A rail pre-welding rust removal and grinding equipment

Abstract

This utility model discloses a pre-welding rust removal and grinding device for rails, belonging to the field of rail rust removal technology. It includes: a first grinding component, a connecting component, and an eddy current detection component. The first grinding component includes a first driving component and a grinding unit. The grinding unit includes a rotating part, a first grinding part for grinding the rail top, and a second grinding part for grinding the rail bottom. The first and second grinding parts are spaced apart on the rotating part for grinding the rail top and bottom respectively. The rotating part is rotatably connected to the first driving component. The connecting component includes a connecting seat and a force control device for providing flexible force control. The connecting seat is connected to the first driving component through the force control device to achieve force-position compensation for the rail. The eddy current detection component, connected to the connecting seat, is used to detect the grinding depth of the rail. This utility model can selectively grind the end face of the rail and control the force.

Description

Technical Field

[0001] This utility model relates to the field of rail rust removal technology, and in particular to a rail pre-welding rust removal and grinding equipment. Background Technology

[0002] Railway rails are typically welded together in a rail welding workshop from short rails produced by steel mills. Because these short rails are exposed to air for extended periods during storage and transportation, an oxide rust layer forms on their surface, severely affecting weld quality. Traditional processes require thorough rust removal from the end faces of the rails to be welded and the contact areas with the laser welding machine electrodes before welding, usually achieved using mechanical grinding methods such as abrasive wheels or flap wheels.

[0003] Existing rust removal equipment has significant drawbacks: First, it generally uses a single grinding head to process different end faces of the rail sequentially. However, the width difference between the rail top and bottom is significant, and a single grinding head cannot simultaneously adapt to different cross-sectional dimensions. This necessitates repeated adjustments to the grinding position and tools, resulting in low work efficiency and abnormal wear on the grinding tools. Second, traditional pneumatic constant pressure control methods struggle to precisely adjust grinding pressure. Excessive pressure damages the rail material, while insufficient pressure fails to completely remove the rust layer. Third, the lack of real-time depth detection functionality prevents operators from accurately controlling the amount of grinding, easily leading to over-grinding or incomplete rust removal. Furthermore, existing equipment lacks a flexible force control compensation mechanism during grinding, making it difficult to adapt to uneven rail surfaces and further affecting the consistency of grinding quality. Utility Model Content

[0004] In view of this, it is necessary to provide a rail pre-welding rust removal and grinding equipment to solve the problems of existing rust removal machines lacking specificity and difficulty in force control when grinding the end face, bottom and specified surfaces of rails.

[0005] This utility model provides a pre-welding rust removal and grinding device for rails, used for cleaning and inspecting rust on the rail surface, including:

[0006] The first grinding assembly includes a first driving member and a grinding unit. The grinding unit includes a rotating part, a first grinding part for grinding the top of the rail, and a second grinding part for grinding the bottom of the rail. The first grinding part and the second grinding part are spaced apart on the rotating part for grinding the top of the rail and the bottom of the rail, respectively. The rotating part is rotatably connected to the first driving member.

[0007] A connecting assembly, the connecting assembly including a connecting seat and a force control device for providing flexible force control, the connecting seat being connected to a first driving member via the force control device to achieve force-position compensation of the rail;

[0008] An eddy current detection component, connected to the connecting seat, is used to detect the grinding depth of the rail.

[0009] Furthermore, the axial width of the first grinding part is consistent with the width of the rail top, and the axial width of the second grinding part is consistent with the width of the rail bottom.

[0010] Furthermore, the rotating part is detachably connected to the first driving member.

[0011] Furthermore, the eddy current detection assembly includes a flexible telescopic component and an eddy current detection unit for detecting the grinding depth. The eddy current detection unit is connected to the connecting seat through the flexible telescopic component. The flexible telescopic component is set perpendicular to the detection plane to buffer the impact force between the eddy current detection unit and the rail.

[0012] Furthermore, it also includes a second grinding assembly, which includes a second driving component and a grinding head for grinding the rail end. The grinding head is rotatably connected to the second driving component, and the connecting seat is connected to the second driving component through the force control component to achieve force-position compensation of the rail.

[0013] Furthermore, the force control device is a force-position compliance compensator.

[0014] Furthermore, both the first driving component and the second driving component are drive motors.

[0015] Furthermore, it also includes a robot body and a rail clamping assembly disposed on one side of the rail. The end of the robot body is fixedly connected to the connecting seat to drive the grinding unit to adapt to different surfaces of the rail. The rail clamping assembly includes a rail clamping unit for clamping the rail.

[0016] Furthermore, it also includes a visual recognition and positioning system, which includes a visual locator positioned relative to the rail to identify steel stamps located on the web of the rail.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0018] (1) The present invention provides a rail pre-weld rust removal and grinding equipment, which is provided with a first grinding component. The first grinding component includes a first driving component and a grinding unit. The grinding unit includes a rotating part, a first grinding part for grinding the rail top and a second grinding part for grinding the rail bottom. The first grinding part is adapted to the rail top and the second grinding part is adapted to the rail bottom. The first grinding part and the second grinding part are spaced apart on the rotating part. The rotating part is rotatably connected to the first driving component. The driving component can drive the rotating part to rotate, thereby driving the first grinding part and the second grinding part to rotate synchronously. The first grinding part and the second grinding part cooperate with the rail one by one to grind the rail top and the rail bottom respectively. This solves the problem of low efficiency in synchronous grinding of the rail end face, shortens the rust removal operation time, and avoids excessive wear caused by repeated use of a single grinding head.

[0019] (2) A rail pre-weld rust removal and grinding equipment of the present invention is provided with a connecting component. The connecting component includes a connecting seat and a force control device for providing flexible force control. The connecting seat is connected to the first driving component through the force control device. The force control device can compensate for gravity and accurately output a contact force parallel to the axis of the robotic arm. At the same time, the force control device can also adaptively extend and retract according to the contour characteristics of the contact surface to realize force position compensation of the first grinding part or the second grinding part on the rail.

[0020] (3) The rail pre-welding rust removal and grinding equipment of this utility model can use eddy current detection component to detect the grinding depth of the rail and determine whether the grinding depth of the rail by the first grinding component meets the requirements. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of the present invention and form part of this application, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0022] Figure 1 is a schematic diagram of the overall structure of this utility model;

[0023] Figure 2 This is a schematic diagram of the connection structure of the first grinding component, the connecting component, the eddy current detection component, and the second grinding component in this utility model. Figure 1 ;

[0024] Figure 3 This is a schematic diagram of the connection structure of the first grinding component, the connecting component, the eddy current detection component, and the second grinding component in this utility model. Figure 2 ;

[0025] Figure 4 This is a schematic diagram of the rail clamping assembly in this utility model;

[0026] Figure 5This is a schematic diagram of the structure of the grinding rail top of the first grinding part in this utility model;

[0027] Figure 6 This is a schematic diagram of the structure of the grinding rail bottom of the second grinding part in this utility model;

[0028] Figure 7 This is a schematic diagram of the structure of the grinding head grinding rail end in this utility model;

[0029] Figure 8 This is a schematic diagram of the structure of the eddy current detection component for detecting the grinding depth in this utility model.

[0030] In the figure, 100 is the first polishing assembly; 110 is the first driving component; 120 is the polishing unit; 121 is the rotating part; 122 is the first polishing part; and 123 is the second polishing part.

[0031] 200. Connecting component; 210. Connecting base; 220. Force control;

[0032] 300. Eddy current testing component; 310. Flexible telescopic component; 320. Eddy current testing unit;

[0033] 400. Second grinding assembly; 410. Second drive component; 420. Grinding head;

[0034] 500. The robot itself;

[0035] 600. Rail clamping assembly; 610. Clamping unit;

[0036] 700. Steel rails;

[0037] 800. Visual recognition and positioning system; 810. Visual locator. Detailed Implementation

[0038] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0039] This embodiment describes a rail pre-welding rust removal and grinding device, relating to the field of rail rust removal technology. For the top and bottom of the rail 700, two grinding sections are provided that move synchronously with the rotating part 121, allowing for separate grinding of the rail bottom and top, thus improving grinding efficiency. Simultaneously, to address the deficiency of insufficient pressure control precision, a flexible force control mechanism is introduced to achieve dynamic force-position compensation. Furthermore, the grinding depth is monitored by the eddy current detection component 300 to ensure grinding quality.

[0040] Please see Figures 1 to 8This embodiment describes a pre-welding rust removal and grinding device for rails, used to clean rust from the surface of rails 700 and detect the grinding depth. It includes a first grinding component 100, a connecting component 200, and an eddy current detection component 300. The first grinding component 100 can grind the top and bottom of the rail 700 separately, the connecting component 200 serves as a support and connection base, and the eddy current detection can detect the depth of the ground area.

[0041] The first grinding assembly 100 includes a first driving member 110 and a grinding unit 120. The grinding unit 120 includes a rotating part 121, a first grinding part 122 for grinding the top of the rail, and a second grinding part 123 for grinding the bottom of the rail. The first grinding part 122 is adapted to the top of the rail, and the second grinding part 123 is adapted to the bottom of the rail. The first grinding part 122 and the second grinding part 123 are spaced apart on the rotating part 121. The rotating part 121 is rotatably connected to the first driving member 110. The driving member can drive the rotating part 121 to rotate, thereby driving the first grinding part 122 and the second grinding part to rotate synchronously. The first grinding part 122 and the second grinding part cooperate with the rail 700 one by one to grind the top of the rail and the bottom of the rail respectively. This solves the problem of low efficiency in synchronous grinding of the end face of the rail 700, shortens the rust removal operation time, and avoids excessive wear caused by repeated use of a single grinding head 420.

[0042] In specific implementation, the first driving component 110 refers to the power device that drives the grinding unit 120 to rotate. Specifically, it can be a servo motor, a stepper motor, or a brushless DC motor. It transmits torque through the output shaft to drive the rotating part 121 to rotate. The servo motor can freely control the speed to achieve control over the grinding depth. The rotating part 121 refers to the rotating component that carries the grinding part. Specifically, it can be implemented using a mandrel or coupling, etc. Its axial end face is fixed to the grinding part to achieve synchronous rotation.

[0043] The first grinding part 122 and the second grinding part 123 refer to the grinding components for processing the top and bottom surfaces of the rail 700. Specifically, a flap wheel can be used to achieve this. The circumferential surface of the flap wheel rubs against the surface of the rail 700 to grind away the rust on the rail 700.

[0044] Compared with existing technologies, existing equipment uses a single grinding head 420 and requires step-by-step processing of the rail top and bottom. This solution achieves synchronous processing by setting up an independent grinding unit, eliminating the time loss from repeated adjustments.

[0045] The connection assembly 200 includes a connection base 210 and a force control device 220 for providing flexible force control. The connection base 210 is connected to the first drive member 110 through the force control device 220. The force control device 220 can compensate for gravity and accurately output a contact force parallel to the axis of the robotic arm. At the same time, the force control device 220 can also adaptively extend and retract according to the contour characteristics of the contact surface to realize force and position compensation of the first grinding part 122 or the second grinding part 123 on the rail 700.

[0046] In practical implementation, the force control device 220 is a force-position compliance compensator that maintains a constant contact force by adjusting the pressure through feedback. The force-position compliance compensator, manufactured by Wuxi Yinglian Technology Co., Ltd., incorporates a pressure sensor, a displacement sensor, and an attitude tilt sensor. It uses an embedded ARM chip for high-speed processing of input signals and outputs real-time control values ​​to control a high-precision electro-proportional valve. The actuator is a low-damping, high-smoothness cylinder with an execution speed of up to 144 times per second. Simultaneously, the gravity compensation technology of the flexible force-controlled polishing head 420 ensures precise matching of displacement and force values ​​under any posture.

[0047] Compared to existing technologies, commercially available constant force devices using six-dimensional force sensors employ a combination of a six-dimensional force sensor and a servo motor, which cannot achieve stepless high-precision adjustment. The force-position compliant compensator in this solution offers advantages such as high force control accuracy, fast response speed, and strong overload resistance.

[0048] The eddy current detection component 300 can use eddy current to detect the grinding depth of the rail 700, sense the height difference between the reference and the rail surface, obtain the grinding depth curve, and thus determine whether the grinding depth of the rail 700 by the first grinding component 100 meets the requirements.

[0049] Existing technologies lack real-time detection methods. This solution uses the eddy current detection component 300 to achieve closed-loop control, ensuring that the rust removal quality meets the requirements for iron standard welding.

[0050] During use, the rotating part 121 simultaneously drives the first grinding part 122 and the second grinding part 123 to rotate. The first grinding part 122 first contacts the top of the rail, and the force control device 220 acts on the first grinding part 122 against the top of the rail. The second grinding part 123 is relatively suspended and remains unloaded. After the top of the rail is treated, the position and angle of the connecting seat 210 are changed so that the second grinding part 123 contacts the top of the rail, and the force control device 220 acts on the second grinding part 123 against the bottom of the rail. The first grinding part 122 is relatively suspended and remains unloaded, and the bottom of the rail is ground and rusted. Finally, the eddy current detection component 300 is used to inspect the ground surface.

[0051] In some embodiments, please refer to Figure 3The axial width of the first grinding section 122 is the same as the width of the rail top, and the axial width of the second grinding section 123 is the same as the width of the rail bottom. The axial width is a range of dimensions along the axis of the rotating section 121. An axial width that is the same as the width of the rail top means that the orthographic projection of the axial width relative to the rail top coincides with the rail top. An axial width that is the same as the width of the rail bottom means that the orthographic projection of the axial width relative to the rail bottom coincides with the rail bottom. The first grinding section 122 only needs to move linearly once along the length of the rail 700 to completely cover the end face of the rail 700, eliminating all rust residue from the edge of the rail 700. As a further embodiment, the width of the grinding section can be slightly larger than the width of the rail top or rail bottom as redundancy to reduce grinding errors.

[0052] In practical implementation, the standard 60kg / m rail 700 has a top width of 73mm and a bottom width of 150mm. Correspondingly, the axial width of the flap wheel in the first grinding section 122 is 73mm, and the axial width of the flap wheel in the second grinding section 123 is 150mm. The grinding head 420 is adapted to the width of the rail 700, ensuring that it completely covers the rusted area laterally along the bottom of the rail during rotation. The two grinding sections are adapted to the different widths of the top and bottom rails through their axial dimensions, eliminating the need to adjust the grinding position. Grinding is performed in one go along the rail direction, improving grinding efficiency and allowing for simultaneous rust removal of different parts.

[0053] Compared to existing technologies, current grinding heads (420) typically employ a single-width design, which cannot adapt to the different widths of the rail top and bottom. This necessitates repeated adjustments or tool changes, leading to decreased efficiency and uneven wear. This solution uses two independent grinding sections that match the widths of the rail top and bottom respectively, allowing them to synchronously cover the corresponding areas during rotation. This eliminates repeated adjustments, reduces tool switching frequency, and improves grinding efficiency.

[0054] In some embodiments, please refer to Figure 2 and Figure 3 The rotating part 121 is detachably connected to the first driving member 110. The rotating part 121 is a rotating component that mounts the first grinding part 122 and the second grinding part 123. Both the first grinding part 122 and the second grinding part 123 are sleeved on the mandrel and fixedly connected to the mandrel, thereby realizing power transmission with the first driving member 110. The rotating part 121 and the first driving member 110 are connected by a quick-release structure, allowing for rapid tool changes and replacement of worn first grinding components 100, thus improving grinding efficiency.

[0055] In practice, the rotating part 121 and the first driving component 110 are connected by a standard pneumatic tool holder, facilitating component replacement during maintenance. Specifically, during the rail 700 grinding operation, when the rotating part 121 wears out due to long-term use or needs to be replaced with a different specification grinding part, the standard pneumatic tool holder automatically disconnects the rotating part 121 from the first driving component 110. The robot body 500 then moves the rotating part 121 as a whole to the tool magazine, allowing for the complete replacement of the rotating part 121, the first grinding part 122, and the second grinding part 123. Furthermore, arranging multiple first grinding components 100 sequentially in the tool magazine further improves work efficiency and facilitates the grinding process.

[0056] In some embodiments, please refer to 3 and Figure 8 The eddy current detection assembly 300 includes a flexible telescopic component 310 and an eddy current detection unit 320 for detecting grinding depth. The eddy current detection unit 320 is connected to the connecting seat 210 through the flexible telescopic component 310. The flexible telescopic component 310 is set perpendicular to the detection plane. The flexible telescopic component 310 is a mechanical connection component with axial elastic deformation capability. Its telescopic direction is perpendicular to the detection plane of the rail 700. When the eddy current detection unit 320 contacts the surface of the rail 700, it absorbs mechanical impact through elastic deformation to avoid direct collision between the eddy current detection unit 320 and the rail 700.

[0057] Specifically, the eddy current detection component 300 is elastically connected to the connecting seat 210 via a flexible telescopic component 310. When the equipment moves and the eddy current detection unit 320 contacts the surface of the rail 700, the flexible telescopic component 310 undergoes compression deformation in the vertical direction, effectively absorbing equipment vibration and instantaneous impact loads. The flexible telescopic component 310 is specifically a floating cylinder. When both ends of the eddy current detection unit 320 successively contact the end faces of the rail 700, the cylinder barrel of the floating cylinder can slide (float) a small range relative to the installation point along its axial direction (installation direction), thus passively adapting to alignment deviations and absorbing most of the lateral force. The piston rod of the floating cylinder mainly provides thrust or pull, while the small lateral displacement is absorbed by the floating of the cylinder body, achieving the purpose of reducing stress and protecting the equipment.

[0058] Compared to existing technologies, traditional detection devices often employ rigid installation methods. During equipment movement, mechanical vibration can easily cause the sensor to collide hard with the surface of the rail 700, resulting in sensor damage or distorted detection data. This solution, by incorporating a flexible telescopic component 310 perpendicular to the detection plane, creates a floating detection structure for the detection unit, extending the sensor's lifespan while ensuring detection accuracy.

[0059] In some embodiments, please refer to Figure 3 and Figure 7A rail pre-welding rust removal and grinding device further includes a second grinding assembly 400. The second grinding assembly 400 includes a second driving component 410 and a grinding head 420 for grinding the rail end. The grinding head 420 is rotatably connected to the second driving component 410, and the second driving component 410 can drive the grinding head 420 to rotate relative to it, thereby achieving grinding of the end of the rail 700. The connecting seat 210 is connected to the second driving component 410 through a force control device 220. The force control device 220 can compensate for gravity and accurately output a contact force parallel to the axis of the robotic arm. At the same time, the force control device 220 can also adaptively extend and retract according to the contour characteristics of the contact surface to achieve force-position compensation of the grinding head 420 on the rail 700.

[0060] It should be noted that the second driving component 410 refers to the power device that drives the grinding head 420 to rotate. Specifically, it can be implemented by a servo motor, synchronous motor or brushless DC motor. The torque is transmitted through the output shaft to drive the rotating part 121 to rotate. The second driving component 410 can freely control the speed to achieve control over the grinding quality.

[0061] In practical implementation, the grinding head 420 refers to the actuating component used for rust removal at the rail end. It can be implemented using a grinding wheel or louvers, with its shape matching the contour of the rail 700 end face to accommodate different curvatures. The force control device 220 refers to the mechanism for achieving flexible pressure control, which can be implemented using a force-position compliance compensator. It adjusts the contact pressure through real-time feedback to avoid overload. During the grinding of the rail 700 end face, the second drive component 410 drives the grinding head 420 to rotate, while the connecting seat 210 provides flexible force control to the second drive component 410 through the force control device 220. When the end of the grinding head 420 contacts the rail 700 end face, the force control device 220 can dynamically compensate according to the pressure changes on the contact surface, keeping the grinding pressure within the set range.

[0062] Compared to existing technologies, traditional equipment, equipped with only a single grinding head 420, requires multiple adjustments to complete the full end-face treatment. In contrast, the second grinding component 400 added in this solution can independently perform continuous operation on the rail end. Existing pneumatic constant pressure control cannot adapt to pressure fluctuations caused by changes in the curvature of the rail 700 end face. This solution uses a force control device 220 to achieve real-time force-position compensation, ensuring stable grinding pressure in different contact areas.

[0063] In some embodiments, please refer to Figure 4A rail pre-welding rust removal and grinding device includes a robot body 500 and a rail feeding and clamping assembly 600. The robot body 500 is positioned on one side of the rail 700 and can precisely control the spatial posture of the grinding unit 120 to adapt to the complex curved surface shape of the rail top, bottom, and web of the rail 700. The rail clamping assembly 600 includes a clamping unit 610, which can use hydraulic grippers or pneumatic clamps to achieve stable clamping of the rail 700.

[0064] In the specific implementation process, the robot body 500 is an automated robotic arm with multi-degree-of-freedom motion capabilities, specifically a six-axis industrial robot. Its end effector is rigidly connected to the connecting seat 210, adjusting the overall posture and position of the connecting seat 210. The robot body 500 drives the connecting seat 210 and the grinding unit 120 to move in three-dimensional space through the rigid connection, so that the first grinding part 122 and the second grinding part 123 are aligned with the areas to be processed on the top and bottom of the rail, respectively. Under external drive, the rail 700 advances longitudinally. The clamping unit 610 in the rail clamping assembly 600 clamps and locks the rail 700 when it reaches the preset feed amount. At this time, the robot body 500 controls the grinding unit 120 to complete the rust removal operation at the current station. After grinding is completed, the clamping unit 610 releases the rail 700, and the rail 700 is pushed to the next station, forming a cyclic operation process.

[0065] In some embodiments, please refer to Figure 1 and Figure 8 A rail pre-weld rust removal and grinding equipment also includes a visual recognition and positioning system 800. The visual recognition and positioning system 800 includes multiple visual locators 810, which are set relative to the rail. The multiple visual locators 810 can visually capture the steel stamps on the rail and the positions of the rail top, rail bottom and rail ends, and send the recognized data to the PLC. After processing by the PLC, the data is sent to the robot body 500. The robot body 500 can automatically find the steel stamp position and execute the grinding program.

[0066] Compared with existing technologies, traditional equipment relies on manual adjustment of the position of the rail 700 or the reciprocating motion of a single grinding head 420, resulting in low positioning accuracy and poor work efficiency. This solution achieves precise matching between the positioning of the rail 700 and the movement of the grinding unit 120 through the coordinated control of the robot body 500 and the vision locator 810, effectively eliminating positioning errors caused by manual intervention.

[0067] Workflow: First, the pre-welding rust removal and grinding equipment for rails is installed within the rail welding plant area. Rails 700 are mounted on rollers, which drive the rails 700 to the rust removal area. Once the pre-welding rust removal robot automatically identifies and detects the rail end position, it stops moving along the roller conveyor. The clamping unit 610 automatically clamps the rails 700, ensuring their stability.

[0068] Next, the robot body 500 is fixedly connected to the connecting seat 210 and can drive the first grinding component 100, the eddy current detection component 300, and the second grinding component 400 to move relative to the rail 700. First, the first driving component 110 drives the first grinding part 122 and the second grinding part 123 to rotate relative to each other. The robot body 500 moves the first grinding part 122 to engage with the top of the rail and grind the top of the rail. Second, the robot body 500 moves the second grinding part 123 to engage with the bottom of the rail and grind the bottom of the rail. Third, the robot body 500 adjusts the posture of the connecting seat 210 so that the grinding head 420 engages with the end of the rail and grinds the end of the rail. During this process, the force control device 220 can compensate for gravity and accurately output a contact force parallel to the axis of the robotic arm. Simultaneously, the force control device 220 can adaptively extend and retract according to the contour characteristics of the contact surface, realizing force-position compensation of the first grinding part 122 or the second grinding part 123 on the rail 700.

[0069] Then, the robot body 500 drives the eddy current detection component 300 to fit against the polished end face, and the polishing depth is detected by the eddy current detection component 300, and the data is transmitted to the display interface in real time.

[0070] Finally, the clamping unit 610 releases the rail 700, and the external roller can drive the rail 700 to move. The other end of the rail 700 moves into the grinding area, and the robot starts to execute the above grinding procedure again, thus completing the complete grinding process of one rail 700.

[0071] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present utility model should be included within the present utility model.

Claims

1. A pre-welding rust removal and grinding device for rails, used for cleaning and inspecting rust on rail surfaces, characterized in that, include: The first grinding assembly includes a first driving member and a grinding unit. The grinding unit includes a rotating part, a first grinding part for grinding the top of the rail, and a second grinding part for grinding the bottom of the rail. The first grinding part and the second grinding part are spaced apart on the rotating part for grinding the top of the rail and the bottom of the rail, respectively. The rotating part is rotatably connected to the first driving member. A connecting assembly, the connecting assembly including a connecting seat and a force control device for providing flexible force control, the connecting seat being connected to a first driving member via the force control device to achieve force-position compensation of the rail; An eddy current detection component, connected to the connecting seat, is used to detect the grinding depth of the rail.

2. The rail pre-welding rust removal and grinding equipment according to claim 1, characterized in that, The axial width of the first grinding part is the same as the width of the rail top, and the axial width of the second grinding part is the same as the width of the rail bottom.

3. The rail pre-welding rust removal and grinding equipment according to claim 1, characterized in that, The rotating part is detachably connected to the first driving component.

4. The rail pre-welding rust removal and grinding equipment according to claim 1, characterized in that, The eddy current detection assembly includes a flexible telescopic component and an eddy current detection unit for detecting the grinding depth. The eddy current detection unit is connected to the connecting seat through the flexible telescopic component. The flexible telescopic component is set perpendicular to the detection plane to buffer the impact force between the eddy current detection unit and the rail.

5. The rail pre-welding rust removal and grinding equipment according to claim 1, characterized in that, It also includes a second grinding assembly, which includes a second drive component and a grinding head for grinding the rail end. The grinding head is rotatably connected to the second drive component, and the connecting seat is connected to the second drive component through the force control component to achieve force-position compensation of the rail.

6. A rail pre-welding rust removal and grinding equipment according to claim 1 or 5, characterized in that, The force control device is a force-position compliance compensator.

7. The rail pre-welding rust removal and grinding equipment according to claim 5, characterized in that, Both the first driving component and the second driving component are drive motors.

8. The rail pre-welding rust removal and grinding equipment according to claim 1, characterized in that, It also includes a robot body disposed on one side of the rail and a rail clamping assembly. The end of the robot body is fixedly connected to the connecting seat to drive the grinding unit to adapt to different surfaces of the rail. The rail clamping assembly includes a rail clamping unit for clamping the rail.

9. The rail pre-welding rust removal and grinding equipment according to claim 8, characterized in that, It also includes a visual recognition and positioning system, which includes a visual locator positioned relative to the rail to identify the steel stamp located on the web of the rail.

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