WO2022017349A1

WO2022017349A1 - Steel rail milling vehicle, and steel rail finish-milling operation control system therefor

Info

Publication number: WO2022017349A1
Application number: PCT/CN2021/107252
Authority: WO
Inventors: 吴鹏坤; 唐丙松; 陈忠良; 晏腾飞; 杨永江; 韩双平; 杨文玉; 郑莉莉
Original assignee: 中国铁建高新装备股份有限公司
Priority date: 2020-07-24
Filing date: 2021-07-20
Publication date: 2022-01-27
Also published as: CN111774625A; KR20230025001A

Abstract

A steel rail milling vehicle, and a steel rail finish-milling operation control system therefor. The steel rail finish-milling operation control system comprises a base (1), a transverse position adjusting mechanism, a vertical position adjusting mechanism, a positioning mechanism, a milling cutter (4), a height sensor (7), a position encoder (8), a lateral profiling sensor (9), a rail-finding feeler lever (10), a laser detection sensor (11), a pressure sensor, a draw-wire sensor and a control unit, wherein the control unit implements closed-loop control according to detection signals.

Description

A rail milling car and its rail finishing milling operation control system

technical field

The present application relates to the technical field of rail maintenance engineering, and in particular, to a rail milling car and a control system for the precision milling operation of the rail.

Background technique

At present, there are two types of rail on-line maintenance technologies: rail grinding and rail milling. The rail grinding is carried out by the rail grinding car. When grinding the rail, it is easy to generate flying sparks, metal dust and noise, which will pollute the air, deteriorate the working environment, cause fire, and even affect the normal operation after the operation. Before grinding, it is necessary to remove the protective cover. Wheel rails, communication cables and other trackside equipment, and need to replace the grinding wheel, arrange the motor position to obtain the required shape of the rail head, so the operation preparation time is long. Therefore, the rail grinding method is not suitable for subway and national railway tunnel lines.

The rail milling and grinding operation is carried out by a rail milling and grinding car, which includes two processes: milling and grinding. First, the rail surface is longitudinally milled, and then the milled rail surface is ground. However, the existing rail milling and grinding car still uses grinding to remove edges and corners and improve the surface smoothness of the rail during the secondary repair of the rail. Although the grinding amount is smaller than that of the rail grinding car, there are inevitable problems of air and noise pollution.

Compared with the rail milling and grinding car, the precision milling operation has the advantages of small spark generation, high environmental protection performance, high rail repair accuracy, and low overall operation cost. Fields with high operational effect requirements have extensive social benefits. However, there are only two Austrian companies in the world that manufacture rail milling equipment. Their design and manufacturing technology are blocked to China. Importing foreign rail milling equipment is expensive and has no independent intellectual property rights, which cannot be adapted to the development trend of my country's railways. , and it is impossible to achieve preventive and remedial maintenance of rails.

The rail milling car has many controlled objects, high control accuracy requirements and complex control algorithms. In China, the control technology of rail milling and rail car operation is still in the initial stage of research, and it is mainly aimed at the control technology of rough milling operation, and the control technology of fine milling operation is still blank.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a rail milling car and a control system for the precision milling operation of the rail. The precision milling operation control system for the rail can not only perform fine rail shape trimming on the rough-milled rail, but also eliminate the need for grinding. The rail is trimmed twice, the environmental pollution is small, and the asymmetric milling function of the rail can be realized.

According to a first aspect of the embodiments of the present application, there is provided a rail finish milling operation control system for a rail milling car, the rail finish milling operation control system comprising:

The base is fixedly installed on the body of the rail milling car;

a lateral position adjustment mechanism, which can be slidably mounted on the base along the lateral direction;

The vertical position adjustment mechanism is fixedly installed on the side of the lateral position adjustment mechanism away from the base, and can adjust the position along the vertical direction;

a positioning mechanism, which can be installed on the side of the lateral position adjustment mechanism away from the base in a position-adjustable manner along the vertical direction, and is used for positioning the rail;

The milling cutter head is installed on the vertical position adjustment mechanism through a turning mechanism, and is provided with a tool holder and a spindle motor that drives the tool holder to rotate; the turning mechanism is used to drive the milling cutter head towards the steel rail. deflection;

a height sensor, fixedly mounted on the milling cutter disc, for detecting the milling depth of the steel rail by the milling cutter disc;

A lateral profiling sensor, installed on the turning mechanism, is used to detect the lateral position of the milling cutter;

a laser detection sensor, installed on the lateral position adjustment mechanism, used for detecting the profile of the rail and initially positioning the rail in the lateral direction;

a pull wire sensor for detecting the displacement of the vertical position adjustment mechanism in the vertical direction;

a control unit, configured to acquire detection signals of the height sensor, the lateral profiling sensor, the laser detection sensor and the pull-wire sensor, and adjust the lateral position adjustment mechanism, the vertical position according to the detection signals The adjusting mechanism, the positioning mechanism, the turning mechanism and the spindle motor perform closed-loop control to realize the fine milling and repair of the steel rail.

The above-mentioned rail fine milling operation control system is fixedly installed on the body of the rail milling car through the base. When the rail is milled and repaired, the rail fine milling operation control system is moved along the extension direction of the rail through the rail milling car. The lateral position adjustment mechanism realizes the movement in the lateral direction, and the vertical position adjustment mechanism realizes the movement in the vertical direction. By adjusting the position in the direction, the control unit can control the milling cutter head to accurately locate the defects on the rail according to the detection signals of each detection element. At the same time, the rail can be asymmetrically milled through the turning mechanism. Therefore, the above-mentioned rail finishing milling operation control system can not only perform fine rail shape trimming on the rough-milled rail, but also do not need to use grinding. It can be trimmed, the environmental pollution is small, and the asymmetrical milling function of the rail can be realized.

Description of drawings

The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the attached image:

1 is a schematic structural diagram of a control system for a rail finishing milling operation provided by an embodiment of the application;

Fig. 2 is the control block diagram of the control system of the rail finishing milling operation in Fig. 1;

FIG. 3 is a schematic diagram of the control principle of the control system for the precision milling operation of the rail in FIG. 1 when the constant power control of milling is implemented;

FIG. 4 is a schematic diagram of the control principle of the control system for the precision milling operation of the rail in FIG. 1 when implementing the displacement control of the milling depth;

FIG. 5 is a schematic diagram of the control principle of the control system for the precision milling operation of the rail in FIG. 1 when the asymmetric milling control is implemented.

Reference number:

1-base; 2-positioning shoe; 3-vertical servo motor; 4-milling disc; 5-turning mechanism; 6-spindle motor; 7-height sensor; 8-position encoder; 9-lateral copying Sensor; 10-tracking probe; 11-laser detection sensor; 12-milling disc box; 13-transverse base plate; 14-slide rail; 15-transverse servo motor; 16-lead screw; 17-lifting cylinder; 18 - Flip the servo motor.

detailed description

In order to make the technical solutions and advantages of the embodiments of the present application more clear, the exemplary embodiments of the present application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and Not all embodiments are exhaustive. It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict.

FIG. 1 is a schematic structural diagram of a control system for a precision milling operation of a rail provided by an embodiment of the present application. According to the embodiments of the present application, a rail milling car and a rail finishing milling operation control system for the rail milling vehicle are also provided. The rail milling vehicle includes a car body and a rail finishing milling operation control system; the rail finishing milling operation control As shown in the structure of Figure 1, the system includes a base 1 and is fixedly installed on the car body through the base 1; in order to be able to perform simultaneous milling and repair on two parallel steel rails, the car body can be provided with two steel rails. One-to-one corresponding two rail finishing milling operation control systems, each rail finishing milling operation control system can be independently controlled.

For the convenience of description, in the embodiments of the present application, the transverse direction is the width direction of the rail milling car, that is, the arrangement direction of two rails arranged in parallel; the longitudinal direction is the length direction of the rail milling car, that is, the extension of the rails The direction or rail milling car is along the running direction of the rail, and at the same time, the longitudinal direction and the transverse direction are perpendicular to each other on the horizontal plane; the vertical direction is the height direction of the rail milling car, that is, the direction perpendicular to the horizontal plane where the longitudinal direction and the transverse direction are at the same time.

The specific rail finishing milling operation control system refers to the following embodiments:

As shown in the structure of Figure 1, the control system of the rail finishing milling operation includes:

The base 1 is fixedly installed on the car body of the rail milling car (not shown in the figure); the base 1 is the basis of the control system for the precision milling operation of the steel rail, and is fixedly installed on the car body through the base 1, and can follow the rail The position adjustment in the longitudinal direction is realized by the movement of the rail milling car along the rail;

The lateral position adjustment mechanism can be slidably installed on the base 1 along the lateral direction; the lateral position adjustment mechanism is used to realize the lateral movement of other components such as the milling cutter disc 4, and the purpose is to realize the lateral movement of the milling cutter disc 4 and other components in the lateral direction. The position adjustment on the upper, so that the milling cutter head 4 can reach the predetermined lateral position;

The vertical position adjustment mechanism is fixedly installed on the side of the lateral position adjustment mechanism away from the base 1, and can adjust the position along the vertical direction; because the vertical position adjustment mechanism can realize the position adjustment in the vertical direction, and is fixedly installed in the horizontal direction. One side of the position adjustment mechanism, therefore, it can move in the vertical direction and also move in the lateral direction with the lateral position adjustment mechanism, so that the position adjustment in two dimensions of the lateral direction and the vertical direction can be realized;

The positioning mechanism can be installed on the side of the lateral position adjustment mechanism away from the base 1 in a position-adjustable manner along the vertical direction, and is used to position the rail; both the positioning mechanism and the vertical position adjustment mechanism are installed on the same side of the lateral position adjustment mechanism , the positioning mechanism can adjust the position along the vertical direction, so that the positioning mechanism can be contacted and positioned with the rail, so as to provide a positioning reference for milling;

The milling cutter head 4 is installed on the vertical position adjustment mechanism through the turning mechanism 5, and is provided with a tool holder and a spindle motor 6 that drives the tool holder to rotate; the turning mechanism 5 is used to drive the milling cutter head 4 to deflect toward the rail; Figure 1 As shown in the structure, the milling cutter head 4 is located at the front end of the entire rail finishing operation control system. The milling cutter head 4 includes a tool holder for loading a milling cutter and a spindle motor 6 for driving the tool holder to rotate for milling. The spindle motor 6. Rotate to drive the tool holder to rotate; since the milling cutter disc 4 is installed on the vertical position adjustment mechanism through the turning mechanism 5, the milling cutter disc 4 can not only move in the vertical direction with the vertical position adjustment mechanism, but also along the horizontal direction. The position adjustment mechanism moves in the lateral direction, and can also move in the longitudinal direction when the rail milling car is driven along the rail, so that the position adjustment can be realized in three dimensions of the lateral direction, the longitudinal direction and the vertical direction. Azimuth milling repair; when the turning mechanism 5 controls the deflection of the milling cutter disc 4, it can deflect the milling cutter disc 4 outward by 90°, so that the milling cutter disc 4 is deflected from the vertical direction to the horizontal direction, which is beneficial to the milling cutter disc at this time. 4 replacement and maintenance;

The height sensor 7 is fixedly installed on the milling cutter disc 4, and is used to detect the milling depth of the milling cutter disc 4 to the rail; as shown in the structure of FIG. The sensor 7 can be fixedly installed on the front end of the milling cutter disc 4 through an arc-shaped rod or an arc-shaped tube. The height sensor 7 is used to detect the vertical distance between the milling cutter disc 4 and the rail surface, and can convert the milling cutter disc 4 pair The milling depth of the rail, so as to realize the milling depth control of the rail by the milling cutter 4;

The position encoder 8 is installed on the turning mechanism 5 and is used to detect the deflection angle of the milling cutter disc 4; as shown in the structure of Figure 1, the position encoder 8 is used to detect the deflection angle of the turning mechanism 5 driving the milling cutter disc 4. 5. Drive the milling cutter disc 4 to deflect in the vertical plane coincident with the lateral direction, so as to realize the asymmetrical milling of the rail;

The lateral profiling sensor 9 is installed on the turning mechanism 5 to detect the lateral position of the milling cutter disc 4; as shown in the structure of FIG. 1, the lateral profiling sensor 9 is installed on the bottom of the turning mechanism 5 to detect the milling cutter The position of the disc 4 in the lateral direction, so as to control the lateral position of the milling cutter disc 4;

The track-seeking probe rod 10 is installed on the positioning mechanism for secondary positioning of the rail; as shown in the structure of Figure 1, the track-seeking probe 10 is installed on the inner side of the positioning mechanism, and the secondary positioning;

The laser detection sensor 11 is installed on the lateral position adjustment mechanism, and is used to detect the profile of the rail and initially position the rail in the lateral direction; as shown in the structure of Figure 1, the laser detection sensor 11 can move along the lateral direction with the lateral position adjustment mechanism , the profile of the rail can be detected by the laser detection sensor 11, and the rail can be positioned in the lateral direction; the laser detection sensor 11 can be installed on the left and right sides of the lateral position adjustment mechanism;

The pressure sensor (not shown in the figure) is installed on the positioning mechanism to detect the pressure of the milling cutter disc 4 acting on the rail; the constant pressure closed-loop control of the milling cutter disc 4 on the rail milling can be realized through the pressure sensor;

A wire-pull sensor (not shown in the figure) is used to detect the displacement of the vertical position adjustment mechanism in the vertical direction; the wire-pull sensor can realize the precise position closed-loop control of the milling cutter head 4 in the vertical direction;

The control unit (not shown in the figure) is used to obtain the detection signals of the height sensor 7, the position encoder 8, the lateral profiling sensor 9, the track-seeking probe 10, the laser detection sensor 11, the pressure sensor, and the pull-wire sensor, And according to the detection signal, closed-loop control is performed on the lateral position adjustment mechanism, the vertical position adjustment mechanism, the positioning mechanism, the turning mechanism 5 and the spindle motor 6, so as to realize the fine milling and repair of the rail. Fig. 2 is the control block diagram of the control system of the rail fine milling operation in Fig. 1. As shown in the structure of Fig. 2, the control unit is used to control the entire rail fine milling operation control system. The damage of the rail is precisely aligned, so as to realize the precise repair of the damage of the rail; the control system can include a motion control module and a servo drive module, and the servo drive module controls the spindle motor 6 to realize the constant power control of the milling cutter disc 4 and control the lateral position adjustment. The mechanism realizes the real-time servo control of the milling cutter disc 4 in the lateral direction, controls the vertical position adjustment mechanism to realize the servo control of the milling depth of the milling cutter disc 4, and controls the turning mechanism 5 to realize the deflection angle of the milling cutter disc 4 to realize asymmetrical milling of the rail. .

The above-mentioned steel rail fine milling operation control system is fixedly installed on the body of the steel rail milling car through the base 1. When the steel rail is milled and repaired, the rail fine milling operation control system is moved along the extension direction of the steel rail by the rail milling car. The movement in the lateral direction is realized through the lateral position adjustment mechanism, and the movement in the vertical direction is realized through the vertical position adjustment mechanism. The position of the disc 4 in the three-dimensional direction is adjusted, and the control unit can control the milling cutter disc 4 to accurately locate the disease on the rail according to the detection signal of each detection element. The repair is carried out by grinding, and at the same time, the rail can be asymmetrically milled through the turning mechanism 5. Therefore, the above-mentioned rail finishing milling operation control system can not only carry out the rough-milled rail shape trimming again, but also does not need to use The grinding method is used for secondary trimming of the rail, which has little environmental pollution and can also realize the asymmetric milling function of the rail.

As shown in the structure of FIG. 1, the above-mentioned lateral position adjustment mechanism may include a lateral base plate 13, a slide rail 14, a lateral servo motor 15, a lead screw 16 and a nut (not shown in the figure); the slide rail 14 is fixedly installed on the base 1, As shown in the structure of FIG. 1 , two slide rails 14 are arranged on the surface of the base 1 in parallel at the top and the bottom, and the slide rails 14 extend in the lateral direction; The sliding groove is shaped to fit with the sliding rail 14, and through the shape matching between the sliding groove and the sliding rail 14, the lateral base plate 13 can slide in the lateral direction along the sliding rail 14; the lead screw 16 is rotatably installed on the base 1, and the lead screw 16 The axis of the shaft extends in the lateral direction; the transmission connection between the lateral servo motor 15 and the lead screw 16 is used to drive the lead screw 16 to rotate; the nut is fixedly installed on the lateral base plate 13 and is screwed with the lead screw 16; the control unit controls the lateral The servo motor 15 realizes lateral position adjustment.

The above-mentioned lateral position adjustment mechanism can realize lateral movement by adopting the structure of the above-mentioned motor-driven screw nut pair, or through the transmission mode of motor-driven rack and pinion, and can also adopt the driving mode of hydraulic cylinder, air cylinder, and electric push rod. The lateral movement of the lateral position adjustment mechanism is realized.

As shown in the structure of FIG. 1 , the above-mentioned vertical position adjustment mechanism includes a lifting oil cylinder 17 and a milling cutter disc box 12; the lifting oil cylinder 17 is arranged in the vertical direction and includes a cylinder barrel and a piston rod. On one side of the base 1, the piston rod is fixedly connected with the milling cutter disc box 12; the turning mechanism 5 is installed on the side of the milling cutter disc housing 12 away from the base 1; the control unit controls the lifting cylinder 17 to extend and retract to realize the milling cutter disc 4 vertical position adjustment.

The control unit controls the elevating cylinder 17 to drive the extension and retraction of the piston rod, so that the up and down movement of the milling cutter disc box 12 can be realized, and finally the position of the milling cutter disc 4 in the vertical direction can be adjusted to realize the control of the milling depth of the rail. At the same time, the lifting oil cylinder 17 can also be realized by using an air cylinder and an electric push rod.

As shown in the structure of FIG. 1 , the positioning mechanism includes a positioning shoe 2 for positioning the rail and a vertical servo motor 3 for driving the positioning shoe 2 to move in the vertical direction; the vertical servo motor 3 is fixedly installed on the lateral base plate 13 ; The control unit controls the vertical servo motor 3 to act.

The positioning mechanism realizes the positioning of the rail through the positioning shoe 2, and at the same time realizes the movement and position adjustment of the positioning shoe 2 in the vertical direction through the vertical servo motor 3, and realizes the positioning of the rail through the positioning shoe 2, and realizes the milling cutter. The reference positioning of the disc 4 to the rail is convenient for the control unit to control the displacement control and the milling depth control of the milling cutter disc 4 in the lateral and vertical directions.

As shown in the structure of FIG. 1 , the turning mechanism 5 includes a turning servo motor 18 fixedly installed on the milling cutter disc box 12; the turning servo motor 18 and the milling cutter disc 4 are driven by a pair of bevel gears; the position encoder 8 is connected to The bevel gears in the bevel gear pair are connected coaxially. Since the milling cutter disc 4 is fixedly mounted on the milling cutter disc case 12 through the turning mechanism 5, the milling cutter disc 4 can be adjusted in the lateral and vertical directions along with the lateral position adjustment mechanism and the vertical position adjustment mechanism, and at the same time, it can also The deflection of the milling cutter head 4 in the vertical plane along the transverse direction is realized by the drive of the turning mechanism 5, and the turning servo motor 18 and the milling cutter head 4 are driven by a bevel gear to realize the direction conversion of the movement axis, and at the same time the cone The gear has the characteristics of large transmission torque and high transmission accuracy.

As shown in the structure of Figure 2, the control unit includes a signal acquisition module, a motion control module, an oil cylinder control module and a servo drive module;

The signal acquisition module is connected with the height sensor 7, the position encoder 8, the lateral profiling sensor 9, the track probe 10, the laser detection sensor 11, the pressure sensor, and the pull-wire sensor signal for acquiring detection signals; the signal acquisition module collects The detection signal of the laser detection sensor 11 can be sent to the motion control module through the PROFINET bus;

The motion control module is the main controller, which is used to generate control commands according to the input operation commands and the detection signals collected by the received signal acquisition module, and send the control commands to the cylinder control module and the servo drive module;

The oil cylinder control module performs position closed-loop control and pressure closed-loop control on the lifting cylinder 17, and controls the lifting cylinder 17 to realize the initial positioning of the milling cutter head 4 on the rail in the vertical direction according to the received control instructions;

According to the received control instructions, the servo drive module controls the movements of the horizontal servo motor 15 , the vertical servo motor 3 , the turning servo motor 18 and the spindle motor 6 , and the vertical servo motor 3 realizes the vertical movement of the milling cutter 4 to the rail. Precise positioning and control of the milling depth, through the spindle motor 6 to achieve the milling of the rail, through the lateral servo motor 15 to achieve the initial positioning and precise positioning of the rail in the lateral direction by the milling cutter 4, through the flip servo motor 18 to achieve milling The angle deflection of the cutter head 4 realizes asymmetrical milling of the rail.

The control unit can manually input the operation instructions, and the control unit can control each component to act according to the corresponding relationship between the pre-stored program and the operation instruction. At the same time, the control unit can use the detection signal of each detection component as the input signal, and perform the operation through the pre-stored program. , obtain control instructions, so as to control each component to execute according to the predetermined operation, the milling and repair of the rail has been completed; the precise repair of the rail can be automatically completed by the control unit, which not only saves manpower but also has a good repair effect.

On the basis of the above various embodiments, according to the feedback signal of the wire pulling sensor, the oil cylinder control module realizes the precise position closed-loop control of the milling cutter head 4 in the vertical direction through the lifting oil cylinder 17 . The positioning mechanism can be connected to the milling cutter disc box 12 through a line rail; the spindle motor 6 is connected through a transmission between the gear box and the tool rest. Both the vertical servo motor 3 and the horizontal servo motor 15 can have their own high-precision absolute position encoders.

In addition, according to the different conditions of rail damage, the control unit has two control modes: constant power control for milling and displacement control for milling depth; in general, constant power control for milling is selected when the rail damage is small, and milling is selected when the rail damage is large. Depth displacement control. Figure 3 is a schematic diagram of the control principle of the control system for the precision milling operation of the rail in Figure 1 when the constant power control of milling is implemented. As shown in Figure 3, the constant power control of milling can use a double closed-loop control method, and the inner loop is the vertical servo motor 3 position Closed loop, the outer loop is the power closed loop of the spindle motor 6. Fig. 4 is a schematic diagram of the control principle of the control system for the precision milling operation of the rail in Fig. 1 when implementing the displacement control of the milling depth. As shown in Fig. 4, the displacement control of the milling depth can also adopt a double closed-loop control method, and the inner loop is a vertical servo motor 3 Position closed loop, the outer loop is the height sensor 7 position closed loop. FIG. 5 is a schematic diagram of the control principle of the control system for the precision milling operation of the rail in FIG. 1 when the asymmetric milling control is implemented. When performing asymmetrical milling, as shown in Figure 5, the asymmetrical milling control can also use a double closed-loop control method. compensation function.

When the rail milling car adopts the above-mentioned rail fine milling operation control system, not only can the rough-milled rail be re-finished, but the repair effect is good, and the overall cost is low. The environmental pollution is small, and two different control methods can be used to realize the shaping and repair of the rails for different grades of rail diseases; the rail milling car body is provided with a rail fine milling operation control system corresponding to the rails one by one. The operation control systems on both sides are symmetrically arranged. The system has a compact and clear structure. At the same time, the control unit has high precision and fast response, which can meet the requirements of high-speed rail milling control; Well, the milling effect is good, and the deflection angle of the milling cutter disc 4 can be adjusted in real time by controlling the turning mechanism 5, so as to realize asymmetrical milling of the rail and improve the contact relationship between the wheel and the rail to the greatest extent.

In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "front", "rear", "first", "tail", etc. is based on the orientation or positional relationship shown in the accompanying drawings, only for the purpose of It is convenient to describe the application and to simplify the description, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the application.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of this application, "plurality" means at least two, such as two, three, etc., unless expressly and specifically defined otherwise.

In this application, unless otherwise expressly specified and limited, terms such as "installation" and "connection" should be understood in a broad sense; taking connection as an example, it can be directly connected, or indirectly connected through an intermediate medium, or two Connectivity within an element or interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

While a few alternative embodiments of the present application have been described, additional changes and modifications to these embodiments may occur to those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be construed to include alternative embodiments and all changes and modifications that fall within the scope of the present application.

Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

A rail finish milling operation control system for a rail milling car, characterized in that it includes:

The base is fixedly installed on the body of the rail milling car;

a lateral position adjustment mechanism, which can be slidably mounted on the base along the lateral direction;

The vertical position adjustment mechanism is fixedly installed on the side of the lateral position adjustment mechanism away from the base, and can adjust the position along the vertical direction;

a positioning mechanism, which can be installed on the side of the lateral position adjustment mechanism away from the base in a position-adjustable manner along the vertical direction, and is used for positioning the rail;

The milling cutter head is installed on the vertical position adjustment mechanism through a turning mechanism, and is provided with a tool holder and a spindle motor that drives the tool holder to rotate; the turning mechanism is used to drive the milling cutter head towards the steel rail. deflection;

a height sensor, fixedly mounted on the milling cutter disc, for detecting the milling depth of the steel rail by the milling cutter disc;

A lateral profiling sensor, installed on the turning mechanism, is used to detect the lateral position of the milling cutter;

a laser detection sensor, installed on the lateral position adjustment mechanism, used for detecting the profile of the rail and initially positioning the rail in the lateral direction;

a pull wire sensor for detecting the displacement of the vertical position adjustment mechanism in the vertical direction;

a control unit, configured to acquire detection signals of the height sensor, the lateral profiling sensor, the laser detection sensor and the pull-wire sensor, and adjust the lateral position adjustment mechanism, the vertical position according to the detection signals The adjusting mechanism, the positioning mechanism, the turning mechanism and the spindle motor perform closed-loop control to realize the fine milling and repair of the steel rail.
The rail finishing milling operation control system according to claim 1, further comprising:

A rail-finding probe is installed on the positioning mechanism for secondary positioning of the rail;

a position encoder, mounted on the turning mechanism, for detecting the deflection angle of the milling cutter disc;

The control unit is signal-connected to both the track-seeking probe rod and the position encoder, and is used for acquiring detection signals of the track-seeking probe rod and the position encoder.
The rail finishing milling operation control system according to claim 2, further comprising:

a pressure sensor, mounted on the positioning mechanism, for detecting the pressure of the milling cutter disc acting on the rail;

A lateral profiling sensor, mounted on the turning mechanism, is used to detect the lateral position of the milling cutter head;

Side Profile Sensor The control unit is connected with both the pressure sensor and the side profile sensor in signal connection, and is used for acquiring detection signals of the pressure sensor and the side profile sensor.
The steel rail finishing milling operation control system according to claim 3, wherein the lateral position adjustment mechanism comprises a lateral base plate, a slide rail, a lateral servo motor, a lead screw and a nut;

the slide rail is fixedly mounted on the base;

the lateral base plate is slidably matched with the slide rail;

the lead screw is rotatably mounted on the base;

A transmission connection between the transverse servo motor and the lead screw is used to drive the lead screw to rotate;

The nut is fixedly mounted on the horizontal base plate and is screwed with the lead screw;

The control unit realizes the lateral position adjustment by controlling the lateral servo motor.
The steel rail finishing milling operation control system according to claim 4, wherein the vertical position adjustment mechanism comprises a lifting oil cylinder and a milling cutter disc box;

The lifting oil cylinder is arranged in the vertical direction, and includes a cylinder barrel and a piston rod. The cylinder barrel is fixedly installed on the side of the lateral base plate away from the base, and the piston rod is fixed to the milling cutter disc box. connect;

the turning mechanism is installed on the side of the milling cutter disc box away from the base;

The control unit controls the elevating oil cylinder to telescopically adjust the vertical position of the milling cutter head.
The steel rail finishing milling operation control system according to claim 5, wherein the positioning mechanism comprises a positioning shoe for positioning the steel rail and a vertical position for driving the positioning shoe to move in a vertical direction servo motor;

The vertical servo motor is fixedly installed on the horizontal base plate;

The control unit controls the action of the vertical servo motor.
The rail finishing milling operation control system according to claim 6, wherein the turning mechanism comprises a turning servo motor fixedly mounted on the milling cutter disc box;

The overturning servo motor and the milling cutter head are driven by a pair of bevel gears;

The position encoder is coaxially connected to the bevel gear in the pair of bevel gears.
The rail finishing milling operation control system according to claim 7, wherein the control unit comprises a signal acquisition module, a motion control module, an oil cylinder control module and a servo drive module;

The signal acquisition module is signal-connected with the height sensor, the position encoder, the lateral profiling sensor, the track-seeking probe, the laser detection sensor, the pressure sensor and the pull-wire sensor, Used to obtain detection signals;

The motion control module is the main controller, which is used to generate a control command according to the input operation command and the received detection signal collected by the signal acquisition module, and send the control command to the oil cylinder control module and the servo drive module;

The oil cylinder control module performs position closed-loop control and pressure closed-loop control on the lifting oil cylinder, and controls the lifting oil cylinder to realize the initial vertical direction of the steel rail by the milling cutter head according to the received control command. position;

According to the received control command, the servo drive module controls the movement of the lateral servo motor, the vertical servo motor, the flip servo motor and the spindle motor, and realizes the milling through the vertical servo motor. The precise positioning of the cutter head on the steel rail in the vertical direction and the control of the milling depth, the milling of the steel rail is realized through the spindle motor, and the lateral direction of the milling cutter head is realized through the transverse servo motor. For the initial positioning and precise positioning of the steel rail, the angle deflection of the milling cutter head is realized by the inversion servo motor, and the asymmetrical milling of the steel rail is realized.
The rail finishing milling operation control system according to claim 8, characterized in that, according to the feedback signal of the pulling wire sensor, the oil cylinder control module realizes the vertical precision of the milling cutter head through the lifting oil cylinder. Position closed loop control.
The steel rail finishing milling operation control system according to claim 9, wherein the positioning mechanism is connected to the milling cutter disc box through a wire rail;

The spindle motor is in a transmission connection with the tool rest through a gear box.
The rail finishing milling operation control system according to any one of claims 1-10, wherein the control unit has two control modes: constant power control for milling and displacement control for milling depth.
A rail milling car for rails, comprising a car body, and characterized in that it further comprises the control system for finishing rail milling operations according to any one of claims 1-11;

The base of the steel rail finish milling operation control system is fixedly installed on the vehicle body.