping member 34 is movably arranged on the third support rod, during the process of pressing the top 91 of the rail by the pressing head 324, the clamping member 34 has a movable space. After the top of the rail is pressed, the acting force of the clamping member 34 on the other side 93 of the rail is increased, so that the clamping head 33 and the clamping member 34 can preferably laterally clamp the rail, effectively avoiding the influence of the irregularity of the rail on the clamping effect during the clamping process of the fixture 3, and also reducing the generation of harsh noise.

[0084] Refer to Figure 5 , in order to enable the pressing head 324 to preferably press the top 91 of the rail, further, the pressing head 324 is installed on the mounting seat 323 through a guiding assembly. The guiding assembly includes a guiding portion 324a and a cooperating portion 323a. The guiding portion 324a is arranged on the pressing head 324 and faces the mounting seat 323, and the cooperating portion 323a is arranged on the mounting seat 323 and is correspondingly arranged with the guiding portion 324a; one of the guiding portion 324a and the cooperating portion 323a is a guiding rod, and the other is a guiding hole.

[0085] By adopting the above technical solution, through the arrangement of the guiding portion 324a and the cooperating portion 323a, the pressing head 324 acts on the top of the rail relatively stably. When pressing the top of the rail, the guiding rod can move along the guiding hole until the pressing head 324 contacts the mounting seat 323, and the first elastic member 325 is in a state of compressive deformation.

[0086] Specifically, the guiding portion 324a is a guiding rod, and there are at least two guiding portions 324a. The plurality of guiding portions 324a are distributed in the circumferential direction of the pressing head 324. The cooperating portion 323a is a guiding hole, and the number of the cooperating portions 323a is adapted to the number of the guiding portions 324a. The first elastic member 325 is located inside the plurality of guiding rods. In this way, the pressing head 324 can act on the top of the rail relatively stably. It can be understood that the guiding rod penetrates through the corresponding guiding hole, and a limiting member 326 is arranged at the end of the guiding rod. The limiting member 326 contacts the edge of the guiding hole to facilitate the installation of the pressing head 324 on the mounting seat 323.

[0087] In the technical solution of the present utility model, the first support rod 322 includes the piston rod of the first hydraulic cylinder 321; and / or, the second support rod 332 includes the piston rod of the second hydraulic cylinder 331, and the third support rod 342 includes the piston rod of the third hydraulic cylinder 341; and / or, the lateral clamping structure further includes a position sensor 35, the position sensor 35 is arranged on the second support rod 332 and its detection end faces the clamping member 34, for detecting whether the clamping head 33 is in contact with the side surface of the rail.

[0088] By adopting the above technical solution, the first support rod 322, the second support rod 332 and the third support rod 342 can adopt the piston rods of hydraulic cylinders. By controlling the telescopic movement of the corresponding piston rods, the clamping or loosening of the rail can be realized.

[0089] A position sensor 35 is arranged on the second support rod 332, which can preferably detect whether the clamping head 33 is attached to one side 92 of the rail. The position sensor 35 is communicatively connected to the milling control device 8. The milling control device 8 can control the movement of the first support rod 322, the second support rod 332 and the third support rod 342. When it is necessary for the clamping head 33 to be attached to the rail, the second support rod 332 is controlled to move towards the rail. The position sensor 35 can detect the position of the clamping head 33 in real time and send the detected position signal to the milling control device 8. When it is detected that the clamping head 33 is attached to the rail, the milling control device 8 controls the second support rod 332 to stop moving. At this time, the clamping head 33 is attached to one side 92 of the rail, but does not act on the rail. At this time, there is a gap between the position sensor 35 and the rail. Specifically, the position sensor 35 is arranged on one side of the clamping head 33 through a connecting member 351.

[0090] In order to enable the clamping member 34 to act on the other side 93 of the rail more stably, the clamping member 34 includes a connecting plate 345, a pressing plate 343, and a second elastic member 344. The connecting plate 345 is hingedly arranged on the third support rod 342, and the connecting plate 345 has a connecting end away from the third support rod 342; the pressing plate 343 is hingedly arranged on the connecting end, and the pressing plate 343 has a clamping surface 343a facing the clamping head 33; the second elastic member 344 is arranged between the connecting plate 345 and the pressing plate 343.

[0091] By adopting the above technical solution, by driving the third support rod 342 to move towards the rail, the connecting plate 345 and the pressing plate 343 are driven to move, so that the clamping surface 343a contacts the other side 93 of the rail, so as to realize that the clamping member 34 applies a pre-pressing force to the other side 93 of the rail. After the top of the rail is pressed, the acting force of the clamping surface 343a on the other side of the rail is increased to realize better clamping of the rail. It should be noted that the second elastic member 344 can be a disc spring.

[0092] Further, referring to Figure 10 , the clamping surface 343a is inclined away from the clamping head 33.

[0093] By adopting the above technical solution, the clamping surface 343a in contact with the rail is inclined away from the clamping head 33. After the clamping surface 343a pre-presses the other side 93 of the rail, the included angle α formed between the clamping surface 343a and the other side 93 of the rail is 1 to 10°. The formed included angle α can further improve the stability of the fixture 3 for clamping the rail and can better adapt to the phenomenon that the rail is distorted.

[0094] In the technical solution of the present invention, the milling equipment 100 for guiding the rail weld based on visual recognition further includes:

[0095] A tool holder 7, which is arranged on the frame 1 and can rotate, and the tool holder 7 has a tool picking and placing station;

[0096] At least one milling cutter, which is installed on the circumference of the tool holder 7. The projections of the plurality of milling cutters on the horizontal plane formed by the first direction and the second direction are annular, and the included angle between the axis of each milling cutter and the horizontal plane formed by the first direction and the second direction does not exceed 20°; and,

[0097] A milling cutter transfer device, which is arranged on the frame 1 and can move. The moving range of the milling cutter transfer device covers the tool picking and placing station and the milling station, and is used to transfer the milling cutter on the tool holder 7 at the tool picking and placing station to the milling device 5 at the milling station, and / or transfer the milling cutter on the milling device 5 at the milling station to the tool holder 7 at the tool picking and placing station.

[0098] By adopting the above technical solution, the tool rest 7 has a tool picking and placing station. When milling operations are required, the tool rest 7 is controlled to rotate so that the milling cutter that meets the current milling operation moves to the tool picking and placing station. The milling cutter transfer device moves to the tool picking and placing station to pick up the milling cutter at the tool picking and placing station, transports the picked-up milling cutter to the milling device 5, and also installs the milling cutter on the first installation groove 51 of the milling device 5. After the installation of the milling cutter is completed, the milling device 5 moves so that the milling cutter performs milling operations on the preset position of the weld. After the operation is completed, the milling cutter transfer device picks up the milling cutter on the milling device 5 and transports the picked-up milling cutter to the tool picking and placing station to install the milling cutter on the tool rest 7. The method of picking up another milling cutter is the same as above and will not be elaborated here to perform milling operations on another preset position of the weld. In this way, the milling operations on the entire weld are completed.

[0099] Specifically, a plurality of second installation grooves 71 for installing each milling cutter are provided on the tool rest 7. When milling operations are required, the tool rest rotates to rotate the preset milling cutter to the tool picking and placing station for easy picking by the milling cutter transfer device. When the milling cutter needs to be replaced, the milling cutter transfer device picks up the milling cutter on the current milling device and transports it to the tool picking and placing station. At the same time, the tool rest rotates to rotate the preset second installation groove to the tool picking and placing station so that the milling cutter transfer device can put the milling cutter back. After that, another milling cutter is picked up. The method of picking up the milling cutter is the same as above and will not be elaborated here.

[0100] It should be noted that the milling control device 8 controls the picking and placing order of multiple milling cutters and the milling position of the milling cutter according to the weld milling reference. The tool rest 7 and the milling cutter transfer device are electrically connected to the milling control device 8 respectively. The milling control device 8 can control the rotation of the tool rest 7 and also control the movement of the milling cutter transfer device. The projections of each milling cutter on the horizontal plane formed by the first direction and the second direction are annular, and the angle between the axis of each milling cutter and the horizontal plane formed by the first direction and the second direction does not exceed 20°. In this way, it is convenient for the milling cutter transfer device to pick up and place the milling cutter, effectively reducing the time for picking up and replacing the cutter and improving the milling efficiency of the weld.

[0101] Furthermore, in order to better mill the rail weld, refer to Figures 11 to 18, the multiple milling cutters include a first milling cutter 721, a second milling cutter 722, a third milling cutter 723, a fourth milling cutter 724, a fifth milling cutter 725, a sixth milling cutter 726, and a seventh milling cutter 727. The first milling cutter is used for milling the top of the guide rail and one side of the top of the guide rail. The second milling cutter is used for milling the lower jaw of the rail head and the upper part of the rail web. The third milling cutter is used for milling the lower part of the rail web and the upper jaw of the rail bottom. The fourth milling cutter is used for milling the bottom of the guide rail and one side of the bottom of the guide rail. The fifth milling cutter is used for milling the lower chamfer on the side of the rail top and the upper chamfer on the side of the rail bottom. The sixth milling cutter is used for finish milling the upper jaw of the rail bottom. The seventh milling cutter is used for finish milling the bottom of the guide rail. Only after a substantial improvement in the processing cycle can the cooperative effect of multiple milling cutters be considered to achieve truly better full-section milling of the rail weld. After the first milling cutter, the second milling cutter, the third milling cutter, the fourth milling cutter, and the fifth milling cutter perform rough milling on the rail weld, the sixth milling cutter performs finish milling on the upper jaw of the rail bottom of the rail weld, and the seventh milling cutter performs finish milling on the bottom of the guide rail of the rail weld. In this way, the requirements of ultrasonic flaw detection can be better met.

[0102] The above is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A milling device for guiding rail welds based on visual recognition, characterized in that: include: The frame has a feeding station, a positioning station, a detection station, and a milling station; A conveying device, arranged corresponding to the feeding station, for conveying the steel rail with the weld; A clamp, arranged corresponding to the positioning station, for clamping the weld of the rail on two opposite sides in a first direction, wherein the first direction corresponds to the length direction of the rail; A detection device, arranged corresponding to the detection station, for non-contactly collecting cross-sectional profiles of the weld of the rail on two opposite sides in the first direction, and generating a weld milling reference based on the cross-sectional profiles; a milling device, which is movably arranged corresponding to the milling station and is used to perform milling processing on the weld of the rail; and A milling control device is communicatively connected to the detection device and electrically connected to the milling device, and is used to control the activity of the milling device according to the weld milling reference generated by the detection device.

2. The milling equipment for guiding rail weld based on visual recognition as claimed in claim 1, characterized in that: The detection device comprises: a 2D visual recognition camera, for collecting the cross-sectional profile of the weld of the rail on two opposite sides in the first direction; and A data processing unit, respectively connected to the 2D vision recognition camera and the milling control device, for sequentially generating point cloud data, curves, and surfaces from the cross-sectional profile captured by the 2D vision recognition camera, and forming the weld milling reference from the surface; Wherein, on any side of the first direction, there are at least two cross-sectional profiles.

3. The milling equipment for guiding rail weld based on visual recognition as claimed in claim 1, characterized in that: The fixture comprises: A bottom support structure is arranged on one side of the rail weld in the third direction to support the rail; A top clamping structure is disposed on the other side of the rail weld in the third direction and can move in the third direction to clamp the top of the rail; and A lateral clamping structure is disposed on two opposite sides of the rail weld in a second direction and is movable in the second direction to clamp the two sides of the rail; The second direction corresponds to the lateral direction of the rail, and the third direction corresponds to the height direction of the rail.

4. The milling device for guiding rail weld based on visual recognition as claimed in claim 3, characterized in that: The top clamping structure comprises a first support rod movable in a third direction, a mounting seat arranged on the first support rod, and a clamping head movably arranged on the mounting seat, and a first elastic member is arranged between the clamping head and the mounting seat; and / or, The lateral clamping structure comprises a first lateral clamping structure and a second lateral clamping structure; The first lateral clamping structure comprises a second support rod movable in a second direction, and a clamping head disposed on the second support rod; The second lateral clamping structure includes a third support rod movable in a second direction, and a clamping member movably disposed on the third support rod, and the clamping member is disposed opposite to the clamping head.

5. The milling equipment for guiding rail weld based on visual recognition as claimed in claim 4, characterized in that: The first elastic member comprises a butterfly spring; and / or, The pressing head is mounted on the mounting seat through a guide assembly, and the guide assembly includes: A guide portion, disposed on the pressing head and disposed toward the mounting seat; A matching portion, arranged on the mounting seat and corresponding to the guide portion; One of the guide portion and the matching portion is a guide rod, and the other is a guide hole.

6. The milling equipment for guiding rail weld based on visual recognition as claimed in claim 4, characterized in that: The first support rod comprises a piston rod of a first hydraulic cylinder; and / or, The second support rod comprises a piston rod of a second hydraulic cylinder, and the third support rod comprises a piston rod of a third hydraulic cylinder; and / or, The lateral clamping structure further comprises a position sensor, which is arranged on the second support rod and has a detection end facing the clamping member, so as to detect whether the clamping head is in contact with the side of the rail.

7. The milling equipment for guiding rail weld based on visual recognition as claimed in claim 4, characterized in that: The clamping member comprises: A connecting plate, hingedly arranged on the third supporting rod, wherein the connecting plate has a connecting end away from the third supporting rod; A clamping plate, hingedly arranged at the connecting end, the clamping plate having a clamping surface facing the clamping head; The second elastic member is arranged between the connecting plate and the clamping plate.

8. The milling equipment for guiding rail weld based on visual recognition as claimed in claim 7, characterized in that: The clamping surface is arranged to be inclined in a direction away from the clamping head.

9. The milling equipment for guiding rail weld based on visual recognition as claimed in claim 3, characterized in that: The milling equipment for guiding rail weld based on visual recognition also includes: A tool holder, which is rotatably arranged on the frame and has a tool placement station; at least one milling cutter is mounted on the circumference of the tool holder, the projections of the plurality of milling cutters on the horizontal plane formed by the first direction and the second direction are annular, and the angle between the axis of each of the milling cutters and the horizontal plane formed by the first direction and the second direction does not exceed 20°; and A milling cutter transfer device is arranged on the frame and is movable. The movable range of the milling cutter transfer device covers the pick-and-place tool station and the milling station, and is used to transfer the milling cutter on the tool holder at the pick-and-place tool station to the milling device at the milling station, and / or transfer the milling cutter on the milling device at the milling station to the tool holder at the pick-and-place tool station.

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