CN102837236A - Movable numerical control grinding apparatus for grinding steel rail and control method thereof - Google Patents
Movable numerical control grinding apparatus for grinding steel rail and control method thereof Download PDFInfo
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- CN102837236A CN102837236A CN2012103369004A CN201210336900A CN102837236A CN 102837236 A CN102837236 A CN 102837236A CN 2012103369004 A CN2012103369004 A CN 2012103369004A CN 201210336900 A CN201210336900 A CN 201210336900A CN 102837236 A CN102837236 A CN 102837236A
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Abstract
The invention relates to a movable numerical control grinding apparatus for grinding a steel rail and a control method thereof. A support frame is mounted on a movable basal body; two sets of mutually independent mechanical arms capable of transversely moving are mounted on the support frame; the mechanical arms are controlled by a numerical control system; and grinding apparatuses are mounted on the movable ends of the mechanical arms. Each grinding apparatus comprises a bracket body, a sand wheel self-adaptive feedback apparatus, a positioning boot, a main shaft system and a sand wheel, wherein the main shaft system is mounted below the bracket body; the sand wheel is mounted on the main shaft system; the positioning boot is mounted on the bracket body through a longitudinal servo feeding system and a longitudinal guide rail; the longitudinal servo feeding system is controlled by the numerical control system; the bottom of the positioning boot is in the same horizontal plane with the bottom of the sand wheel in the grinding process; the sand wheel self-adaptive feedback apparatus is connected with the main shaft of the sand wheel; and a variable quantity caused by friction grinding between the sand wheel and the steel rail is fed back to the numerical control system through the sand wheel self-adaptive feedback apparatus. The movable numerical control grinding apparatus has the characteristics of complete function, high working efficiency, high grinding efficiency and grinding precision, high degree of automation and the like.
Description
Technical field
The present invention relates to a kind of movable numerically-controlled grinding attachment and control method thereof that is applicable to the rail reconditioning.
Background technology
High-speed railway, subway and inter-city train be at the positive high speed development of China, and general speed per hour operates in more than the 250km, the F-Zero of Beijing-Tianjin inter-city train even surpassed 350km; And rail is the main basis of carrying train, and high train running speed like this has proposed harsh requirement to the indexs such as surface roughness peace compliance of rail; But rail is under the high-speed cruising state, and wearing and tearing and disease are aggravated easily, and this dual problem just makes the disease reparation of rail become important content; Rail reconditioning car mainly contains two kinds of forms in the world at present, and a kind of is that polishing is shaped, and forms moulding through the bull emery wheel and carries out grinding; This mode can only be carried out reconditioning to damaging less rail, when running into bigger damage, lean on the reparation of the artificial reshaping of polishing earlier; The wearing and tearing of bull emery wheel simultaneously are difficult to unanimity, and grinding accuracy is lower; Second kind then is the mode that adopts the milling car, adopts the profile milling cutter wheel to carry out high-speed milling earlier, adopts wide abrasive wheel forming grinding then; Eliminate Milling Process sum of errors moulding interface water caltrop; This mode machining accuracy is higher, and the grinding scope is wider, but the mode that mill apparatus wherein mainly adopts simple nc and Artificial Control to combine; Inefficiency, potential safety hazard is big.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art and a kind of perfect in shape and function, high efficiency, grinding efficiency height and grinding accuracy is high, automaticity the is high movable numerically-controlled grinding attachment and the control method thereof that are applicable to the rail reconditioning be provided.
A kind of movable numerically-controlled grinding attachment that is applicable to the rail reconditioning; Comprise bracing frame, digital control system and be used to drive bracing frame and the telecontrol equipment of rail generation relative motion; Support frame as described above is provided with emery wheel, drives the axis system of said emery wheel rotation and drives the thrust unit of said axis system in movement in vertical direction; Also be provided with the emery wheel self adaptation feedback device that is connected and receives and analyze the torque feedback amount of said emery wheel with said axis system on the support frame as described above; When moving downward, said thrust unit can give controlled normal pressure of said axis system; Also be provided with down on the said thrust unit and push away device, the said bottom that pushes away down device is equipped with the location boots, said location boots when work and said emery wheel all be on the rail grinding face; Said emery wheel self adaptation feedback device through said digital control system with said under push away device and be connected, and push away the amount of movement that device moves up and down down through the torque feedback amount control of said emery wheel is said.
Among the present invention, pushing away device under said is the servo longitudinal feeding system, and the tache motorice of said servo longitudinal feeding system is connected with said location boots.
Among the present invention; Said side direction precision positioning device is installed on the boots of said location; Said side direction precision positioning device inside is equipped with and makes said side direction precision positioning device be close to the spring mechanism of the medial surface of rail all the time, said side direction precision positioning device through detecting said side direction precision positioning device relative movement distance grating sensor or eddy current displacement sensor is connected with digital control system and control horizontal servo feed system through digital control system drives said emery wheel inwardly or outer moving.
Among the present invention; Support frame as described above is connected with support body through mechanical arm; Said emery wheel, axis system and emery wheel self adaptation feedback device are fixed on the said support body, and said mechanical arm comprises cross slide way, cross saddle and the horizontal servo feed system of being controlled by said digital control system, and said cross saddle is installed on the bracing frame through horizontal servo feed system, cross slide way; Said thrust unit is an oil cylinder, and said support body is installed on the said cross saddle through said oil cylinder.
Among the present invention; Also comprise self-align mobile protective cover; Said self-align mobile protective cover comprises fixed mount and mobile protective cover, and said fixed mount is installed on the support body, and said mobile protecting cover is installed on the said fixed mount through the self adaptation mobile device; Said mobile protecting cover is located on the said emery wheel, and said self adaptation mobile device links through the control of said emery wheel self adaptation feedback device and with the said device that pushes away down.
Among the present invention, the fixed mount of said self-align mobile protective cover is equipped with dust exhaust apparatus outward, is provided with gas supplementing opening in the said dust exhaust apparatus.
Among the present invention, said emery wheel is provided with the angle that 4 degree～6 are spent with the rail that needs grinding.
Among the present invention, it is 20-30m/s that said emery wheel adopts cylindricalo grinding and said wheel face linear velocity.
Among the present invention, said emery wheel adopts corundum wheel.
Among the present invention, said to be used to drive the telecontrol equipment that bracing frame and rail produce relative motion be the track engineering car, and support frame as described above is installed on the frame panel of railway engineering car.
A kind of control method that is applicable to the movable numerically-controlled grinding attachment of rail reconditioning; Said axis system feeds back to the torque value of the said emery wheel motor rotating of control in the said axis system in the said digital control system through said emery wheel self adaptation feedback device; Through with said digital control system in the torque setting value compare whether draw said wheel grinding amount normal; Draw down the amount of moving up and down that pushes away device, thus the said control wheel grinding amount that moves up and down that pushes away the feasible location of device boots down of last digital control system control;
When rail is turned; Said side direction precision positioning device converts the variable quantity of displacement into the signal of telecommunication through eddy current displacement sensor or magnetic induction sensor and handles through said digital control system; Digital control system is controlled horizontal servo feed system and is driven said emery wheel inwardly or outer moving then, thereby keeps emery wheel all the time over against the rail surface.
Adopt such scheme, this device has following advantage:
1, this device is directly installed on the motion matrix (the motion matrix here is track engineering car or other carrier that is moving on rail); The campaign-styled grinding method that adopts grinding machine to move; Realization is to rectangular precise Grinding of Ellipse Parts such as rail; Do not need extra manpower and materials with the car grinding, easy to use.
2, application wheel self adaptation feedback device passes through the variation of location boots and side direction precision positioning device control emery wheel ability self adaptation rail when climb and fall and turning, thereby emery wheel self adaptation feedback device is through pushing away the control wheel grinding amount that moves up and down of the feasible location of device boots down; The side direction precision positioning device converts change in displacement into the signal of telecommunication; Through computer program control, inwardly or outward move by horizontal driven by servomotor emery wheel, thereby keep emery wheel all the time over against the rail surface; Thereby realize the grinding and feeding of closed-loop control emery wheel; When abrasion of grinding wheel and grinding allowance were inhomogeneous, emery wheel was advanced and retreat automatically, realized that permanent mill removes the amount grinding.
3, adopt full envelope emery wheel of self-align mobile protective cover and grinding area, and collect dust automatically, realize dustless and safe grinding through dust exhaust apparatus.
4, emery wheel and need the rail of grinding to be provided with the angle of 4 degree～6 degree; Moving ahead along with the track engineering car like this; Grinding rail is surperficial at an angle all the time for emery wheel, can make the convex cross section comprehensive engagement of whole emery wheel cross section and rail, and emery wheel and rail contact-making surface shape are complementary; The Grinding Contact area of the relative rail of emery wheel is increased, reduce the quantity of material of emery wheel unit interval loss, reduce the local uneven wear of grinding heating and emery wheel.
Description of drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a rearview of the present invention.
Fig. 3 is a left view of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, specify a kind of movable numerically-controlled grinding attachment of rail reconditioning and specific embodiment of control method thereof of being applicable to.
Like Fig. 1,2,3; A kind of movable numerically-controlled grinding attachment that is applicable to the rail reconditioning comprises cross slide way 1, horizontal parts such as servo feed system 2, bracing frame 3, servo longitudinal feeding system 4, oil cylinder 5, emery wheel self adaptation feedback device 6, self-align mobile protective cover 7, dust exhaust apparatus 8, axis system 9, emery wheel 10, side direction precision positioning device 11, location boots 12, cross saddle 13, longitudinal rail 14, rail 15, and the separate mechanical arm that can laterally move freely of two covers is installed on the support frame as described above, and said mechanical arm is controlled by digital control system; On the said mechanical arm grinding attachment is installed; Said mechanical arm comprises cross slide way 1, cross saddle 13 and the horizontal servo feed system of being controlled by said digital control system 2, and said cross saddle 13 is installed on the bracing frame 3 through cross slide way 1, the transverse movement of the said cross saddle 13 of said horizontal servo feed system 2 controls; Thereby accomplish emery wheel move left and right function; Said support body is installed on the said cross saddle 13 through said longitudinal rail 14, and realizes moving up and down of support body through the oil cylinder 5 that is installed in said cross saddle 13 tops, thereby control emery wheel 9 moves up and down; Said oil cylinder upwards can bear whole frame body from gravity; Can give support body a controlled normal pressure downwards, the below of said support body is equipped with axis system 9, on the said axis system 9 emery wheel 10 is installed; Said emery wheel 10 is provided with the angle that 4 degree～6 are spent with the rail 15 that needs grinding; Be fixed with servo longitudinal feeding system 4 on the said support body, the piston end of said servo longitudinal feeding system 4 is equipped with location boots 12, and said location boots 12 are moved relative to emery wheel 10 positions by 4 controls of servo longitudinal feeding system; Boots 12 bottoms, location when grinding and the bottom of said emery wheel 10 be on the same horizontal plane; Location boots 12 contact with rail 15 surfaces all the time, bear the downward normal pressure that is given by servo longitudinal feeding system 4, control emery wheel 10 relative rail 15 surperficial feed and withdrawings by moving up and down of location boots 12; Moving of said location boots 12 then controlled by emery wheel self adaptation feedback device 6; Said emery wheel self adaptation feedback device 6 is connected with the axis system 9 of emery wheel 10, and said axis system 9 feeds back to the torque value of said emery wheel 10 motor rotating of control in the said axis system 9 in the said emery wheel self adaptation feedback device 6, through with said emery wheel self adaptation feedback device 6 in the torque setting value compare whether draw said emery wheel 10 stock removals normal; Again value of feedback is fed back to digital control system; The location boots 12 that digital control system is controlled said servo longitudinal feeding system 4 distance that moves up and down is controlled the wheel grinding amount, and when emery wheel 10 wearing and tearing or rail 15 ascents and descents cause that stock removal changes, said emery wheel self adaptation feedback device 6 will be responded to the variation of grinding moment of torsion; And send corresponding signal and be transferred to digital control system; Make location boots 12 move up and down by digital control system control servo longitudinal feeding system 4, thereby moving up and down of control emery wheel 10 guarantee the perseverance mill of rail 15 is removed the amount grinding.
Said side direction precision positioning device 11 is installed on the boots 12 of location; Spring mechanism is equipped with in inside, makes side direction precision positioning device 11 be close to the medial surface of rail 15 all the time, when rail 15 gets into bends; Side direction precision positioning device 11 can produce and relatively move; Its displacement is input to digital control system after detecting reading through grating sensor, controls whole location boots 12 by digital control system and moves to the bend direction with emery wheel 10 parts, thereby guarantee that emery wheel 10 is along with the bend of rail 15 is followed mobile automatically.
In whole mobile grinding process; Holder segment with said self-align mobile protective cover 7 is installed on the support body, moves the protecting cover part and is installed on the fixed mount through the self adaptation mobile device, and the bottom surface of moving protecting cover leans against rail 15 surfaces all the time; Rely on deadweight to diminish along with the wearing and tearing of emery wheel 10; Automatically running fix is protected emery wheel 10 in the space of a sealing all the time, and the self adaptation mobile device links through said emery wheel self adaptation feedback device 6 controls and with said servo longitudinal feeding system 4; Said dust exhaust apparatus 8 is installed on the fixed mount of self-align mobile protective cover 7; In real time the grinding dust is taken away,, be provided with gas supplementing opening in the dust exhaust apparatus 8 for preventing to form vacuum.
Above-mentioned cross slide way 1, longitudinal rail 14, laterally each of servo feed system 2 and servo longitudinal feed system 4 is mobile both can single shaft control; Control simultaneously also can multichannel links; Support and adopt the straight line roller guide to support, drive and adopt screw mandrel to drive, cross slide way 1, longitudinal rail 14 have the extreme position location; Double position probing and feedback device, the mobile security and the grinding location of guaranteeing linear axis.
Above-mentioned oil cylinder upwards can bear whole frame body from gravity, can give support body a controlled normal pressure downwards, controlled normal pressure is meant that specifically support body can rely on its deadweight to move downward under the support of oil cylinder; And this moves downward and plays one through oil cylinder and support and buffering, makes that support body is at the uniform velocity to fall, and makes emery wheel 10 can remain on the rail 15 so always; When support body goes downwards to the postpone of oil cylinder qualifying bit, can promote through oil cylinder, emery wheel 10 is affixed to raceway surface; Torque value through with said emery wheel 10 motor rotating of control in the axis system 9 feeds back in the said emery wheel self adaptation feedback device 6, on the one hand, compares with torque setting value in the said emery wheel self adaptation feedback device 6 whether draw said emery wheel 10 stock removals normal; Again value of feedback is fed back to digital control system, digital control system is controlled said servo longitudinal feeding system 4 makes location boots 12 move up and down, when the normal grinding of emery wheel; Motor torque is a setting value, works as abrasion of grinding wheel, when grinding allowance reduces; Motor torque will reduce and setting value between have a difference, after difference arrives certain limiting value, digital control system will be sent instruction; Control servo longitudinal feed system 4 drives location boots 12 and moves up, and emery wheel feeding under the deadweight effect is when grinding allowance increases; When motor torque values arrives normal range (NR), servo longitudinal feed system 4 feed-disablings, by that analogy; When grinding allowance increases suddenly, motor torque values is elevated to when setting safety value, and system will think that emery wheel 10 produces collision; Control servo longitudinal feed system 4 drives location boots 12 feeding downwards rapidly, lifts emery wheel 10, plays the safeguard protection effect.
Grinding process is dry abrasive cutting, is provided with emery wheel protector 6 in the emery wheel outside, and suction port is offered at the rear portion, and grinding and emery wheel dust are absorbed.
Said digital control system adopts Siemens 840D digital control system, 611D drive system and S7PLC to carry out drive controlling.
Basic functional principle is following:
Grinding machine is through the bracing frame 3 whole inverted body bottoms that are installed in train, and emery wheel 10 is tilting with rail 15 rectilinear directions angled (4-6 °), is installed on the cross saddle 13; Driven emery wheel 10 aligning rail 15 by horizontal servo feed system 2, through oil cylinder 5 that whole axis system 9 is surperficial near rail downwards, boots 12 are pressed on rail 15 surfaces up to the location; Adopt servo longitudinal feeding system 4 to drive location boots 12 and move up and down, control moving up and down of emery wheel 10 indirectly, and the shift action of location boots 12; Control through emery wheel self adaptation feedback device 6 again, when upward slope, descending and irregular projection appearred in abrasion of grinding wheel or rail, its actual mill removed amount and can change; The self adaptation feedback device can be through modes such as detection grinding change in torque; Automatically control the feed that moves up and down indirect control emery wheel and the withdrawing of location boots 12, thereby realize that emery wheel does not need to revise, rely on the accurately location grinding of row that marches forward certainly; Whole grinding machine system follows train and travels forward; Two emery wheels adopt " feeding cutter " mode to accomplish automatic rail reconditioning, when rail gets into bend in the forward travel process; Grinding machine can be controlled horizontal servo feed system through side direction precision positioning device 11 and move in real time, to guarantee that emery wheel 10 covers rail 15 full surfacings all the time.Whole grinding process adopts the dry abrasive cutting mode, and self-align mobile protective cover 7 is the complete all the time envelope of emery wheel 10 and grinding area, and collects grinding dust, not only environmental protection but also safety automatically through dust exhaust apparatus 8.
Claims (11)
1. movable numerically-controlled grinding attachment that is applicable to the rail reconditioning; Comprise bracing frame, digital control system and be used to drive bracing frame and the telecontrol equipment of rail generation relative motion; Support frame as described above is provided with emery wheel, drives the axis system of said emery wheel rotation and drives the thrust unit of said axis system in movement in vertical direction; It is characterized in that: also be provided with the emery wheel self adaptation feedback device that is connected and receives and analyze the torque feedback amount of said emery wheel with said axis system on the support frame as described above; When moving downward, said thrust unit can give controlled normal pressure of said axis system; Also be provided with down on the said thrust unit and push away device, the said bottom that pushes away down device is equipped with the location boots, said location boots when work and said emery wheel all be on the rail grinding face; Said emery wheel self adaptation feedback device through said digital control system with said under push away device and be connected, and push away the amount of movement that device moves up and down down through the torque feedback amount control of said emery wheel is said.
2. the movable numerically-controlled grinding attachment that is applicable to the rail reconditioning according to claim 1 is characterized in that: pushing away device under said is the servo longitudinal feeding system, and the tache motorice of said servo longitudinal feeding system is connected with said location boots.
3. the movable numerically-controlled grinding attachment that is applicable to the rail reconditioning according to claim 2; It is characterized in that: support frame as described above is connected with support body through mechanical arm; Said emery wheel, axis system and emery wheel self adaptation feedback device are fixed on the said support body; Said mechanical arm comprises cross slide way, cross saddle and the horizontal servo feed system of being controlled by said digital control system; Said cross saddle is installed on the bracing frame through horizontal servo feed system, cross slide way, and said thrust unit is an oil cylinder, and said support body is installed on the said cross saddle through said oil cylinder.
4. the movable numerically-controlled grinding attachment that is applicable to the rail reconditioning according to claim 3; It is characterized in that: said side direction precision positioning device is installed on the boots of said location; Said side direction precision positioning device inside is equipped with and makes said side direction precision positioning device be close to the spring mechanism of the medial surface of rail all the time, said side direction precision positioning device through detecting said side direction precision positioning device relative movement distance grating sensor or eddy current displacement sensor is connected with digital control system and control horizontal servo feed system through digital control system drives said emery wheel inwardly or outer moving.
5. the movable numerically-controlled grinding attachment that is applicable to the rail reconditioning according to claim 4; It is characterized in that: also comprise self-align mobile protective cover; Said self-align mobile protective cover comprises fixed mount and mobile protective cover; Said fixed mount is installed on the support body; Said mobile protecting cover is installed on the said fixed mount through the self adaptation mobile device, and said mobile protecting cover is located on the said emery wheel, and said self adaptation mobile device links through the control of said emery wheel self adaptation feedback device and with the said device that pushes away down.
6. the movable numerically-controlled grinding attachment that is applicable to the rail reconditioning according to claim 5, it is characterized in that: the fixed mount of said self-align mobile protective cover is equipped with dust exhaust apparatus outward, is provided with gas supplementing opening in the said dust exhaust apparatus.
7. according to claim 2 or the 3 described movable numerically-controlled grinding attachments that are applicable to the rail reconditioning, it is characterized in that: said emery wheel is provided with the angle that 4 degree～6 are spent with the rail that needs grinding.
8. the movable numerically-controlled grinding attachment that is applicable to the rail reconditioning according to claim 7 is characterized in that: it is 20-30m/s that said emery wheel adopts cylindricalo grinding and said wheel face linear velocity.
9. the movable numerically-controlled grinding attachment that is applicable to the rail reconditioning according to claim 8 is characterized in that: said emery wheel adopts corundum wheel.
10. the movable numerically-controlled grinding attachment that is applicable to the rail reconditioning according to claim 3; It is characterized in that: said to be used to drive the telecontrol equipment that bracing frame and rail produce relative motion be the track engineering car, and support frame as described above is installed on the frame panel of railway engineering car.
11. control method that is applicable to the movable numerically-controlled grinding attachment of rail reconditioning; Utilize the described movable numerically-controlled grinding attachment of claim 1 to 10; It is characterized in that: said axis system feeds back to the torque value of the said emery wheel motor rotating of control in the said axis system in the said digital control system through said emery wheel self adaptation feedback device; Through with said digital control system in the torque setting value compare whether draw said wheel grinding amount normal; Draw down the amount of moving up and down that pushes away device, thus the said control wheel grinding amount that moves up and down that pushes away the feasible location of device boots down of last digital control system control;
When rail is turned; Said side direction precision positioning device converts the variable quantity of displacement into the signal of telecommunication through eddy current displacement sensor or magnetic induction sensor and handles through said digital control system; Digital control system is controlled horizontal servo feed system and is driven said emery wheel inwardly or outer moving then, thereby keeps emery wheel all the time over against the rail surface.
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| CN201210336900.4A CN102837236B (en) | 2012-09-13 | 2012-09-13 | Movable numerical control grinding apparatus for grinding steel rail and control method thereof |
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| CN201210336900.4A CN102837236B (en) | 2012-09-13 | 2012-09-13 | Movable numerical control grinding apparatus for grinding steel rail and control method thereof |
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| CN102837236A true CN102837236A (en) | 2012-12-26 |
| CN102837236B CN102837236B (en) | 2015-02-04 |
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| CN103522154A (en) * | 2013-10-30 | 2014-01-22 | 江阴东辰机械制造股份有限公司 | Rotating device of grinding main engine |
| CN103799625A (en) * | 2013-12-20 | 2014-05-21 | 义乌市慧海自动化工程有限公司 | Method for controlling multi-head precision indexing processing equipment |
| CN104625930A (en) * | 2015-03-11 | 2015-05-20 | 戚恒 | Steel rail grinding machine |
| CN104634598A (en) * | 2014-12-30 | 2015-05-20 | 北京二七轨道交通装备有限责任公司 | Milling device testing system |
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| CN103522154B (en) * | 2013-10-30 | 2015-08-12 | 江阴东辰机械制造股份有限公司 | Reconditioning main frame tumbler |
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| CN103799625B (en) * | 2013-12-20 | 2016-07-06 | 陈小青 | A kind of bull precision indexing process equipment control method |
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| CN104625930A (en) * | 2015-03-11 | 2015-05-20 | 戚恒 | Steel rail grinding machine |
| CN104923840A (en) * | 2015-06-30 | 2015-09-23 | 株洲时代电子技术有限公司 | Steel rail milling control method |
| CN104942346A (en) * | 2015-06-30 | 2015-09-30 | 株洲时代电子技术有限公司 | Steel rail milling operation control system |
| CN104907909B (en) * | 2015-07-07 | 2017-03-22 | 重庆大学 | Abrasive belt grinding center applicable to integral impeller vanes |
| CN104907909A (en) * | 2015-07-07 | 2015-09-16 | 重庆大学 | Abrasive belt grinding center applicable to integral impeller vanes |
| CN106141765A (en) * | 2016-08-26 | 2016-11-23 | 湖南大学 | A kind of milling attachment for rail trimming |
| CN106483926A (en) * | 2016-09-30 | 2017-03-08 | 湖南大学 | A kind of self adaptation following device for rail milling apparatus lateral register |
| CN111283488A (en) * | 2020-03-30 | 2020-06-16 | 沈阳机床成套设备有限责任公司 | Grinding device and roller press |
| CN111531212A (en) * | 2020-04-02 | 2020-08-14 | 洛阳拓博尔铁路设备有限公司 | Steel rail milling operation device based on software boots and control method |
| CN111531212B (en) * | 2020-04-02 | 2021-05-28 | 洛阳拓博尔铁路设备有限公司 | Steel rail milling operation device based on software boots and control method |
| CN111560803A (en) * | 2020-05-14 | 2020-08-21 | 中国铁建高新装备股份有限公司 | Steel rail grinding system and steel rail milling and grinding vehicle |
| CN113235335A (en) * | 2021-04-27 | 2021-08-10 | 凤绍军 | Grinding device for closed steel rail milling and grinding vehicle |
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| CN102837236B (en) | 2015-02-04 |
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