Steel rail welding seam polishing equipment

Abstract

The utility model provides steel rail welding seam polishing equipment which comprises a first robot and a second robot, the first robot carries a first belt sander to be located on the first side of a steel rail to be polished through a first mechanical arm, and the second robot carries a second belt sander to be located on the second side of the steel rail to be polished through a second mechanical arm. The first belt sander comprises a first abrasive belt wheel assembly and a first abrasive belt arranged outside the first abrasive belt wheel assembly in a sleeving mode, and the first abrasive belt wheel assembly drives the first abrasive belt to polish a first side welding seam of the steel rail to be polished. The second belt sander comprises a second abrasive belt wheel assembly and a second abrasive belt arranged outside the second abrasive belt wheel assembly in a sleeving mode, and the second abrasive belt wheel assembly drives the second abrasive belt to polish the second side welding seam of the steel rail to be polished. According to the scheme, the two robots are adopted to carry the belt sanders respectively to polish the two sides of the steel rail welding seam at the same time, and the effects that the polishing efficiency is high, the labor cost is saved, and the polishing quality is improved are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of rail welding, and particularly relates to a rail weld grinding device. Background Art

[0002] At present, rail weld grinding mainly relies on manual handheld grinders or robots plus grinding wheels. These two methods have the following problems: Manual grinding also has many problems such as low efficiency, high manual labor intensity, high safety risks, and difficult to guarantee grinding quality; Robot plus grinding wheel grinding requires frequent replacement of different specifications of grinding wheels and polishing wheels, resulting in low efficiency and overall affecting the production capacity of the rail welding base. Summary of the Utility Model

[0003] The technical problem to be solved by the utility model is the deficiencies of low efficiency, high safety risks, and difficult to guarantee grinding quality in the prior art for rail weld grinding, and further provides a rail weld grinding device.

[0004] The technical solution of the utility model provides a rail weld grinding device, including:

[0005] A first robot, configured with a first robotic arm, is arranged on the first side of the rail to be ground;

[0006] A second robot, configured with a second robotic arm, is arranged on the second side of the rail to be ground;

[0007] A first sanding machine is arranged on the first robotic arm. The first sanding machine includes a first driving motor, a first sanding wheel assembly, and a first sanding belt sleeved outside the first sanding wheel assembly. The first sanding wheel assembly drives the first sanding belt to grind the weld on the first side of the rail to be ground under the drive of the first driving motor;

[0008] A second sanding machine is arranged on the second robotic arm. The second sanding machine includes a second driving motor, a second sanding wheel assembly, and a second sanding belt sleeved outside the second sanding wheel assembly. The second sanding wheel assembly drives the second sanding belt to grind the weld on the second side of the rail to be ground under the drive of the second driving motor.

[0009] In some embodiments of the rail weld grinding device, both the first robotic arm and the second robotic arm are six-axis robotic arms.

[0010] In some embodiments of the rail weld grinding device, a rotatable first flange is provided at the end of the first robotic arm, and the first sanding machine is arranged on the first flange. When the first flange rotates, it drives the first sanding machine to rotate;

[0011] A rotatable second flange is provided at the end of the second robotic arm, and the second abrasive belt machine is disposed on the second flange. When the second flange rotates, it drives the second abrasive belt machine to rotate.

[0012] In some embodiments of the rail weld grinding device, both the first abrasive belt wheel assembly and the second abrasive belt wheel assembly include:

[0013] A mounting base, with a first surface for being set on the first flange or the second flange. When the first flange / the second flange rotates, it drives the mounting base to rotate;

[0014] A first grinding wheel rotatably disposed on the second surface of the mounting base, and its diameter matches the inner arc of the rail bottom of the rail to be ground;

[0015] A second grinding wheel rotatably disposed on the second surface of the mounting base, and its diameter matches the inner arc of the rail jaw of the rail to be ground.

[0016] In some embodiments of the rail weld grinding device, the first abrasive belt wheel assembly and the second abrasive belt wheel assembly further include:

[0017] A tensioning cylinder, with its cylinder body disposed on the second surface of the mounting base;

[0018] A tensioning wheel disposed at the driving output end of the tensioning cylinder;

[0019] The centers of the tensioning wheel, the first grinding wheel and the second grinding wheel are not on the same straight line;

[0020] The first abrasive belt / the second abrasive belt is sleeved outside the tensioning wheel, the first grinding wheel and the second grinding wheel.

[0021] In some embodiments of the rail weld grinding device, the first abrasive belt wheel assembly and the second abrasive belt wheel assembly further include:

[0022] A first limiting wheel coaxially connected to the first grinding wheel, and there is a set interval between the edge of the first limiting wheel and the edge of the first abrasive belt;

[0023] A second limiting wheel coaxially connected to the second grinding wheel, and there is a set interval between the edge of the second limiting wheel and the edge of the second abrasive belt.

[0024] In some embodiments of the rail weld grinding device, the set interval is in the range of 0.1 - 0.2 millimeters.

[0025] In some embodiments of the rail weld grinding device, the first limiting wheel includes a pair, symmetrically disposed on both sides of the first grinding wheel;

[0026] The second limit wheel includes a pair and is symmetrically arranged on both sides of the second grinding wheel.

[0027] In some embodiments, the rail weld grinding device further includes:

[0028] A first force control module, arranged between the mounting base and the first flange;

[0029] A second force control module, arranged between the mounting base and the second flange;

[0030] The first force control module is used to detect the contact force between the first grinding wheel or the second grinding wheel in the first grinding wheel assembly and the rail to be ground during grinding and feed the detection result back to the control module of the first robot;

[0031] The second force control module is used to detect the contact force between the first grinding wheel or the second grinding wheel in the second grinding wheel assembly and the rail to be ground during grinding and feed the detection result back to the control module of the second robot.

[0032] In some embodiments, the rail weld grinding device further includes:

[0033] A sand belt changer, arranged at a predetermined position, and the sand belt changer stores sand belts.

[0034] Adopting the above technical solutions, the following beneficial effects are achieved:

[0035] The rail weld grinding device provided by the solution of the present invention includes a first robot and a second robot. The first robot carries a first sand belt machine through a first robotic arm and is located on the first side of the rail to be ground. The second robot carries a second sand belt machine through a second robotic arm and is located on the second side of the rail to be ground. The first sand belt machine includes a first sand belt wheel assembly and a first sand belt sleeved outside the first sand belt wheel assembly. The first sand belt wheel assembly drives the first sand belt to grind the weld on the first side of the rail to be ground. The second sand belt machine includes a second sand belt wheel assembly and a second sand belt sleeved outside the second sand belt wheel assembly. The second sand belt wheel assembly drives the second sand belt to grind the weld on the second side of the rail to be ground. Through the above solution of the present invention, two robots are used to carry sand belt machines respectively to grind both sides of the rail weld simultaneously, which has the effects of high grinding efficiency, saving labor costs and improving grinding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the overall layout of the rail weld grinding device in an embodiment of the present invention;

[0037] Figure 2Schematic diagram of the grinding part of the rail weld grinding equipment in an embodiment of the present utility model;

[0038] Figure 3 Schematic diagram of the structure of the first abrasive belt machine / second abrasive belt machine in an embodiment of the present utility model;

[0039] Figure 4 Schematic diagram of the structure of the abrasive belt wheel assembly in an embodiment of the present utility model;

[0040] Figure 5 Schematic diagram of the interface of the rail to be ground in an embodiment of the present utility model;

[0041] Figure 6 Schematic diagram of the rail grinding trajectory in an embodiment of the present utility model;

[0042] Figure 7 Schematic diagram of the installation method of the first limit wheel in an embodiment of the present utility model;

[0043] The reference numerals in the figure are respectively:

[0044] 101 - First robot, 102 - Rail to be welded, 103 - Second robot, 104 - Sand changing machine; 1 - First abrasive belt machine, 2 - First robotic arm, 210 - First flange, 3 - Second robotic arm, 310 - Second flange, 4 - Second abrasive belt machine; 201 - First grinding wheel, 202 - Second grinding wheel, 203 - Abrasive belt, 204 - Tensioning wheel, 205 - Force control unit; 1021 - Rail top, 1022 - Rail jaw, 1023 - Rail web, 1024 - Rail bottom triangular area, 1025 - Rail bottom; 401 - First trajectory, 402 - Second trajectory, 501 - First limit wheel, 502 - First limit wheel axle; 600 - Installation base, 601 - Tensioning cylinder, 602 - Driving motor. Detailed implementation manners

[0045] The following further illustrates the detailed implementation manners of the present utility model with reference to the accompanying drawings.

[0046] It is easy to understand that according to the technical solution of the present utility model, under the condition of not changing the essence of the present utility model, there are various structural forms and implementation manners that can be mutually replaced by those of ordinary skill in the art. Therefore, the following detailed implementation manners and the accompanying drawings are only exemplary descriptions of the technical solution of the present utility model, and should not be regarded as the whole of the present utility model or as a limitation or restriction on the claimed technical solution.

[0047] In this specification, orientation terms such as above, below, left, right, front, back, front side, back side, top, bottom, etc., which are mentioned or may be mentioned, are defined relative to the structures shown in the respective drawings. They are relative concepts and may accordingly change depending on their different positions and usage states. Therefore, these or other orientation terms should not be construed as restrictive terms.

[0048] An embodiment of the present utility model provides a rail weld grinding device, as Figure 1 , Figure 2 and Figure 3 shown. The device includes a first robot 101, a second robot 103, a first abrasive belt machine 1, and a second abrasive belt machine 3. Among them, the first robot 101 is configured with a first robotic arm 2 and is arranged on the first side of the rail 102 to be ground; the second robot 103 is configured with a second robotic arm 3 and is arranged on the second side of the rail 102 to be ground. The first abrasive belt machine 1 is arranged on the first robotic arm 2. The first abrasive belt machine 1 includes a first drive motor, a first abrasive belt wheel assembly, and a first abrasive belt sleeved outside the first abrasive belt wheel assembly. The first abrasive belt wheel assembly drives the first abrasive belt to grind the weld on the first side of the rail 102 to be ground under the drive of the first drive motor. The second abrasive belt machine 4 is arranged on the second robotic arm 3. The second abrasive belt machine 4 includes a second drive motor, a second abrasive belt wheel assembly, and a second abrasive belt sleeved outside the second abrasive belt wheel assembly. The second abrasive belt wheel assembly drives the second abrasive belt to grind the weld on the second side of the rail 102 to be ground under the drive of the second drive motor.

[0049] The rail weld grinding device provided by the above embodiment of the present utility model includes a first robot 101 and a second robot 103. The first robot 101 carries the first abrasive belt machine 1 through the first robotic arm 2 and is located on the first side of the rail 102 to be ground. The second robot 103 carries the second abrasive belt machine 4 through the second robotic arm 3 and is located on the second side of the rail 102 to be ground. The first abrasive belt machine 1 includes a first abrasive belt wheel assembly and a first abrasive belt sleeved outside the first abrasive belt wheel assembly. The first abrasive belt wheel assembly drives the first abrasive belt to grind the weld on the first side of the rail 102 to be ground under the drive of the first drive motor. The second abrasive belt machine includes a second abrasive belt wheel assembly and a second abrasive belt sleeved outside the second abrasive belt wheel assembly. The second abrasive belt wheel assembly drives the second abrasive belt to grind the weld on the second side of the rail 102 to be ground under the drive of the second drive motor. Through the above solution of the present utility model, two robots are respectively used to carry abrasive belt machines to simultaneously grind both sides of the rail weld, which has the effects of high grinding efficiency, saving labor costs, and improving grinding quality.

[0050] As Figure 1As shown, the first robot 101 and the second robot 103 are robotic arm assemblies with multiple degrees of freedom, and a trolley component that can move freely is provided at their bottoms. The first robot and the second robot in the present utility model can be implemented using existing robot products. Preferably, the first robotic arm and the second robotic arm are both six-axis robotic arms. Using existing robots, a pre-planned path can be set inside them, and the robots can move to the target position and stop according to the path. Due to their robotic arm assemblies with multiple degrees of freedom, they can move at different angles in various directions, and comprehensively control the first belt sander and the second belt sander provided at their ends to reach the required positions and angles, so as to complete the welding seam grinding process of the rail to be ground.

[0051] Preferably, as Figure 1 shown, the device further includes a belt sander changer 104, which is arranged at a predetermined position, and the belt sander changer 104 stores abrasive belts. When the abrasive belt in the first belt sander or the second belt sander cannot be used, it can be replaced at the belt sander changer 104.

[0052] Specifically, as Figure 2 shown, preferably, a rotatable first flange 210 is provided at the end of the first robotic arm 2, the first belt sander 1 is arranged on the first flange 210, and when the first flange 210 rotates, it drives the first belt sander 1 to rotate. A rotatable second flange 310 is provided at the end of the second robotic arm 3, the second belt sander 4 is arranged on the second flange 310, and when the second flange 310 rotates, it drives the second belt sander 4 to rotate. Through the solution of the present utility model, the angles of the first belt sander 1 and the second belt sander 4 can be adjusted to facilitate adaptation to the arcs at different positions of the rail 102 to be ground.

[0053] Furthermore, as Figures 3 to 5 shown. Figure 5Among them, the rail to be polished includes a rail top 1021, a rail jaw 1022, a rail web 1023, a rail bottom triangular area 1024, and a rail bottom 1025. Both the first abrasive belt wheel assembly and the second abrasive belt wheel assembly include: a mounting base 600, a first surface of which is used to be set on the first flange 210 or the second flange 310, and the first flange 210 / the second flange 310 rotates to drive the mounting base 600 to rotate; a first grinding wheel 210 rotatably arranged on the second surface of the mounting base 600, and its diameter matches the inner arc of the rail bottom 1025 of the rail to be polished 102; a second grinding wheel 202 rotatably arranged on the second surface of the mounting base 600, and its diameter matches the inner arc of the rail jaw 1022 of the rail to be polished 102. By rotating the first flange 210 or the second flange 310, the first grinding wheel 201 or the second grinding wheel 202 can be adjusted to the grinding position, and the abrasive belt 203 will not cause damage to the rail to be polished 102. Preferably, when grinding the rail top 1021, the rail web 1023, and the rail bottom 1025, the first grinding wheel is used for grinding; when grinding the rail jaw 1022, the second grinding wheel is used for grinding, so as to ensure uniform grinding of the entire circumference of the rail cross-section. When grinding, the axial direction of the first grinding wheel or the second grinding wheel is the same as the length direction of the rail. Further, as Figure 4 shown, the first abrasive belt wheel assembly and the second abrasive belt wheel assembly further include: a tensioning cylinder 601, the cylinder body of which is arranged on the second surface of the mounting base 600; a tensioning wheel 204 arranged at the driving output end of the tensioning cylinder 601; the centers of the tensioning wheel 204, the first grinding wheel 201, and the second grinding wheel 202 are not on the same straight line; the first abrasive belt / the second abrasive belt is sleeved outside the tensioning wheel 204, the first grinding wheel 201, and the second grinding wheel 203. As shown in the figure, a driving motor 602 is used to drive the first grinding wheel 201, the first grinding wheel 201 rotates under the drive, and then drives the abrasive belt 203 to rotate, and correspondingly, the second grinding wheel 202 can also rotate under the drive of friction. After the tensioning cylinder 601 extends to the set position, the cooperation of the tensioning wheel 204 with the first grinding wheel 201 and the second grinding wheel 203 can make the abrasive belt tensioned.

[0054] As Figure 3As shown in the figure, it further includes a force control unit 205. In specific implementation, the force control unit 205 may include a first force control module disposed between the mounting base 600 and the first flange 210; a second force control module disposed between the mounting base 600 and the second flange 310. The first force control module is used to detect the contact force between the first grinding wheel 201 or the second grinding wheel 202 in the first grinding wheel assembly and the rail 102 to be ground during grinding and feed back the detection result to the control module of the first robot. The second force control module is used to detect the contact force between the first grinding wheel 201 or the second grinding wheel 202 in the second grinding wheel assembly and the rail 102 to be ground during grinding and feed back the detection result to the control module of the second robot. As mentioned above, the first robot and the second robot are implemented by using existing multi-axis robots. After the force control unit feeds back the detection result, the robot can automatically adjust the magnitude of the force applied by the robotic arm to the rail or stop according to the feedback result, avoiding damage to the rail 102 to be ground by the abrasive belt 203 when the force is too large.

[0055] During grinding, as Figure 6 shown in the figure, the grinding wheel is close to the rail. The first robot 101 drives the first abrasive belt machine 1, uses the second grinding wheel to drive the abrasive belt, starts grinding from point A, and grinds to point B according to the first trajectory 401. At the same time, the second robot 103 drives the second abrasive belt machine, uses the first driving wheel to drive the abrasive belt, starts grinding from point B, and grinds to point A according to the second trajectory 402. After grinding is completed, the first robot and the second robot simultaneously switch to the first grinding wheel to start grinding the rail jaw. After grinding is completed, the first robot and the second robot return to their original positions. The grinding process of the solution of the present utility model is formed in one time, without tool change and polishing, and has high efficiency. When the abrasive belt 203 reaches the service life, a new abrasive belt can be replaced on the abrasive belt changer 104, which will not affect the grinding rhythm. When changing the abrasive belt, the robot walks to the abrasive belt changer, the tensioning cylinder retracts, the tensioning wheel changes its position accordingly, and the abrasive belt loses the tensioning effect and drops. The abrasive belt changer pushes out the abrasive belt to the outside of the grinding wheel and the tensioning wheel, then the tensioning cylinder extends, the tensioning wheel changes its position accordingly and also returns to the position when it is tensioned, and the abrasive belt pushed out by the abrasive belt changer is tensioned to complete the replacement.

[0056] As Figure 7 shown in the figure, the first abrasive belt wheel assembly and the second abrasive belt wheel assembly further include a first limiting wheel 501 coaxially connected to the first grinding wheel 201, and there is a set interval between the edge of the first limiting wheel 501 and the edge of the first abrasive belt; a second limiting wheel coaxially connected to the second grinding wheel, and there is a set interval between the edge of the second limiting wheel and the edge of the second abrasive belt. Figure 7The figure shows a schematic structural diagram of a first limiting wheel 501 arranged outside a first tensioning wheel. A first limiting wheel shaft 502 of the first limiting wheel 501 is coaxially arranged with the wheel shaft of the first tensioning wheel. The installation method of the second limiting wheel is similar to it. Further preferably, the set interval is in the range of 0.1 - 0.2 millimeters. By arranging the limiting wheel, over-grinding can be prevented from damaging the rail.

[0057] Furthermore, the first limiting wheel 501 includes a pair, symmetrically arranged on both sides of the first grinding wheel 201; similarly, the second limiting wheel includes a pair, symmetrically arranged on both sides of the second grinding wheel. When the first limiting wheel and the second limiting wheel are in contact with the rail, there will be no excessive contact between the abrasive belt and the rail, thus avoiding over-grinding. Symmetrically arranging a pair of limiting wheels can ensure the stability of the limiting function and avoid situations such as uneven grinding.

[0058] According to needs, the above technical solutions can be combined to achieve the best technical effect.

[0059] The above are only the principles and preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, based on the principle of the present invention, several other variations can also be made, which should also be regarded as the protection scope of the present invention.

Claims

1. A rail weld grinding device, characterized in that, Comprising: A first robot, configured with a first robotic arm, is disposed on the first side of the rail to be polished; A second robot, configured with a second robotic arm, is disposed on the second side of the rail to be polished; A first abrasive belt machine, disposed on the first robotic arm, the first abrasive belt machine includes a first drive motor, a first abrasive belt wheel assembly and a first abrasive belt sleeved outside the first abrasive belt wheel assembly, and the first abrasive belt wheel assembly drives the first abrasive belt to polish the weld on the first side of the rail to be polished under the drive of the first drive motor; A second abrasive belt machine, disposed on the second robotic arm, the second abrasive belt machine includes a second drive motor, a second abrasive belt wheel assembly and a second abrasive belt sleeved outside the second abrasive belt wheel assembly, and the second abrasive belt wheel assembly drives the second abrasive belt to polish the weld on the second side of the rail to be polished under the drive of the second drive motor.

2. The rail weld grinding device according to claim 1, characterized in that: Both the first robotic arm and the second robotic arm are six-axis robotic arms.

3. The rail weld grinding device according to claim 2, characterized in that: A rotatable first flange is provided at the end of the first robotic arm, and the first abrasive belt machine is disposed on the first flange, and the first flange drives the first abrasive belt machine to rotate when rotating; A rotatable second flange is provided at the end of the second robotic arm, and the second abrasive belt machine is disposed on the second flange, and the second flange drives the second abrasive belt machine to rotate when rotating.

4. The rail weld grinding equipment according to claim 3, characterized in that, Both the first abrasive belt wheel assembly and the second abrasive belt wheel assembly include: A mounting base, the first surface of which is used to be set on the first flange or the second flange, and the rotation of the first flange / second flange drives the mounting base to rotate; A first grinding wheel, rotatably disposed on the second surface of the mounting base, and its diameter matches the inner arc of the rail bottom of the rail to be polished; A second grinding wheel, rotatably disposed on the second surface of the mounting base, and its diameter matches the inner arc of the rail jaw of the rail to be polished.

5. The rail weld grinding equipment according to claim 4, characterized in that, Both the first abrasive belt wheel assembly and the second abrasive belt wheel assembly further include: A tensioning cylinder, the cylinder body of which is disposed on the second surface of the mounting base; A tensioning wheel, disposed at the drive output end of the tensioning cylinder; The centers of the tensioning wheel, the first grinding wheel and the second grinding wheel are not on the same straight line; The first abrasive belt / second abrasive belt is sleeved outside the tensioning wheel, the first grinding wheel and the second grinding wheel.

6. The rail weld grinding device according to claim 4, characterized in that, Both the first abrasive belt wheel assembly and the second abrasive belt wheel assembly further include: A first limiting wheel, coaxially connected to the first grinding wheel, and there is a set interval between the edge of the first limiting wheel and the edge of the first abrasive belt; A second limiting wheel, coaxially connected to the second grinding wheel, and there is a set interval between the edge of the second limiting wheel and the edge of the second abrasive belt.

7. The rail weld grinding device according to claim 6, characterized in that: The set interval is in the range of 0.1 - 0.2 millimeters.

8. The rail weld grinding device according to claim 7, characterized in that: The first limiting wheel includes a pair, symmetrically arranged on both sides of the first grinding wheel; The second limiting wheel includes a pair, symmetrically arranged on both sides of the second grinding wheel.

9. The rail weld grinding equipment according to any one of claims 4-8, characterized in that, It further includes: A first force control module, arranged between the mounting base and the first flange; A second force control module, arranged between the mounting base and the second flange; The first force control module is used to detect the contact force between the first grinding wheel or the second grinding wheel in the first grinding wheel assembly and the rail to be ground during grinding and feed the detection result back to the control module of the first robot; The second force control module is used to detect the contact force between the first grinding wheel or the second grinding wheel in the second grinding wheel assembly and the rail to be ground during grinding and feed the detection result back to the control module of the second robot.

10. The rail weld grinding device according to claim 9, characterized in that, It further includes: A sand changing machine, arranged at a predetermined position, and the sand changing machine stores abrasive belts.

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