A high-precision track milling device

Abstract

The utility model relates to rail transit infrastructure maintenance technical field, and disclose a kind of high-precision track polishing equipment, including rack, and the rack is made of two mutually parallel support frame and two connecting frames;Two The connecting frame is fixed between two support frame by welding, and located at the both ends of support frame and with support frame 90 ° arrangement, form rectangular frame structure;Two The support frame between by bolt connection fixed with control cabinet, power lithium battery and air compressor, and the power lithium battery is electrically connected with air compressor;The inner side wall of any one support frame is equipped with mechanical arm group, and the mechanical arm group is connected with control cabinet by electric signal, and with air compressor pipeline connection;The mechanical arm group includes horizontal mechanical arm and vertical mechanical arm, for solving the problem of low precision of traditional equipment polishing.

Description

Technical Field

[0001] This utility model relates to the field of rail transit infrastructure maintenance technology, specifically a high-precision rail grinding device. Background Technology

[0002] As a core component of rail transit systems such as railways and subways, the surface quality of rail tracks directly affects the safety, smoothness, and comfort of train operation. With the rapid development of rail transit and the continuous increase in operating mileage, track surfaces inevitably develop defects such as wear, cracks, and wavy wear due to long-term exposure to train loads and natural environmental erosion. These defects not only accelerate fatigue damage to the track structure and shorten its service life but can also cause vibration and noise during train operation, and even endanger traffic safety. Therefore, regular grinding and maintenance of the tracks to eliminate surface defects and restore track geometry is a crucial measure to ensure the safe and efficient operation of rail transit systems.

[0003] Currently, track grinding operations have a high degree of manual intervention: traditional grinding equipment requires operators to manually adjust the grinding force in real time, and has disadvantages such as high labor intensity, a large amount of training time required for personnel in the early stage, and short operation distance per operation. Poor environmental performance: It generally uses internal combustion engine power, which results in excessive CO2 and PM2.5 emissions per hour, as well as high noise levels, making it unsuitable for nighttime operation in urban areas; Low grinding precision: The positioning accuracy and grinding force control accuracy are low under manual control, resulting in poor surface roughness, which makes it difficult to meet the maintenance needs of high-speed rail and subway tracks.

[0004] Therefore, a high-precision track grinding equipment is proposed to solve the problem of low grinding accuracy of traditional equipment. Utility Model Content

[0005] The purpose of this invention is to provide a high-precision track grinding device to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a high-precision track grinding device, comprising a frame, the frame being composed of two parallel support frames and two connecting frames; the two connecting frames are fixed between the two support frames by welding, and are located at both ends of the support frames and arranged at 90° with the support frames to form a rectangular frame structure; The control cabinet, power lithium battery, and air compressor are fixed together by bolts between the two support frames, and the power lithium battery is electrically connected to the air compressor. A robotic arm assembly is installed on the inner side wall of any of the support frames. The robotic arm assembly is connected to the control cabinet via an electrical signal and is also connected to the air compressor pipeline. The robotic arm assembly includes a horizontal robotic arm and a vertical robotic arm. The side wall of the horizontal robotic arm is slidably connected to the side wall of the support frame via a slide rail. A sliding seat is bolted to the top of the horizontal robotic arm, and the side wall of the sliding seat is slidably connected to the vertical robotic arm. The bottom of the vertical robotic arm is connected to a motor one by bolts. The motor one is a servo motor. Its output end is arranged perpendicularly to the horizontal robotic arm and is fixed to a harmonic reducer by a coupling. The other end of the harmonic reducer is provided with an axial force position compensator by a flange. The axial force position compensator is fixed to a motor two by bolts. Its output end is arranged parallel to the horizontal robotic arm and is fixed to a grinding tool by a chuck.

[0007] Preferably, the second motor is a high-speed variable frequency motor, and the grinding tool is connected to the control cabinet via an electrical signal.

[0008] Preferably, the bottom of the two support frames is fixed with several evenly distributed mounting brackets by welding. The bottom of the mounting brackets is rotatably connected to a non-powered traveling roller by a pin. The groove of the non-powered traveling roller 201 is adapted to the top surface and side surface of the track to be ground.

[0009] Preferably, each end of the two support frames is rotatably connected to a folding handle, and the folding handle 3 can be flipped up to unfold or folded down to fit the support frame.

[0010] Preferably, the control cabinet is equipped with a water droplet separator and an oil mist separator; The water droplet separator is installed on one side of the control cabinet and connected to the output pipe of the air compressor, and the oil mist separator is connected in series downstream of the water droplet separator.

[0011] Preferably, the power lithium battery is a high-capacity lithium iron phosphate battery pack.

[0012] Preferably, the control cabinet is used to control the start and stop of the driving components inside the equipment, and the driving components include motor one, motor two and air compressor.

[0013] Preferably, the control cabinet is also equipped with a control panel, which is embedded in the center of the front of the control cabinet.

[0014] Preferably, the control cabinet is equipped with a main power switch and an emergency stop button. The main power switch is connected to the power lithium battery, and the emergency stop button is connected to the motor.

[0015] Preferably, the input end of the air compressor is fixed with an air storage cylinder via a flange.

[0016] Compared with the prior art, this utility model provides a high-precision track grinding device, which has the following beneficial effects: 1. The equipment uses a robotic arm assembly to drive the grinding tools for grinding operations. The robotic arm assembly includes a horizontal robotic arm and a vertical robotic arm, driven by a motor and a harmonic reducer to achieve high-precision positioning and stable rotation of the grinding tools. In addition, the equipment is equipped with an axial force compensator, with a built-in pressure sensor and spring buffer mechanism, which can detect the grinding pressure in real time, allowing operators to adjust the axial position in real time to ensure that the grinding pressure remains stable within the required range, avoiding the impact of excessive or insufficient pressure on the grinding effect. By adjusting the angle rotation button, the equipment can precisely adjust the contact angle of the grinding tools according to the transition arc between the top and side surfaces of the track, achieving high-precision grinding of the track end face.

[0017] 2. The equipment is equipped with safety protection devices such as emergency stop buttons and stop buttons, which can quickly cut off the power supply and control power supply and stop all moving parts in the event of equipment abnormality or endangering personnel safety, thus ensuring operational safety.

[0018] 3. Powered by lithium batteries, it has low emissions and low noise, allowing it to operate at night in urban areas. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the control cabinet of this utility model; Figure 3 This is a schematic diagram of the structure of the robotic arm assembly of this utility model.

[0020] In the diagram: 1. Frame; 101. Support frame; 102. Connecting frame; 2. Mounting frame; 201. Non-powered walking rollers; 3. Folding handle; 4. Control cabinet; 401. Main power switch; 402. Emergency stop button; 403. Control panel; 404. Three-color light; 405. Air outlet; 406. Power / lighting switch; 407. Stop button; 408. Angle rotation button; 409. Start button; 410. Water droplet separator; 411. Oil mist separator; 5. Power lithium battery; 6. Air compressor; 7. Air tank; 8. Robotic arm assembly; 801. Horizontal robotic arm; 802. Sliding seat; 803. Vertical robotic arm; 804. Motor 1; 805. Harmonic reducer; 806. Axial force compensator; 807. Motor 2; 9. Grinding tool. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0023] Please see Figure 1-3 This utility model provides a high-precision track grinding device, including a frame 1. The frame 1 includes a support frame 101 and a connecting frame 102. The two support frames 101 are parallel to each other, and the two connecting frames 102 are fixed between the two support frames 101 by welding. They are located at both ends of the support frames 101 and are arranged at 90° with the two support frames 101 to form a stable rectangular frame structure, providing a solid installation foundation for the various components of the device.

[0024] Several mounting brackets 2 are welded to the bottom of the two support frames 101. The mounting brackets 2 are evenly distributed at the bottom of the two support frames 101. The bottom of the mounting brackets 2 is rotatably connected to a non-powered walking roller 201 by a pin. The groove of the non-powered walking roller 201 is adapted to the top and side surfaces of the track to be ground, so as to move stably along the track during track operation. The equipment can be moved on the track by manually pushing the connecting frame 102. The operation is convenient and the walking trajectory is accurate.

[0025] Two folding handles 3 are rotatably connected to each end of the two support frames 101. The folding handles 3 are used when the equipment is operated or transported across areas. When the equipment needs to be moved from one track to another or transported to a transport vehicle or storage area, the folding handle 3 can be flipped up and unfolded. The operator can lift, move and turn the equipment by holding the handle without the need for additional hoisting tools. In the non-handling state, the handle can be folded down to fit the support frame 101 to avoid occupying the working space or interfering with the surrounding components of the track.

[0026] A control cabinet 4 is fixed between the two support frames 101 by bolts. The control cabinet 4 is used to control the start and stop of the drive components inside the equipment.

[0027] A power lithium battery 5 and an air compressor 6 are respectively installed on both sides of the control cabinet 4. Both the power lithium battery 5 and the air compressor 6 are bolted together and fixed between the two support frames 101. The power lithium battery 5 is electrically connected to and supplies power to the air compressor 6. The power lithium battery 5 provides an independent power source for the equipment and uses a high-capacity lithium iron phosphate battery pack. An air storage cylinder 7 is fixed to the input end of the air compressor 6 via a flange. The air storage cylinder 7 is used to store compressed air and stabilize the system pressure.

[0028] A robotic arm assembly 8 is provided on one side of the air compressor 6. The robotic arm assembly 8 is installed on the inner side wall of any of the support frames 101. The robotic arm assembly 8 is connected to the control cabinet 4 via electrical signals.

[0029] The robotic arm assembly 8 includes a horizontal robotic arm 801 and a vertical robotic arm 803. Both the horizontal robotic arm 801 and the vertical robotic arm 803 are connected to the air compressor 6 via pipes to form a pneumatic system. The side wall of the horizontal robotic arm 801 is slidably connected to the side wall of the support frame 101 via a slide rail. A sliding seat 802 is bolted to the top of the horizontal robotic arm 801, and the side wall of the sliding seat 802 is slidably connected to the vertical robotic arm 803.

[0030] The bottom of the vertical robotic arm 803 is bolted to a motor 804. The output end of the motor 804 is arranged perpendicularly to the horizontal robotic arm 801 and is fixed to a harmonic reducer 805 via a coupling. This converts the high speed of the motor 804 into a low speed, high torque output, while improving rotational positioning accuracy and reducing the impact of mechanical backlash on the grinding position. The other end of the harmonic reducer 805 is equipped with an axial force compensator 806 via a flange.

[0031] A second motor 807 is bolted to the axial force compensator 806. The second motor 807 is a high-speed variable frequency motor with a wide speed range. Its output end is arranged parallel to the horizontal robotic arm 801 and a grinding tool 9 is fixed to it via a clamp. The grinding tool 9 is electrically connected to the control cabinet 4. The robotic arm assembly 8, under the command of the control cabinet 4, moves the grinding tool 9 to a designated position on the track end face. The control cabinet 4 then sends commands to grind the track to the required roughness and eliminate hazards.

[0032] The motor 804 is a servo motor used to drive the grinding tool 9 to rotate and adjust in the horizontal plane, so as to achieve different angles of contact between the grinding tool 9 and the end face of the track.

[0033] The axial force compensator 806 has a built-in pressure sensor and spring buffer mechanism. When the grinding tool 9 contacts the track surface, it can detect the grinding pressure in real time and automatically adjust the axial position according to the pressure value required for track massage. This compensates for minor undulations on the track surface or tool wear during the grinding process, ensuring that the grinding pressure is always stable within the set range. This avoids excessive grinding of the track due to excessive pressure or insufficient pressure affecting the grinding effect.

[0034] The control cabinet 4 includes a main power switch 401, an emergency stop button 402, a control panel 403, a three-color light 404, an air outlet 405, a power / lighting switch 406, a stop button 407, an angle rotation button 408, a start button 409, a water droplet separator 410, and an oil mist separator 411.

[0035] The main power switch 401 is installed on the side of the control cabinet 4. It is a lockable rotary switch and serves as the main power control component for the equipment. After rotating to unlock, it can connect or disconnect the power supply to the whole machine to prevent unauthorized personnel from operating it by mistake. The switch has a built-in overload protection function.

[0036] The emergency stop button 402 is installed in a conspicuous position on the front of the control cabinet 4 and has an emergency cut-off function. When the equipment malfunctions, such as the robotic arm jamming, the grinding tool 9 going out of control, or endangering personnel safety, pressing the emergency stop button 402 can instantly cut off the power supply and control power of the equipment and stop the rotation of the grinding tool 9.

[0037] The control panel 403 is embedded in the center of the front of the control cabinet 4 and serves as the core of the operator's interaction. It can display the operating status of the equipment, such as the status of the motor, the status of the force compensator 806, the status of the power lithium battery 5, and the position coordinates of the grinding tool 9.

[0038] The tri-color light 404 is installed on the top of the control cabinet 4 and uses red, yellow and green LED beads to visually indicate the equipment status: a solid yellow light indicates that the equipment is ready for standby; a flashing green light indicates that the equipment is operating normally; a solid red light indicates that the equipment is shut down due to a fault; and a flashing red light indicates an emergency stop.

[0039] The air outlet 405 is located on the lower side of the control cabinet 4. The hot air inside the cabinet is discharged through the air outlet 405 to achieve cooling.

[0040] The power / lighting switch 406 is a dual-position rocker switch. One position controls the auxiliary lighting inside the equipment, such as the inspection light in the control cabinet 4 and the lighting in the grinding area, which facilitates equipment maintenance and operation observation in dim environments. The other position is the power switch for the control panel 403 and the auxiliary circuit. The control panel 403 can be turned on independently for parameter setting without connecting to the power supply, thus reducing energy consumption.

[0041] The stop button 407 is installed below the control panel 403 and is used to stop the equipment in normal operation. When pressed, the equipment stops according to the preset program. The grinding tool 9 first decelerates and stops, and then the robotic arm resets. Unlike the emergency stop button 402, which forcibly cuts off the work, this button is suitable for scenarios where the work is completed or temporarily paused. Pressing the button will stop the machine, and pressing the start button 409 again will resume the work.

[0042] The angle rotation button 408 includes two self-reset buttons, "clockwise rotation" and "counterclockwise rotation," for manually adjusting the rotation angle of the grinding tool 9 driven by motor 804. When the angle rotation button 408 is pressed, motor 804 drives motor 807 and the grinding tool 9 to rotate slowly. Releasing the button stops the rotation. This allows the operator to precisely adjust the angle of the grinding tool 9 according to the angle of the track end face, following the transition arc between the top and side surfaces of the track. It can also be used in conjunction with the automatic rotation function of the control panel 403 to improve operational flexibility.

[0043] The start button 409 is adjacent to the stop button 407 and is used to start the equipment. In the standby state, the green light of the tri-color indicator 404 is constantly on, and the emergency stop button 402 is reset. By pressing the start button 409, the equipment starts according to the preset program: the air compressor 6 starts first to build up air pressure, the robotic arm assembly 8 moves the grinding tool 9 to the initial grinding position, and the second motor 807 starts to the set speed. During the start-up process, the green light of the tri-color indicator 404 flashes to indicate that the equipment has entered the running state. The water droplet separator 410 is installed on one side of the control cabinet 4 and connected to the output pipe of the air compressor 6. It is used to filter liquid water in the compressed air. It adopts the principle of cyclone separation. After the compressed air enters the water droplet separator 410, it rotates along the inner wall. The water is thrown towards the inner wall due to centrifugal force and flows down the wall to the bottom water collection cup. The water collection cup is transparent and visible. When the water level reaches the scale line, the bottom drain valve can be manually opened to drain the water, so as to prevent water from entering the pneumatic components and causing corrosion or failure.

[0044] The oil mist separator 411 is connected in series downstream of the water droplet separator 410. It is used to filter the oil mist impurities in the compressed air and the trace amounts of oil mist evaporating from the lubricating oil of the air compressor 6. When the compressed air passes through the filter cotton, the oil mist particles are adsorbed and trapped. The purified compressed air enters the pneumatic system, ensuring that the robotic arm assembly 8 moves smoothly and extending the service life of the pneumatic components. The filter cotton can be disassembled and replaced regularly, making maintenance convenient.

[0045] Working principle: When the track needs to be polished, the operator first unfolds the folding handle 3, lifts the polishing equipment onto the track to be polished by holding the folding handle 3, and makes sure that the track is embedded into the groove of the non-powered walking roller 201. After placing the polishing equipment on the track, the operator folds it by rotating the folding handle 3 to prevent it from occupying the working space or interfering with the surrounding parts of the track.

[0046] By rotating the main power switch 401, the power lithium battery 5 is put into power supply mode, and the equipment enters standby mode. At this time, the tri-color light 404 illuminates yellow. Then, the operator pushes the connecting frame 102 to move the equipment on the track. During the movement, when the track area to be polished is reached, the start button 409 is pressed, and the air compressor 6 and motor 807 start sequentially. The starting sequence is as follows: the air compressor 6 starts first to build up air pressure, which drives the horizontal robotic arm 801 and the vertical robotic arm 803 to move horizontally and vertically, respectively. The operator can control the direction and distance of movement of the horizontal robotic arm 801 and the vertical robotic arm 803 on the control panel 403 until the polishing tool 9 contacts the surface of the track area to be polished. The axial force compensator 806 detects the pressure between the polishing tool 9 and the track and feeds it back to the control panel 403. When the operator observes that the pressure on the control panel 403 has reached the required polishing pressure, the movement of the robotic arm assembly 8 is stopped. At this time, the polishing tool 9 is in the initial polishing position.

[0047] During the operation of the robotic arm assembly 8, the compressed air from the air compressor 6 first enters the water droplet separator 410 and rotates along the inner wall. Due to centrifugal force, the water is thrown towards the inner wall and flows down to the bottom water collection cup. The water collection cup is transparent and visible. When the water level reaches the scale line, the bottom drain valve can be manually opened to drain the water, preventing water from entering the pneumatic components and causing corrosion or malfunction. The compressed air then enters the oil mist separator 411, which is used to filter the oil mist impurities from the lubricating oil of the air compressor 6. When the compressed air passes through the filter cotton, the oil mist particles are adsorbed and trapped. The purified compressed air enters the pneumatic system to ensure the smooth operation of the robotic arm assembly 8 and extend the service life of the pneumatic components. The filter cotton needs to be disassembled and replaced regularly.

[0048] After the initial positioning of the grinding tool 9 is completed, motor 2 807 starts to the set speed required for grinding. During the start-up process, the green light of the three-color indicator 404 flashes, indicating that the equipment has entered the running state.

[0049] After the grinding tool 9 rotates, as the equipment moves, the operator can adjust the rotation angle of the grinding tool 9 by adjusting the angle rotation button 408. Specifically, when the angle rotation button 408 is pressed, motor 1 804 drives motor 2 807 and the grinding tool 9 to rotate slowly. Releasing the button will stop the rotation. This allows the operator to accurately adjust the contact angle of the grinding tool 9 according to the angle of the track end face and the transition arc between the top and side surfaces of the track.

[0050] When the job is completed or the scene is temporarily paused, press the stop button 407 to stop the machine, and press the start button 409 again to resume the job. When the grinding work is completely completed and a long-term stop is required, rotate the main power switch 401 to turn off the power.

[0051] When the robotic arm jams, the grinding tool 9 goes out of control, or endangers personnel safety, pressing the emergency stop button 402 can instantly cut off the power supply and control power of the equipment, stopping all moving parts.

[0052] Since a track has two rails, after grinding one rail, the equipment can be turned around to grind the other rail.

[0053] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A high-precision track grinding device, characterized in that: Includes a frame (1), which is composed of two parallel support frames (101) and two connecting frames (102); the two connecting frames (102) are fixed between the two support frames (101) by welding, and are located at both ends of the support frames (101) and arranged at 90° with the support frames (101) to form a rectangular frame structure; The control cabinet (4), the power lithium battery (5) and the air compressor (6) are fixed together by bolts between the two support frames (101). The power lithium battery (5) is electrically connected to the air compressor (6). A robotic arm assembly (8) is installed on the inner side wall of any of the support frames (101). The robotic arm assembly (8) is connected to the control cabinet (4) via an electrical signal and is also connected to the air compressor (6) via a pipeline. The robotic arm assembly (8) includes a horizontal robotic arm (801) and a vertical robotic arm (803). The side wall of the horizontal robotic arm (801) is slidably connected to the side wall of the support frame (101) via a slide rail. A sliding seat (802) is bolted to the top of the horizontal robotic arm (801). The side wall of the sliding seat (802) is slidably connected to the vertical robotic arm (803). The bottom of the vertical robotic arm (803) is connected to a motor (804) by bolts. The motor (804) is a servo motor. Its output end is arranged vertically with the horizontal robotic arm (801) and a harmonic reducer (805) is fixed by a coupling. The other end of the harmonic reducer (805) is provided with an axial force position compensator (806) through a flange. The axial force position compensator (806) is fixed with a motor (807) by bolts. Its output end is arranged parallel to the horizontal robotic arm (801) and a grinding tool (9) is fixed by a chuck.

2. The high-precision track grinding equipment according to claim 1, characterized in that: The second motor (807) is a high-speed variable frequency motor, and the grinding tool (9) is connected to the control cabinet (4) via electrical signals.

3. The high-precision track grinding equipment according to claim 1, characterized in that: The bottom of the two support frames (101) is fixed with several evenly distributed mounting frames (2) by welding. The bottom of the mounting frames (2) is rotatably connected to a non-powered walking roller (201) by a pin. The groove of the non-powered walking roller (201) is adapted to the top and side surfaces of the track to be ground.

4. The high-precision track grinding equipment according to claim 1, characterized in that: The two support frames (101) are rotatably connected to folding handles (3) at both ends. The folding handles (3) can be flipped up to unfold or folded down to fit the support frame (101).

5. The high-precision track grinding equipment according to claim 1, characterized in that: The control cabinet (4) is equipped with a water droplet separator (410) and an oil mist separator (411). The water droplet separator (410) is installed on one side of the control cabinet (4) and connected to the output pipe of the air compressor (6). The oil mist separator (411) is connected in series downstream of the water droplet separator (410).

6. The high-precision track grinding equipment according to claim 1, characterized in that: The power lithium battery (5) is a high-capacity lithium iron phosphate battery pack.

7. The high-precision track grinding equipment according to claim 5, characterized in that: The control cabinet (4) is used to control the start and stop of the drive components inside the equipment. The drive components include motor one (804), motor two (807) and air compressor (6).

8. The high-precision track grinding equipment according to claim 5, characterized in that: The control cabinet (4) is also equipped with a control screen (403), which is embedded in the center of the front of the control cabinet (4).

9. A high-precision track grinding equipment according to claim 5, characterized in that: The control cabinet (4) is equipped with a main power switch (401) and an emergency stop button (402). The main power switch (401) is connected to the power lithium battery (5), and the emergency stop button (402) is connected to the second motor (807).

10. A high-precision track grinding device according to claim 1, characterized in that: The air compressor (6) has an air storage cylinder (7) fixed to its input end via a flange.

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