A rail pre-weld inspection system

Abstract

The utility model discloses a kind of steel rail before welding detection systems.The system includes: bearing pedestal and rack, robot control unit, three-dimensional scanner control device, guiding device, steel rail positioning control device and control device.Multi-axis mechanical arm is carried three-dimensional scanner, after steel rail is accurately positioned, along preset path is automatically scanned to steel rail contour.By combining multi-axis mechanical arm with three-dimensional scanner, and cooperate with the steel rail positioning control of automation, the system can realize one-key full-automatic measurement to steel rail before welding end profile size.The system structure integration degree is high, each functional module is organically integrated together, replaces heavy and error-prone manual measurement, greatly reduces the labor intensity of operator, significantly improves the efficiency and automation level of detection work, simultaneously, based on the high precision and high repeatability of the high-precision and high-repeatability of the non-contact measurement mode of three-dimensional scanning is guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of rail transit technology, specifically to a rail pre-welding inspection system. Background Technology

[0002] In rail welding facilities, before welding, the various geometric dimensions of the rail ends must be precisely inspected to ensure welding quality. These dimensions include rail height, rail head width, rail base width, cross-sectional asymmetry, and end face perpendicularity. Currently, these inspections are typically performed manually, with inspectors using tools such as calipers, rulers, and squares to measure each item on the rail.

[0003] This traditional manual inspection method has many drawbacks: First, it is labor-intensive, especially in mass production, where the inspection work is arduous and time-consuming; second, the measurement accuracy is not high and it is easily affected by human factors (such as reading errors and inconsistent measurement methods), resulting in poor consistency and reliability of the inspection results; third, it usually requires multiple people to work together to complete all the inspection items, which results in high labor costs and low work efficiency, making it difficult to meet the cycle time requirements of modern rail welding production lines.

[0004] Therefore, developing a system that can replace manual labor, achieve automation, and provide high-precision detection has become an urgent need in the industry. Utility Model Content

[0005] The purpose of this application is to overcome the above-mentioned technical deficiencies and propose a rail pre-welding inspection system to solve the technical problems of high labor intensity, low measurement accuracy, and low work efficiency in the existing inspection methods.

[0006] To achieve the above-mentioned technical objectives, the present application adopts the following technical solution: This application provides a pre-welding inspection system for rails, including: A support base and a frame mounted on the support base; The robot control unit includes a multi-axis robotic arm mounted on the frame; A 3D scanner control device, including a 3D scanner mounted on the end of the multi-axis robotic arm; The guiding device includes a flat idler roller disposed on the bearing base for conveying the rail and side guide rollers disposed on both sides of the flat idler roller for defining the lateral position of the rail. A rail positioning control device includes a photoelectric detection module, which includes at least one deceleration detection sensor and one stop detection sensor, and the deceleration detection sensor and the stop detection sensor are arranged sequentially along the rail conveying direction; The main control device is electrically connected to the robot control unit, the 3D scanner control device, and the rail positioning control device, respectively.

[0007] In some embodiments of this application, the 3D scanner control device further includes a slide motion module, the multi-axis robotic arm is mounted on the slide motion module, and the main control device is electrically connected to the slide motion module.

[0008] In some embodiments of this application, the slide motion module includes a servo driver and a servo motor, the servo driver being electrically connected to the servo motor, and the servo motor being drive-connected to the slide motion module.

[0009] In some embodiments of this application, the rail positioning control device further includes a roller conveyor interlock module, which is connected to the guiding device and electrically connected to the main control device.

[0010] In some embodiments of this application, the roller conveyor interlock module is a relay module, whose normally open contacts are connected in series in the control circuit of the guiding device.

[0011] In some embodiments of this application, an enclosed cover mounted on the frame is also included, which encloses the multi-axis robotic arm and its working area therein.

[0012] In some embodiments of this application, the photoelectric detection module includes a first deceleration sensor and a first stop sensor disposed on the side guide roller for detecting rail head positioning, and a second deceleration sensor and a second stop sensor disposed on the side guide roller for detecting rail tail positioning.

[0013] In some embodiments of this application, the robot control unit further includes a teach pendant, the main control device is electrically connected to the teach pendant, and the multi-axis robotic arm is a six-axis robotic arm.

[0014] In some embodiments of this application, a touch screen monitoring unit is also included, which is built into the main control device.

[0015] In some embodiments of this application, the main control device includes a control cabinet, a host computer, a human-machine interface touch screen, and a programmable logic controller (PLC). The host computer, the human-machine interface touch screen, and the PLC are interconnected and all integrated within the control cabinet.

[0016] Compared with the prior art, the beneficial technical effects of the technical solution provided in this application include: By combining a multi-axis robotic arm with a 3D scanner and automated rail positioning control, this system enables one-click, fully automated measurement of the profile dimensions of the rail before welding. The system boasts a high degree of integration, organically combining various functional modules to replace tedious and error-prone manual measurements. This significantly reduces the workload of operators, dramatically improving the efficiency and automation level of the inspection process. Furthermore, the non-contact measurement method based on 3D scanning ensures high accuracy and repeatability of the inspection results. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the embodiments will be briefly described below: Figure 1 This is a schematic diagram of the structure of a rail pre-welding inspection system according to an embodiment of this application; Figure 2 This is a connection diagram of a rail pre-welding inspection system according to an embodiment of this application; Figure 3 This is a flowchart of a pre-welding inspection system for rails according to an embodiment of this application.

[0018] Figure label: Support base 1, frame 2; Robot control unit 3, multi-axis robotic arm 31, teach pendant 32; 3D scanner control device 4, 3D scanner 41, slide table motion module 42; Guide device 5; Rail positioning control device 6, photoelectric detection module 61, roller conveyor interlock module 62; Main control device 7, touch screen monitoring unit 71, host computer 72; Outer cover 8. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] Those skilled in the art will understand that, in this specification, the term "comprising" is an open-ended expression, meaning that the stated feature is present but other features are excluded. Directional terms such as "upper," "lower," "left," and "right" refer to exemplary directions based on the accompanying drawings. Features specified as "first" or "second" implicitly include one or more of that feature. Singular expressions can also be used in plural forms. "Multiple" means two or more. The terms "installed," "connected," and "linked" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection via an intermediate medium, and it can be a connection within two components. Furthermore, "linked" can include wireless connections.

[0021] The purpose of this application is to overcome the above-mentioned technical deficiencies and propose a rail pre-welding inspection system to solve the technical problems of high labor intensity, low measurement accuracy, and low work efficiency in the existing inspection methods.

[0022] To achieve the above-mentioned technical objectives, the present application adopts the following technical solution: Please see Figures 1-3 This embodiment provides a pre-welding inspection system for rails. This system is mainly used for the pre-welding visual inspection station of rails at the rail welding base. The inspection items include rail height, rail head width, rail base width, cross-sectional asymmetry, rail crown fullness, end face slope (vertical and horizontal directions), end twist, end and rail body straightness, and other contour geometric dimensions, as well as surface quality defects of the rail.

[0023] The system includes a support base 1 and a frame 2 mounted on the support base 1. The base adopts an integral welded design, which is structurally stable, has a strong load-bearing capacity, and distributes stress evenly, effectively reducing vibration and deformation and providing a stable mounting foundation for the testing equipment. The frame 2 is a frame structure, mounted on the base via columns, and is used to fix subsequent components such as robots.

[0024] The system also includes a robot control unit 3, the core of which is a multi-axis robotic arm 31 mounted on the frame 2. A 3D scanner control device 4, the core of which is a 3D scanner 41 mounted on the end effector of the multi-axis robotic arm 31.

[0025] The system also includes a guiding device 5, which is a structure consisting of a flat idler roller and side guide rollers, mounted on the support base 1. The flat idler roller supports and transports the rail, and its height can be adjusted using adjustable pads. The side guide rollers are located on both sides of the flat idler roller to limit the lateral position of the rail, and their left and right spacing can be adjusted using hand cranks. This flexible and adjustable guiding device 5 ensures that the rail under test always maintains a straight running state within the detection area.

[0026] The system also includes a rail positioning control device 6, used to accurately position the end (rail head or rail tail) of the rail to be tested to a preset detection area. This rail positioning control device 6 includes a photoelectric detection module 61, which comprises at least one deceleration detection sensor and one stop detection sensor, arranged sequentially along the rail's transport direction. When the rail end obstructs the deceleration detection sensor, the system issues a deceleration signal; when the rail end further obstructs the stop detection sensor, the system issues a stop signal, thereby achieving accurate rail positioning.

[0027] Finally, the system also includes a core main control device 7, which in this embodiment is specifically a PLC control unit. This PLC control unit is electrically connected and communicates with the robot control unit 3, the 3D scanner control device 4, and the rail positioning control device 6. Its working logic is as follows: it receives and parses the positioning signal from the rail positioning control device 6; after confirming that the rail has been positioned, it coordinates with the robot control unit 3 to drive the multi-axis robotic arm 31 and controls the 3D scanner control device 4 to start the 3D scanner 41, thereby completing the automatic scanning and detection of the rail end.

[0028] This embodiment organically combines the robot, 3D scanner 41, and positioning control through the above structure to build a complete automated inspection platform. It realizes the automation of pre-welding inspection of rails, fundamentally replacing the traditional manual caliper measurement, greatly reducing the labor intensity of workers, improving production efficiency, and ensuring the objectivity and accuracy of inspection results.

[0029] This embodiment further optimizes the 3D scanner control device 4. Specifically, the 3D scanner control device 4 also includes a slide motion module 42. The multi-axis robotic arm 31 is not directly mounted on the frame 2, but is mounted on this slide motion module 42. Correspondingly, the main control device 7 is also electrically connected to this slide motion module 42.

[0030] The slide table motion module 42 can provide a long-stroke linear motion degree of freedom, typically with its direction of motion parallel to the transport direction of the rail. During inspection, the main control unit 7 can coordinate the linear motion of the slide table motion module 42 and the joint motion of the multi-axis robotic arm 31. For example, when scanning the straightness of a long distance at the end of the rail, the slide table motion module 42 can be relied upon primarily for smooth linear movement, while the multi-axis robotic arm 31 only makes minor adjustments to maintain the optimal distance and orientation between the scanner and the rail surface.

[0031] By adding a slide motion module 42 and having it work in conjunction with a multi-axis robotic arm 31, the effective working stroke and flexibility of the entire inspection system are effectively extended. This allows the system to not only inspect the rail end face but also easily scan items such as rail straightness within a certain length range of the rail end, without the need for a large robot with a longer reach and higher cost, thus improving the system's cost-effectiveness and functional range.

[0032] This embodiment defines the specific configuration of the slide table motion module 42. The slide table motion module 42 includes a servo driver and a servo motor. The servo driver is electrically connected to the servo motor and receives control commands from the main control device 7. The servo motor is connected to the moving parts of the slide table (such as ball screws) via a coupling or synchronous belt transmission mechanism.

[0033] The drive system, composed of a servo driver and a servo motor, enables precise closed-loop control of the slide's position, speed, and acceleration. Compared to stepper motors or ordinary asynchronous motors, the servo system offers advantages such as fast response speed, high positioning accuracy, and smooth operation, thereby ensuring the uniformity and stability of the 3D scanner 41 during its axial movement along the rail and guaranteeing the acquisition of high-quality point cloud data.

[0034] This embodiment expands the functionality of the rail positioning control device 6. The rail positioning control device 6 further includes a roller conveyor interlock module 62. This roller conveyor interlock module 62 is connected to the guide device 5 used for conveying the rails (specifically, the roller conveyor control system where its drive motor is located), and is also electrically connected to the main control device 7. Its function is to achieve a safety interlock between the detection system and the rail conveying system. When the PLC control unit issues a command to start the robot and scanner, it simultaneously sends a locking signal to the roller conveyor interlock module 62; conversely, when the detection is completed and the robot returns to a safe position, the PLC control unit sends an unlocking signal to the interlock module 62.

[0035] An interlock module 62 for the roller conveyor was added, establishing a safety protection mechanism. This ensures that the rail conveyor rollers are forcibly locked throughout the entire scanning and inspection process, preventing them from moving forward or backward. This effectively prevents rail movement due to misoperation, thus avoiding collisions between the robot or scanner and the rails, preventing equipment damage, and ensuring the safety of equipment and personnel.

[0036] This embodiment provides a specific implementation of the roller conveyor interlock module 62. The roller conveyor interlock module 62 can be a relay module. The relay coil is controlled by the output point of the PLC control unit. One normally open contact of the relay is connected in series to the start control circuit of the guide device 5 (roller conveyor). When the scanner is working, the PLC control unit drives the relay coil to be energized, and its normally open contact closes. However, the logic here is designed such that the roller conveyor control circuit is disconnected through another intermediate relay or processed in the PLC program, preventing start-up. When the scanner is not working, the PLC output is de-energized, the relay coil is de-energized, its contacts return to the open state, the roller conveyor control circuit returns to normal, and forward or backward movement is allowed.

[0037] Using relay modules as hardware interlocking devices results in a simple structure, low cost, and reliable operation. By directly cutting off or connecting the control loop through hardware circuitry, it offers a fast response time and is unaffected by unexpected situations such as upper-level software or PLC program freezes, providing a higher level of safety than pure software interlocking.

[0038] This embodiment also includes a closed outer cover 8 installed on the frame 2. The outer cover 8 is a sheet metal structure, with its bottom mounted on the support base 1 and its perimeter connected and fixed to the columns of the frame 2. The outer cover 8 completely encloses the multi-axis robotic arm 31 and its detection work area, and may be equipped with a safety door or observation window.

[0039] The addition of a closed outer cover 8 serves several purposes. First, it provides isolation and protection, preventing personnel from accidentally entering the work area and causing danger while the equipment is running. Second, it effectively prevents dust, protecting the delicate internal components such as robots and scanners from workshop dust and extending the equipment's lifespan. Third, it also provides some shielding and noise reduction for light pollution (such as lasers) or equipment operating noise that may be generated during the scanning process, thus improving the working environment.

[0040] This embodiment provides a detailed description of the sensor layout of the photoelectric detection module 61. The photoelectric detection module 61 specifically includes six through-beam sensors, numbered AF. Sensors A, B, and C are used to detect the positioning of the rail head. When the rail advances and the rail head triggers sensor A, the PLC control unit controls the roller conveyor to begin decelerating; when the rail head continues to advance and triggers sensor B, the PLC control unit controls the roller conveyor to stop immediately, at which point the rail head is precisely within the detection working area. Sensor C can serve as an auxiliary for redundancy or precise positioning. Similarly, sensors D, E, and F are used to detect the positioning of the rail tail. After detecting the rail head, the rail continues to advance. When the rail tail leaves the detection area, if the rail tail is no longer obstructed by sensor D, the PLC controls the roller conveyor to decelerate; if the rail tail is no longer obstructed by sensor E but still obstructs sensor F, the PLC controls the roller conveyor to stop, at which point the rail tail is precisely within the detection working area.

[0041] By setting independent deceleration and stop sensors for the rail head and rail tail respectively, high-precision and repeatable positioning of both ends of the rail is achieved. This two-stage "deceleration-stop" control strategy avoids the huge inertial impact and positioning inaccuracies caused by the rail stopping abruptly due to high-speed operation, ensuring that the end to be measured can stop precisely within the scanner's optimal working range each time.

[0042] This embodiment provides supplementary description of the robot control unit 3. In addition to a six-axis robotic arm module (e.g., using a Fanuc robot), the robot control unit also includes a teach pendant 32. This teach pendant 32 is electrically connected to the robot controller. The operator can use the teach pendant 32 to manually guide the end effector of the robotic arm along the end profile of a standard steel rail, recording critical path points, thereby enabling the creation and optimization of motion path planning for scanning. The multi-axis robotic arm 31 is preferably a six-axis robotic arm because it has six rotary joints, providing high degrees of freedom of movement and allowing for adjustments to any position and orientation within space, facilitating optimal alignment of the scanner with the complex contours of the steel rail.

[0043] The inclusion of a teach pendant 32 makes programming and debugging the robot's scanning path intuitive and convenient, allowing even operators unfamiliar with complex programming languages ​​to quickly get started. The use of a six-axis robotic arm ensures the system has sufficient flexibility, enabling it to scan all parts of the rail cross-section without blind spots, including hard-to-reach areas such as the rail head jaw.

[0044] This system also includes an HMI touchscreen monitoring unit 71. This HMI touchscreen monitoring unit 71 is built into the control cabinet (described in subsequent embodiments) and connected to the PLC control unit. Operators can use this touchscreen to start and stop the system, select modes, switch between manual and automatic modes, set parameters, and monitor status. For example, the touchscreen will display real-time information such as whether the rail is in place, the robot's current status, and whether the scan is complete.

[0045] The addition of a touchscreen monitoring unit 71 provides an intuitive and convenient graphical interface for human-computer interaction. Operators can perform daily operations and monitoring of the equipment without connecting to a computer or operating complex buttons, reducing the difficulty of operation and improving the ease of use and user-friendliness of the system.

[0046] This embodiment describes the overall integration method of the control system. The main control device 7 can also be an integrated control cabinet, which integrates a host computer 72, a human-machine interface touch screen, and a programmable logic controller (PLC control unit). The host computer 72 (industrial computer) is equipped with a self-developed pre-welding inspection and monitoring system V1.0 software, which is used to process the massive point cloud data collected by the 3D scanner 41, perform point cloud fitting, curve analysis, comparison with standard dimensions, and finally calculate various geometric dimensions, generate an inspection report, and display the results on the monitor. The host computer 72, the touch screen, and the PLC are connected and exchange data via industrial Ethernet or serial bus to collaboratively complete the entire inspection task.

[0047] By integrating all core control components, such as the host computer 72, touch screen, and PLC, into a single control cabinet, the system boasts a compact structure, neat wiring, and strong anti-interference capabilities. This centralized control approach facilitates management and maintenance while achieving a clear division of labor and efficient collaboration between lower-level device control (handled by the PLC), human-machine interaction (handled by the touch screen), and upper-level data analysis and processing (handled by the host computer 72).

[0048] Based on the above embodiments, to further improve detection accuracy, this system also includes: a vibration sensor mounted on the support base 1 for real-time monitoring of mechanical vibrations generated during system operation or when the rail is in place; and an active vibration damping module, also mounted on the support base 1 and connected to the PLC control unit. The vibration sensor detects the impact vibration of the base the instant the rail stops being conveyed by the roller conveyor. The PLC control unit immediately drives the active vibration damping module (such as a piezoelectric ceramic actuator array) to perform high-frequency, micro-amplitude damping motion, attenuating the vibration amplitude in a very short time, ensuring that the reference surface of the 3D scanner is stable when it starts up.

[0049] The active vibration reduction system can effectively eliminate the initial measurement error caused by the "jerking" of the rail in place or the vibration of the surrounding environment. Especially for inspection items such as straightness and torsion, which have extremely high requirements for the stability of the reference, the measurement accuracy is significantly improved.

[0050] To ensure long-term measurement accuracy, the system also includes a standard calibration module made of Invar steel with zero coefficient of thermal expansion, possessing a standard geometric profile, and permanently fixedly mounted on the frame 2 within the working range of the multi-axis robotic arm 31. The system can be programmed to automatically control the multi-axis robotic arm 31 to guide the 3D scanner 41 to scan the standard calibration module after daily startup or after completing a certain number of measurements. The host computer software 72 compares the measurement results with pre-stored standard data, automatically generates a 3D spatial compensation matrix, and applies it to all subsequent measurement data.

[0051] The system has achieved automated calibration, which can correct minor positioning deviations caused by factors such as wear and tear on the robotic arm joints and changes in ambient temperature in real time. This ensures the measurement stability and accuracy of the system during long-term operation and eliminates the need for tedious manual periodic calibration.

[0052] In addition to the 3D scanner 41, the end effector of the multi-axis robotic arm 31 also integrates an automatic marking module, such as a miniature laser marker. When the host computer 72 identifies dimensional deviations or quality defects on the rail surface through data analysis, it automatically calculates the three-dimensional coordinates of the defect on the rail and controls the multi-axis robotic arm 31 to move to that coordinate position, driving the laser marker to perform physical marking at the defect, such as etching out deviation values ​​or defect type codes.

[0053] It achieves seamless automation from "inspection" to "marking", enabling operators at subsequent pre-welding processing stations to easily identify and accurately address problems, avoiding information transmission errors or marking position deviations, and improving the efficiency and accuracy of subsequent processes.

[0054] Based on the above embodiments, the system further includes: a non-contact temperature sensor (such as an infrared thermometer), which is mounted on the frame 2 and aligned with the detection working area to measure the real-time surface temperature of the rail under test. The monitoring software of the host computer 72 has a built-in steel thermal expansion coefficient compensation algorithm, which automatically compensates and corrects all measured contour dimension data based on the difference between the measured temperature value and the standard detection temperature (such as 20°C).

[0055] By introducing real-time temperature compensation, measurement errors caused by the thermal expansion and contraction of rails due to environmental temperature differences are eliminated. This is especially suitable for working environments with large temperature differences, ensuring the consistency and comparability of test results in different seasons and time periods, and improving the absolute accuracy of measurements.

[0056] Based on the above embodiments, the 3D scanner 41 consists of a first 3D scanner 41 and a second 3D scanner 41 symmetrically arranged on both sides of the end effector of the multi-axis robotic arm 31. Both are mounted on a "Y"-shaped bracket, with their optical axes forming a preset angle. During a single scan stroke, the two scanners can simultaneously acquire contour data from both sides of the rail, including blind spots such as the rail head's lower jaw that are missed by single-side scanning. The host computer software 72, through the pre-calibrated relative pose relationship between the two scanners, fuses the two sets of point cloud data into a seamless and complete rail cross-section model in real time.

[0057] Employing a dual-scanner structure, it can acquire complete 360-degree data of the rail cross-section in a single scan, completely eliminating measurement blind spots caused by obstructions in single-scanner systems, resulting in higher data integrity. Furthermore, the scanning efficiency is nearly doubled compared to single-scanner systems that require multiple orientation changes for supplementary scanning.

[0058] Compared with existing technologies, the technical solution provided in this application offers the following beneficial effects: through a highly integrated design combining mechanics, electronics, optics, and computing, it achieves fully automated, high-precision, and high-efficiency pre-welding inspection of rails. The system not only solves many drawbacks of manual inspection in existing technologies but also introduces a series of innovative technologies such as active vibration reduction, automatic calibration, temperature compensation, adaptive planning, automatic defect marking, data traceability, and predictive maintenance, making the entire inspection process more accurate, reliable, intelligent, and efficient, thus possessing extremely high industrial application value.

[0059] Those skilled in the art will understand that the steps, measures, and schemes in the various operations, methods, processes, and procedures discussed in this application can be alternated, modified, rearranged, decomposed, combined, or deleted.

[0060] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Any other corresponding changes and modifications made based on the technical concept of this application should be included within the scope of protection of the claims of this application.

Claims

1. A rail pre-welding inspection system, characterized in that, include: A support base and a frame mounted on the support base; The robot control unit includes a multi-axis robotic arm mounted on the frame; A 3D scanner control device, including a 3D scanner mounted on the end of the multi-axis robotic arm; The guiding device includes a flat idler roller disposed on the bearing base for conveying the rail and side guide rollers disposed on both sides of the flat idler roller for defining the lateral position of the rail. A rail positioning control device includes a photoelectric detection module, which includes at least one deceleration detection sensor and one stop detection sensor, and the deceleration detection sensor and the stop detection sensor are arranged sequentially along the rail conveying direction; The main control device is electrically connected to the robot control unit, the 3D scanner control device, and the rail positioning control device, respectively.

2. The rail pre-welding inspection system according to claim 1, characterized in that, The 3D scanner control device also includes a slide motion module, the multi-axis robotic arm is mounted on the slide motion module, and the main control device is electrically connected to the slide motion module.

3. The rail pre-welding inspection system according to claim 2, characterized in that, The slide motion module includes a servo driver and a servo motor. The servo driver is electrically connected to the servo motor, and the servo motor is drive-connected to the slide motion module.

4. The rail pre-welding inspection system according to claim 1, characterized in that, The rail positioning control device also includes a roller conveyor interlock module, which is connected to the guide device and electrically connected to the main control device.

5. The rail pre-welding inspection system according to claim 4, characterized in that, The roller conveyor interlock module is a relay module, and its normally open contacts are connected in series in the control circuit of the guiding device.

6. The rail pre-welding inspection system according to claim 1, characterized in that, It also includes a closed outer cover mounted on the frame, which encloses the multi-axis robotic arm and its working area.

7. The rail pre-welding inspection system according to claim 1, characterized in that, The photoelectric detection module includes a first deceleration sensor and a first stop sensor disposed on the side guide roller for detecting rail head positioning, and a second deceleration sensor and a second stop sensor disposed on the side guide roller for detecting rail tail positioning.

8. The rail pre-welding inspection system according to claim 1, characterized in that, The robot control unit also includes a teach pendant, the main control device is electrically connected to the teach pendant, and the multi-axis robotic arm is a six-axis robotic arm.

9. The rail pre-welding inspection system according to claim 1, characterized in that, It also includes a touch screen monitoring unit, which is built into the main control device.

10. The rail pre-welding inspection system according to claim 1, characterized in that, The main control device includes a control cabinet, a host computer, a human-machine interface touch screen, and a programmable logic controller. The host computer, the human-machine interface touch screen, and the programmable logic controller are interconnected and all integrated within the control cabinet.

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