Steel rail pre-welding rust removal robot

Abstract

The utility model discloses a pre-welding rust removal robot for a steel rail. The pre-welding rust removal robot comprises a robot body, a fixing clamp, a hydraulic control system, a dust removal device, a grinding head storage tank and an upper computer system, wherein the robot body comprises a grinding head; the fixing clamp comprises a workbench and a clamping arm, and the clamping arm is arranged around the workbench; the hydraulic control system is in transmission connection with the clamping arm, and the clamping arm moves in the direction close to or away from the workbench. The polishing head storage tank comprises a plurality of limiting grooves; the dust removal device comprises a dust removal cover and a dust suction pipe, the dust removal cover covers the outer side of the grinding head, and the dust suction pipe communicates with the dust removal cover. According to the embodiment of the invention, through cooperation of the robot body and the upper computer system, the unmanned derusting process is realized, the derusting efficiency is greatly improved, and the labor cost can be reduced. Consistent grinding effect of the steel rail surface is guaranteed, and personal errors are reduced. Meanwhile, the adaptability to the clamping posture of the steel rail is good, and remodeling production of various rail types can be easily achieved; and the adaptability of the system is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of rail rust removal, in particular to a rail rust removal robot before welding. Background Art

[0002] Railway rails are typically welded together in a rail welding shop from short rails produced at the steel mill. These short rails, left unused for extended periods, can rust, making them difficult to weld. Therefore, prior to welding, the rail ends and the area where the rail contacts the flash welder electrode must be derusted. This can be done with a grinding wheel or flap wheel. Pre-weld rust removal is important, but the rail base metal should be carefully protected.

[0003] The existing rust removal machines on the market are generally not fully automated and unmanned, and usually require manual operation. In addition, for the grinding of the rail top and rail bottom, a pneumatic constant pressure controlled rail rust removal machine is mentioned in the patent document with publication number CN106272004A. The rail top and rail bottom are ground along the longitudinal direction of the rail using flap wheels. During grinding, the pressure of the flap wheels on the rail surface is controlled by pneumatic constant pressure. This control method is not easy to accurately control the grinding force, and it is easy to damage the rail surface or the rust cannot be completely removed.

[0004] In summary, existing rust removal machines have technical problems such as insufficient automation, high labor costs, poor grinding effects, and easy damage to the rail surface. Utility Model Content

[0005] The purpose of this application is to overcome the above technical deficiencies and propose a rail pre-weld rust removal robot to solve the technical problems of insufficient automation, high labor costs, poor grinding effect and easy damage to the rail surface in the existing technology.

[0006] In order to achieve the above technical objectives, this application adopts the following technical solutions:

[0007] This application provides a rail pre-weld rust removal robot for cleaning rail surface rust, including a robot body, a fixing fixture, a hydraulic control system, a dust removal device, a grinding head storage, and a host computer system:

[0008] The robot body includes a grinding head, wherein the grinding head contacts the surface of the rail;

[0009] a fixing fixture comprising a workbench and a clamping arm, wherein the workbench is spaced apart from the robot body and supports the middle portion of the rail, and the clamping arm is disposed around the workbench and abuts against the rail;

[0010] A hydraulic control system is in transmission connection with the clamping arm, and the clamping arm moves in a direction close to or away from the workbench;

[0011] A grinding head storage library, comprising a plurality of limiting slots, wherein the grinding heads are loaded in the limiting slots;

[0012] a dust removal device, comprising a dust hood and a dust suction pipe, wherein the dust hood is arranged on the outside of the grinding head, and the dust suction pipe is connected to the dust hood and an external dust removal system respectively; and

[0013] The upper computer system is respectively connected to the robot body, the hydraulic control system, the dust removal device, and the grinding head storage.

[0014] In some embodiments of the present application, the robot body also includes a robot base, a robotic arm and a spindle, the bottom of the robotic arm is connected to the robot base, the top of the robotic arm is connected to the spindle, and the grinding head is detachably connected to the spindle and has a transmission connection.

[0015] In some embodiments of the present application, the robot body further includes a force control system, which is located between the robotic arm and the main shaft, and the robotic arm and the force control system are both signal-connected to the host computer system.

[0016] In some embodiments of the present application, the robot body further includes a visual recognition system, which is installed on the outside of the force control system and faces the grinding head, and the visual recognition system is signal-connected to the host computer system.

[0017] In some embodiments of the present application, the robotic arm includes a six-degree-of-freedom joint.

[0018] In some embodiments of the present application, the grinding head includes a grinding wheel or a flap wheel.

[0019] In some embodiments of the present application, a grinding head storage is further included, in which the limiting groove includes a plurality of grinding wheel grooves and a plurality of flap wheel grooves, the grinding wheel grooves are loaded with the grinding wheels, and the flap wheel grooves are loaded with the flap wheels.

[0020] In some embodiments of the present application, the grinding head storage further includes an electric opening and closing door, and the electric opening and closing door is signal-connected to the host computer system.

[0021] In some embodiments of the present application, there are two fixing fixtures, and the two fixing fixtures are respectively located on both sides of the grinding head.

[0022] In some embodiments of the present application, a protective cover is further included, which is arranged on the outside of the robot body, the fixing fixture, the hydraulic control system, and the dust removal device.

[0023] Compared with the existing technology, the technical solution provided by this application brings the following beneficial technical effects:

[0024] The embodiment of the present application realizes the automation of the rust removal process through the cooperation of the robot body and the host computer system, reducing the dependence on manpower. Compared with manual rust removal, the robot can work continuously, greatly improving the rust removal efficiency, shortening the operation time, and reducing labor costs. The robot can accurately control the grinding force and path to ensure consistent grinding effect on the rail surface and reduce human error. The precise control of the robot body can avoid excessive grinding and reduce damage to the rail surface. The effective use of the dust removal device reduces dust pollution in the workplace and provides a safer and healthier working environment. By changing the program of the host computer system, it is easy to adapt to rails of different specifications and shapes, improving the adaptability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in this application, the following briefly introduces the drawings required for use in the embodiments:

[0026] Figure 1 This is a schematic structural diagram of a rail pre-weld rust removal robot provided in an embodiment of the present application;

[0027] Figure 2 This is a schematic structural diagram of a robot body provided in an embodiment of the present application;

[0028] Figure 3 It is a structural schematic diagram of another robot body provided in an embodiment of the present application.

[0029] Reference numerals:

[0030] 1-Robot body, 2-Fixed fixture, 3-Hydraulic control system, 4-Dust removal device, 5-Upper computer system, 6-Grinding head storage, 7-Protective cover, 8-Steel rail;

[0031] 11-grinding head, 12-robot base, 13-robotic arm, 14-spindle, 15-force control system, 16-visual recognition system. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0033] Those skilled in the art will understand that in this specification, the wording "including" is an open-ended expression, which means that the described features exist but does not exclude other features. The directional words "up", "down", "left", "right", etc. are exemplary directions based on the drawings. Features defined as "first" and "second" implicitly include one or more of the features. Singular expressions can also be used in the plural. "Multiple" means two or more. The terms "installed", "connected", and "connected" can be fixed connections, detachable connections, or integrated connections; they can be directly connected, or indirectly connected through an intermediate medium, or they can be internal connections between two elements. In addition, "connected" can include wireless connections.

[0034] The purpose of this application is to overcome the above technical deficiencies and propose a rail pre-weld rust removal robot to solve the technical problems of insufficient automation, high labor costs, poor grinding effect and easy damage to the rail surface in the existing technology.

[0035] In order to achieve the above technical objectives, this application adopts the following technical solutions:

[0036] In the first aspect, the present application provides a rail pre-welding rust removal robot, such as Figure 1 As shown, Figure 1 This is a schematic structural diagram of a rail pre-weld rust removal robot provided in an embodiment of the present application.

[0037] A rail pre-weld rust removal robot includes a robot body 1, a fixing fixture 2, a hydraulic control system 3, a grinding head storage 6, a dust removal device 4, and a host computer system 5:

[0038] The robot body 1 includes a grinding head 11, wherein the grinding head 11 contacts the surface of the rail 8;

[0039] A fixing fixture 2, comprising a workbench and a clamping arm, wherein the workbench is spaced apart from the robot body 1 and supports the middle portion of the rail 8, and the clamping arm is disposed around the workbench and abuts against the rail 8;

[0040] A hydraulic control system 3 is in transmission connection with the clamping arm, and the clamping arm moves in a direction close to or away from the workbench;

[0041] A grinding head storage 6, comprising a plurality of limiting slots, wherein the grinding heads 11 are loaded into the limiting slots;

[0042] A dust removal device 4, comprising a dust hood and a dust suction pipe, wherein the dust hood is arranged on the outside of the grinding head 11, and the dust suction pipe is connected to the dust hood and an external dust removal system respectively; and

[0043] The host computer system 5 is respectively connected to the robot body 1, the hydraulic control system 3, the dust removal device 4, and the grinding head storage 6 via signals.

[0044] The embodiment of the present application realizes the automation of the rust removal process through the cooperation of the robot body 1 and the host computer system 5, reducing the dependence on manpower. Compared with manual rust removal, the robot can work continuously, greatly improving the rust removal efficiency, shortening the operation time, and reducing labor costs. The robot can accurately control the grinding force and path to ensure consistent grinding effect on the surface of the rail 8 and reduce human error. The precise control of the robot body 1 can avoid excessive grinding and reduce damage to the surface of the rail 8. The effective use of the dust removal device 4 reduces dust pollution in the workplace and provides a safer and healthier working environment. By changing the program of the host computer system 5, it is easy to adapt to rails 8 of different specifications and shapes, thereby improving the adaptability of the system.

[0045] First, place the rail 8 that needs to be derusted on the workbench of the fixed fixture 2. The clamping arm is driven by the hydraulic control system 3 to fix the rail 8 on the workbench to ensure that the rail 8 does not move during the grinding process. The grinding head 11 on the robot body 1 grinds the surface of the rail 8 according to a preset program under the control of the host computer system 5. The grinding head 11 is usually equipped with grinding tools such as a grinding wheel or a flap wheel to remove rust and oxides on the surface of the rail 8. During the grinding process, the dust removal hood of the dust removal device 4 covers the outside of the grinding head 11, and the dust suction pipe sucks away the dust and debris generated by grinding to prevent environmental pollution and protect the health of the operator. The host computer system 5 monitors the operation of the robot body 1, the status of the hydraulic control system 3, and the working condition of the dust removal device 4 in real time to ensure the smooth progress of the entire rust removal process.

[0046] The host computer system 5 primarily integrates the various functional modules and allows for parameter modification and setting via the interface. The fixed fixture 2, primarily controlled by a hydraulic system, clamps and releases the rail 8, ensuring the stability of the rail pre-weld rust removal robot during operation. The dust removal device 4 primarily removes dust and debris generated during the grinding and rust removal of the rail 8.

[0047] like Figure 2 and Figure 3 As shown, Figure 2 This is a schematic structural diagram of a robot body 1 provided in an embodiment of the present application. Figure 3 It is a structural schematic diagram of another robot body 1 provided in an embodiment of the present application.

[0048] In some embodiments of the present application, the robot body 1 also includes a robot base 12, a robotic arm 13, a spindle 14 and a force control system 15. The bottom of the robotic arm 13 is connected to the robot base 12, and the top of the robotic arm 13 is connected to the spindle 14 through the force control system 15. The grinding head 11 is detachably connected and transmission-connected to the spindle 14. The robotic arm 13 and the force control system 15 are both signal-connected to the host computer system 5.

[0049] In some embodiments of the present application, the robot body 1 further includes a visual recognition system 16 , which is installed outside the force control system 15 and faces the grinding head 11 , and the visual recognition system 16 is signal-connected to the host computer system 5 .

[0050] In some embodiments of the present application, the robotic arm 13 includes a six-degree-of-freedom joint.

[0051] In some embodiments of the present application, the grinding head 11 includes a grinding wheel or a flap wheel.

[0052] In this embodiment, the robot body 1 mainly consists of a robot base 12 , a robotic arm 13 , a spindle 14 , a force control system 15 , a grinding head 11 , and a visual recognition system 16 .

[0053] The robot body 1 is mounted on a base 12 and features a six-degree-of-freedom articulated arm 13, capable of covering various rust removal areas on the rail 8. A main spindle 14, a force control system, and a visual recognition system 16 are mounted on the robot's front sixth axis. A grinding wheel or flap wheel is mounted on the main spindle 14. The force control system is responsible for precisely controlling the depth and force of rust removal, while also automatically compensating for wear on the flap wheel or grinding wheel, ensuring precise control of rust removal accuracy on the rail 8. The visual recognition system 16 is responsible for detecting the position of the rail 8 and identifying the rust removal results.

[0054] The robot base 12 provides a stable support platform, allowing the robot body 1 to be securely mounted at the work site. The robotic arm 13 is connected to the base. Its six-degree-of-freedom joint design enables complex spatial motion, allowing it to cover different rust removal areas on the rail 8. The spindle 14 is mounted on the sixth axis of the robotic arm 13 and connected to the force control system 15. The grinding head 11 is detachable and connected to the spindle 14 for the actual rust removal process. The force control system 15 precisely controls the force and depth of the grinding head 11 to ensure the accuracy of the rust removal process. If the grinding wheel or flap wheel wears, the force control system 15 automatically compensates to maintain the stability of the rust removal effect. The visual recognition system 16 is mounted on the outside of the force control system 15, facing the grinding head 11, and is used to detect the position of the rail 8 and identify the rust removal results. The visual recognition system provides feedback to the host computer system 5 for adjusting the grinding parameters. The host computer system 5 is connected to the robot body 1, the force control system 15, and the visual recognition system 16 for overall control and monitoring of the rust removal process.

[0055] The combined use of the force control system 15 and the visual recognition system 16 enables high-precision control of the rust removal process, ensuring the consistency of the rust removal effect. The design of the six-degree-of-freedom robotic arm 13 enables the robot to adapt to rails 8 of different shapes and sizes, thereby increasing the robot's scope of application. The use of the visual recognition system 16 reduces manual intervention, enables automatic positioning and rust removal effect evaluation, and improves the level of automation. The robot can operate continuously without being restricted by manual fatigue, significantly improving rust removal efficiency. Robot operation reduces the possibility of workers directly contacting dangerous working environments and improves workplace safety. The detachable design of the grinding head 11 makes replacement and maintenance more convenient.

[0056] In some embodiments of the present application, in the grinding head storage 6, the limiting groove includes a plurality of grinding wheel grooves and a plurality of flap wheel grooves, the grinding wheel grooves are loaded with the grinding wheels, and the flap wheel grooves are loaded with the flap wheels.

[0057] In some embodiments of the present application, the grinding head storage 6 further includes an electric opening and closing door, and the electric opening and closing door signal is connected to the host computer system 5 signal.

[0058] In this embodiment, a set of grinding head storage 6 is provided, which provides multiple grinding wheel grooves and multiple rail top flap wheel grooves, and can also be customized according to actual conditions.

[0059] The grinding head storage 6 is equipped with a set of electric opening and closing doors. During the robot's grinding and rust removal process, the opening and closing doors are in a closed state. When the robot needs to change the grinding wheel or flap wheel, the opening and closing doors are opened and the robot replaces the grinding wheel or flap wheel.

[0060] The robot automatically determines the wear of the grinding wheel and replaces it automatically. When the flap wheel and grinding wheel in the warehouse are about to be worn out, an alarm will be issued to prompt the replacement of the grinding wheel or flap wheel in the warehouse.

[0061] The storage is equipped with multiple grinding wheel slots and flap wheel slots for storing grinding wheels and flap wheels, respectively. These slots can be loaded with grinding heads 11 of different specifications as needed. The storage is equipped with an electric door that is connected to the host computer system 5 and can automatically open or close according to instructions.

[0062] During the robot's grinding and rust removal process, the electric opening and closing door remains closed to prevent debris from entering the storage. When the robot detects that the currently used grinding wheel or flap wheel is worn to a certain extent and needs to be replaced, the upper computer system 5 sends a signal to the electric opening and closing door to open it. According to the program instructions, the robot returns the worn grinding head 11 to the designated slot in the storage. The robot drives the spindle 14 to release the old grinding head 11 in the empty slot, and takes out the new grinding head 11 from the storage and installs it on the spindle 14. The empty spindle 14 of the robot moves to contact, connect, lock, and remove the new grinding head 11. After the replacement is completed, the electric opening and closing door closes and the robot continues to perform rust removal operations.

[0063] The robot monitors the wear of the grinding head 11 through the force control system 15 or other sensors and automatically determines whether it needs to be replaced. When the grinding wheel or flap wheel in the storage is about to run out, the host computer system 5 will issue an alarm to notify the operator to replenish the grinding head 11 in time.

[0064] The automatic replacement of the grinding head 11 reduces manual intervention and improves the robot's degree of automation and continuous operation capability. The robot can quickly replace the grinding head 11, reducing downtime caused by replacing the grinding head 11 and improving overall work efficiency. By automatically monitoring the wear, the robot can ensure that the grinding head 11 is used in the best condition, thereby ensuring the accuracy of the rust removal effect. The design of the electric opening and closing door reduces the direct contact between the operator and the mechanical parts, and improves the safety of the working environment. The setting of the storage warehouse makes the storage and management of the grinding head 11 more orderly, and facilitates maintenance and inspection. Timely alarm prompts help operators to replenish the grinding head 11 in time to avoid production interruptions. The storage warehouse can customize and match different types of grinding heads 11 according to actual needs to adapt to different rust removal tasks.

[0065] In some embodiments of the present application, there are two fixing fixtures 2 , and the two fixing fixtures 2 are respectively located on both sides of the grinding head 11 .

[0066] In this embodiment, two fixing fixtures 2 are used. These two fixing fixtures 2 are respectively located on both sides of the grinding head 11 and are symmetrically arranged on the working line. When the rail 8 needs to be derusted, the two fixing fixtures 2 clamp the front and rear rails 8 respectively. The front fixing fixture 2 clamps the rear end of the rail 8 to be processed, and the rear fixing fixture 2 clamps the front end of the next rail 8, ensuring that the rail 8 remains stable during the derusting process and will not shift due to the action of the grinding force. After the rail 8 is firmly clamped by the fixing fixture 2, the grinding head 11 on the robot body 1 begins to grind and derust the rail 8 according to the preset program. Since both ends of the rail 8 are fixed, the straightness and consistency of the grinding process can be ensured.

[0067] The pre-weld rail rust removal robot is installed within the rail welding plant. The front rail 8 is transported along the roller conveyor to the vicinity of the rust removal area. After automatically detecting the rear end of the front rail 8, the robot stops traveling along the roller conveyor and automatically clamps the front rail 8 to ensure its stability. At this point, the robot begins grinding and rust removal on the rail end, rail top, and rail bottom surfaces, sequentially, according to a pre-set program. During this process, different rust removal tools are used for different rust removal areas on the rail 8. A grinding wheel is used for rust removal on the rail end, a customized flap wheel is used for rust removal on the rail top, and a customized flap wheel is used for rust removal on the rail bottom. Therefore, during operation, the robot automatically changes the grinding wheel or flap wheel according to the grinding position to ensure the stability and reliability of the rust removal effect. After the three areas of the front rail 8 and the rear rail end are completely derusted, the robot begins to adjust its posture and grind and derust the front rail end surface, rail top surface and rail bottom surface of the rear rail 8 in accordance with the program setting process. The cycle is repeated and the operation is continued. Figure 3 As shown, the robot working posture when removing rust from the rail end of the rail 8.

[0068] In some embodiments of the present application, a protective cover 7 is further included, and the protective cover 7 is arranged on the outside of the robot body 1, the fixing fixture 2, the hydraulic control system 3, and the dust removal device 4.

[0069] In this embodiment, the protective cover 7 is made of welded steel structure and is surrounded by transparent glass, so that the operating status of the equipment can be observed in real time. It is equipped with a safety door. When the door is opened, the robot stops running to ensure the safety of personnel.

[0070] The protective cover 7 is a protective structure that covers the outside of the robot body 1, the fixing fixture 2, the hydraulic control system 3, and the dust removal device 4. Its purpose is to protect these internal components from the influence of the external environment and provide a safe working area. When the robot is performing rust removal operations on the rails 8, the protective cover 7 can effectively prevent flying grinding chips, dust, and other debris from damaging the surrounding environment and the operator. The protective cover 7 is usually designed with an observation window and a maintenance door, allowing the operator to monitor the operating status of the machine and perform necessary maintenance operations in a safe environment. The protective cover 7 can also prevent external dust and dirt from entering the interior of the robot, extending the service life of the machine and reducing the failure rate.

[0071] In some embodiments of the present application, in the rail welding clamp rust removal robot, the workbench of the fixed fixture 2 carries the rail 8, the clamping arm abuts against the rail 8, and the grinding head 11 of the robot body 1 contacts the surface of the rail 8.

[0072] Intelligent and unmanned operation is achieved by replacing manual labor with robots; the visual recognition and positioning system can detect the position of the rail 8 and determine the grinding and rust removal effect; the force control system can adjust different forces according to the grinding requirements to accurately control the grinding accuracy requirements; equipped with a flap wheel and a grinding wheel library, the grinding head 11 can be automatically replaced according to the different rust removal areas of the rail 8; it can achieve precise control of the rust removal depth and grinding force; the whole process can be made intelligent and unmanned.

[0073] Compared with the existing technology, the technical solution provided by this application brings the following beneficial technical effects:

[0074] The embodiment of the present application realizes the automation of the rust removal process through the cooperation of the robot body 1 and the host computer system 5, reducing the dependence on manpower. Compared with manual rust removal, the robot can work continuously, greatly improving the rust removal efficiency, shortening the operation time, and reducing labor costs. The robot can accurately control the grinding force and path to ensure consistent grinding effect on the surface of the rail 8 and reduce human error. The precise control of the robot body 1 can avoid excessive grinding and reduce damage to the surface of the rail 8. The effective use of the dust removal device 4 reduces dust pollution in the workplace and provides a safer and healthier working environment. By changing the program of the host computer system 5, it is easy to adapt to rails 8 of different specifications and shapes, thereby improving the adaptability of the system.

[0075] Those skilled in the art will understand that the various operations, methods, steps, measures, and schemes in the processes discussed in this application may be alternated, changed, rearranged, decomposed, combined, or deleted.

[0076] The specific implementation methods of the present application described above do not limit the scope of protection of the present application. Any other corresponding changes and modifications made based on the technical concept of the present application should be included in the scope of protection of the claims of the present application.

Claims

1. A rail pre-weld rust removal robot, used for cleaning rust on the rail surface, characterized by: include: The robot body includes a grinding head, wherein the grinding head contacts the surface of the rail; a fixing fixture comprising a workbench and a clamping arm, wherein the workbench is spaced apart from the robot body and supports the middle portion of the rail, and the clamping arm is disposed around the workbench and abuts against the rail; A hydraulic control system is in transmission connection with the clamping arm, and the clamping arm moves in a direction close to or away from the workbench; A grinding head storage library, comprising a plurality of limiting slots, wherein the grinding heads are loaded in the limiting slots; a dust removal device, comprising a dust hood and a dust suction pipe, wherein the dust hood is arranged on the outside of the grinding head, and the dust suction pipe is connected to the dust hood and an external dust removal system respectively; and The upper computer system is respectively connected to the robot body, the hydraulic control system, the dust removal device signal, and the grinding head storage.

2. A rail pre-weld rust removal robot according to claim 1, characterized in that: The robot body also includes a robot base, a robotic arm and a main shaft. The bottom of the robotic arm is connected to the robot base, the top of the robotic arm is connected to the main shaft, and the grinding head is detachably connected to the main shaft and has a transmission connection.

3. A rail pre-weld rust removal robot according to claim 2, characterized in that: The robot body further includes a force control system, which is located between the robotic arm and the main shaft. The robotic arm and the force control system are both signal-connected to the host computer system.

4. A rail pre-weld rust removal robot according to claim 3, characterized in that: The robot body further includes a visual recognition system, which is installed outside the force control system and faces the grinding head. The visual recognition system is signal-connected to the host computer system.

5. The rail pre-weld rust removal robot according to claim 3, characterized in that: The robotic arm includes a six-degree-of-freedom joint.

6. The rail pre-weld rust removal robot according to claim 1, characterized in that: The grinding head includes a grinding wheel or a flap wheel.

7. The rail pre-weld rust removal robot according to claim 6, characterized in that: In the grinding head storage, the limiting groove includes a plurality of grinding wheel grooves and a plurality of flap wheel grooves, the grinding wheel grooves are loaded with the grinding wheels, and the flap wheel grooves are loaded with the flap wheels.

8. The rail pre-weld rust removal robot according to claim 7, characterized in that: The grinding head storage further comprises an electric opening and closing door, and the electric opening and closing door is connected to the host computer system signal.

9. The rail pre-weld rust removal robot according to claim 1, characterized in that: There are two fixing fixtures, and the two fixing fixtures are respectively located on both sides of the grinding head.

10. The rail pre-weld rust removal robot according to claim 1, characterized in that: It also includes a protective cover, which is arranged on the outside of the robot body, the fixing fixture, the hydraulic control system, and the dust removal device.

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