CN114378726B - Abrasive water jet rail grinding nozzle attitude control system and method - Google Patents

Abstract

The invention discloses a system and a method for controlling the attitude of a rail grinding nozzle by abrasive particle water jet, wherein the system comprises a grinding wagon, a calculation control unit, a jet flow generation unit, a mechanical arm driving unit, a laser ranging sensor assembly and a nozzle control unit, wherein the grinding wagon is arranged above a rail to be ground; the nozzle control unit comprises a mechanical arm arranged below the mechanical arm driving unit, a jet nozzle arranged on the mechanical arm and a gyroscope; the rail top height data of different section steel rails in the running process of the grinding vehicle are rapidly acquired through the laser ranging sensor assembly, the ideal grinding contour dimensions of the different section steel rails are calculated through the calculation control center, the space state of the jet flow nozzle is accurately positioned through the gyroscope and the mechanical arm, the path planning is carried out by combining the target space position of the jet flow nozzle, and the mechanical arm is driven by the mechanical arm driving unit and drives the jet flow nozzle to rapidly reach the target space position to execute the grinding work.

Description

Abrasive water jet rail grinding nozzle attitude control system and method

technical field

The invention belongs to the technical field of abrasive water jet rail repairing, and more specifically relates to a posture control system and method for abrasive water jet rail grinding nozzles.

Background technique

Rails are the main components of rail transit. Due to the dynamic effect of the train, the natural environment and the quality of the rail itself, various damages often occur on the rail, which reduces the stability of the train operation, reduces the service life of the rail, and even seriously affects the driving safety. Therefore, it is very important to repair the rail damage in time.

High-pressure abrasive water jet technology is widely used in cutting and drilling due to its advantages of high processing efficiency, simple structure, convenient control, and environmental friendliness. Therefore, high-pressure abrasive water jet technology has a good application in rail grinding and repairing. prospect. Because the damage of each rail is not the same, with the increase of the number of repairs, the cross-sectional size of different rails will be significantly different. During the running process, the distance between each part of the train relative to the rail sleeper is not exactly the same, and it is difficult to achieve accurate positioning of the jet nozzle.

Therefore, there is an urgent need for an abrasive water jet rail grinding nozzle attitude control system that can quickly realize the precise positioning of the jet nozzle to solve the deficiencies in the prior art.

Contents of the invention

Aiming at the above defects or improvement needs of the prior art, the present invention provides an abrasive water jet rail grinding nozzle attitude control system and method, which uses laser ranging sensor components to monitor the height data of the rail tops of different cross-section rails during the running of the train. Quickly collect and process the collected data through the calculation control center, and calculate the ideal contour size of rail grinding with different sections, so as to realize the real-time calculation of the target spatial position of the jet nozzle in different rail sections; through the gyroscope and the mechanical arm, the spatial state of the jet nozzle Carry out precise positioning, combined with the target space position of the jet nozzle for path planning, use the mechanical arm drive unit to drive the mechanical arm and drive the jet nozzle to quickly reach the target space position to perform grinding work; solve the obvious problem of different rail cross-sectional sizes in the existing rail grinding The distance between each part and the rail sleeper is not exactly the same during the driving process of the grinding vehicle, and it is difficult to achieve precise positioning of the jet nozzle.

In order to achieve the above object, one aspect of the present invention provides an abrasive water jet rail grinding nozzle attitude control system, including a grinding car arranged above the rail to be polished, a calculation control unit and a jet generating unit arranged in the grinding car And the mechanical arm driving unit, the laser distance measuring sensor assembly and the nozzle control unit located on the lower surface of the grinding vehicle; wherein,

The jet flow generation unit, the mechanical arm drive unit, the laser ranging sensor assembly, and the nozzle control unit are respectively connected to the calculation control unit in communication;

The nozzle control unit includes a mechanical arm arranged under the mechanical arm drive unit, a jet nozzle and a gyroscope arranged on the mechanical arm;

The jet nozzle is connected to the jet generating unit through a jet tube;

The rail top height data of the rails in different sections during the driving process of the grinding vehicle is quickly collected through the laser ranging sensor assembly, and the collected data is processed by the calculation control center, and the rail heights of the rails in different sections are processed. Grinding the ideal contour size for calculation, so as to realize the real-time calculation of the target spatial position of the jet nozzle in different rail sections; accurately position the spatial state of the jet nozzle through the gyroscope and the mechanical arm, and combine the jet flow The path planning is performed on the target spatial position of the nozzle, and the mechanical arm is driven by the mechanical arm drive unit to drive the jet nozzle to quickly reach the target spatial position to perform grinding work.

Further, a jet generation system power control line is provided between the jet generation unit and the calculation control unit, and the communication connection between the jet generation unit and the calculation control unit is realized through the jet generation system power control line;

A power supply signal line of the manipulator is provided between the drive unit of the manipulator and the calculation control unit, and the communication connection between the drive unit of the manipulator and the calculation control unit is realized through the power signal line of the manipulator;

A gyroscope power signal line is provided between the gyroscope and the calculation control unit, and the communication connection between the gyroscope and the calculation control unit is realized through the gyroscope power signal line.

Further, the laser range-finding sensor assembly includes a first laser range-finding sensor and a second laser range-finding sensor spaced apart on the lower surface of the grinding vehicle;

A first laser ranging sensor power signal line is provided between the first laser ranging sensor and the calculation control unit, and the first laser ranging sensor and the first laser ranging sensor are realized through the first laser ranging sensor power signal line. a communication connection of the computing control unit;

A second laser ranging sensor power supply signal line is provided between the second laser ranging sensor and the calculation control unit, and the second laser ranging sensor and the second laser ranging sensor are realized through the second laser ranging sensor power signal line. The communication connection of the computing control unit.

Further, the rail is arranged on a rail sleeper;

The first laser distance measuring sensor is arranged directly above the center of the rail sleeper, and is used to measure the distance H1 between the grinding vehicle and the rail sleeper in real time, and the power signal line of the first laser distance measuring sensor connects The distance H1 data is sent to the computing control center;

The second laser ranging sensor is arranged directly above the center of the rail top of the rail, and is used to measure the distance H2 between the grinding vehicle and the rail top of the rail in real time, and the second laser ranging sensor The sensor power signal line transmits the distance H2 data to the computing control center.

Further, the mechanical arm protrudes from the grinding vehicle, the jet nozzle is installed in the front end sleeve of the mechanical arm, and the gyroscope is installed on the front end sleeve of the mechanical arm.

Another aspect of the present invention provides a method for attitude control of abrasive water jet rail grinding nozzles, comprising the following steps:

S1: Carry out calibration and zero-point drift compensation on the coordinate system of the robotic arm and its own attitude, the first laser ranging sensor, the second laser ranging sensor, and the gyroscope;

S2: The calculation control center compares the standard size of the rail with the measured rail top height of the rail according to the standard profile of the rail, and uses the principle of similarity to establish the ideal profile size of the rail;

S3: The calculation control center compares the ideal profile size of the rail with the real-time jet cutting parameters, and calculates and obtains the target position data of the jet nozzle;

S4: The calculation control center analyzes the real-time state detection data of the gyroscope and the mechanical arm, and obtains the actual spatial position data of the jet nozzle through calculation;

S5: The computing control center plans the path of the robotic arm, and the robotic arm driving unit drives the robotic arm so that the position of the jet nozzle reaches the target position from the actual spatial position, thereby realizing jet flow Precise control of the spatial position of the nozzle;

S6: The calculation control center transmits the new real-time jet cutting parameters to the jet generation system, the jet generation system generates high-pressure abrasive jets and transmits them to the jet nozzles, and the jet nozzles impact the high-pressure abrasive jets Grinding is performed on the rail.

Further, obtaining the measured rail top height in step S2 includes the following steps:

S21: During the driving process of the grinding vehicle, measure the distance H1 between the grinding vehicle and the rail sleeper through the first laser ranging sensor, and transmit the distance H1 data through the power signal line of the first laser ranging sensor to the computing control center;

S22: Measure the distance H2 between the grinding vehicle and the rail top through the second laser ranging sensor, and transmit the distance H2 data to the computing control center through the power signal line of the second laser ranging sensor;

S23: The calculation and control center obtains the measured rail top height of the rail through calculation H3=H1-H2 and obtains the measured rail top height of the rail through calculation by the calculation and control center.

Further, the target position data in step S3 includes the distance H0 between the jet nozzle and the rail, the rotation angle α0 of the jet nozzle along the rail direction, and the distance between the jet nozzle and the upper surface of the rail sleeper. Angle β0.

Further, the obtaining of the actual spatial position data in step S4 includes: the gyroscope transmits the detected real-time angle data information to the calculation control center through the gyroscope power signal line, and the mechanical arm drives The unit transmits the real-time state information of the manipulator to the calculation control center through the power signal line of the manipulator, and the calculation control center obtains the actual spatial position data of the jet nozzle through calculation.

Further, the actual spatial position data in step S4 includes the distance H4 between the jet nozzle and the rail, the rotation angle α1 of the jet nozzle along the rail direction, and the distance between the jet nozzle and the upper surface of the rail sleeper. Angle β1.

Generally speaking, compared with the prior art, the above technical solutions conceived by the present invention can achieve the following beneficial effects:

An abrasive water jet rail grinding nozzle attitude control system and method according to the present invention uses laser ranging sensor components to quickly collect the rail top height data of different cross-section rails during the running process of the grinding train, and the collected data is collected by the calculation control center Perform processing to calculate the ideal profile size of rails with different cross-sections, so as to realize the real-time calculation of the target spatial position of the jet nozzle in different rail cross-sections; accurately position the spatial state of the jet nozzle through the gyroscope and the mechanical arm, and combine the target spatial position of the jet nozzle Carry out path planning, use the mechanical arm drive unit to drive the mechanical arm and drive the jet nozzle to quickly reach the target space position to perform grinding work; solve the obvious difference in the cross-sectional size of different rails in the existing rail grinding. The distance between the relative steel rail sleepers is not exactly the same, and it is difficult to achieve precise positioning of the jet nozzle.

Description of drawings

Fig. 1 is a schematic structural view of an abrasive water jet rail grinding nozzle attitude control system according to an embodiment of the present invention;

Fig. 2 is a partially enlarged schematic diagram of a jet nozzle control structure of an abrasive water jet rail grinding nozzle attitude control system according to an embodiment of the present invention;

Fig. 3 is an operation flow chart of an abrasive water jet rail grinding nozzle attitude control method according to an embodiment of the present invention.

In all the drawings, the same reference numerals represent the same technical features, specifically: 1-steel rail, 11-steel rail sleeper, 2-grinding car, 3-calculation control center, 4-jet flow generation unit, 41-jet flow generation System power signal line, 42-Jet tube, 5-Robot arm drive unit, 51-Robot arm power signal line, 6-Laser ranging sensor assembly, 61-First laser ranging sensor, 611-First laser ranging sensor Power signal line, 62-second laser ranging sensor, 621-second laser ranging sensor power signal line, 7-nozzle control unit, 71-mechanical arm, 72-jet nozzle, 73-gyroscope, 731-gyroscope Power signal line.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, when an element is referred to as being "fixed on", "disposed on" or "located on" another element, it may be directly placed on another on the element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element; the terms "mounted", "connected", "connected", "equipped with "It should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary. It is the connection between two elements or the interaction relationship between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In addition, the terms “first”, “second”, . . . are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first", "second", . . . may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

In describing the present invention, it should be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", " The orientation or positional relationship indicated by "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is for convenience only The present invention is described and simplified descriptions do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as limiting the present invention.

As shown in Figures 1-3, the present invention provides an abrasive water jet rail grinding nozzle attitude control system, which includes a grinding car 2 arranged above the rail 1 to be polished, and a calculation control unit arranged in the grinding car 2 3. The jet generating unit 4 and the mechanical arm drive unit 5, the laser ranging sensor assembly 6 and the nozzle control unit 7 arranged on the lower surface of the grinding vehicle 2; the rail 1 is arranged on the rail sleeper 11; the jet generating Unit 4, the manipulator drive unit 5, the laser ranging sensor assembly 6, and the nozzle control unit 7 are respectively connected to the calculation control unit 3 in communication; the nozzle control unit 7 includes a The mechanical arm 71 below the drive unit 5, the jet nozzle 72 and the gyroscope 73 arranged on the mechanical arm 71; the jet nozzle 72 is connected with the jet generation unit 4 through the jet tube 42; the present invention uses laser ranging The sensor component quickly collects the rail top height data of different cross-section rails during the running of the train, and processes the collected data through the calculation control center to calculate the ideal contour size of different cross-section rails, so as to achieve the goal of jet nozzles for different rail cross-sections Real-time calculation of the spatial position; precise positioning of the spatial state of the jet nozzle through the gyroscope and the robotic arm, and combined with the target spatial position of the jet nozzle for path planning, using the robotic arm drive unit to drive the robotic arm and drive the jet nozzle to quickly reach the target spatial position for execution Grinding work; it solves the problem that the cross-sectional size of different rails will be obviously different in the existing rail grinding, and the distance between each part relative to the rail sleeper is not exactly the same during the driving process of the grinding car, and the problem that the jet nozzle is difficult to achieve precise positioning.

Further, as shown in Figure 1 and Figure 2, a jet generation system power control line 41 is provided between the jet generation unit 4 and the calculation control unit 3, and the jet generation system power control line 41 realizes the The communication connection between the jet generation unit 4 and the calculation control unit 3; the mechanical arm power signal line 51 is arranged between the mechanical arm drive unit 5 and the calculation control unit 3, and the power supply signal line 51 of the mechanical arm is realized The manipulator drive unit 5 is in communication with the computing control unit 3 .

Further, as shown in Figures 1 and 2, the laser ranging sensor assembly 6 includes a first laser ranging sensor 61 and a second laser ranging sensor 62 arranged at intervals on the lower surface of the grinding vehicle 1; A first laser ranging sensor power supply signal line 611 is provided between the first laser ranging sensor 61 and the calculation control unit 3, and a second laser ranging sensor 62 and the calculation control unit 3 are provided. Two laser ranging sensor power signal lines 621, through the first laser ranging sensor power signal line 611 and the second laser ranging sensor power signal line 621 to realize the first laser ranging sensor 61 and the second laser ranging sensor Two laser distance measuring sensors 62 are connected with the communication of the calculation control unit 3; the first laser distance measuring sensor 61 is located directly above the center of the steel sleeper 11; the second laser distance measuring sensor 62 is located at the directly above the center of the rail top of the rail 1; the first laser ranging sensor 61 is used to measure the distance H1 between the grinding car 1 and the rail sleeper 11 in real time, and the power signal of the first laser ranging sensor Line 611 transmits the distance H1 data to the calculation control center 3; the second laser ranging sensor 62 is used to measure the distance H2 between the grinding car 1 and the rail top of the rail 1 in real time, and The distance H2 data is transmitted to the calculation control center 3 through the power signal line 621 of the second laser ranging sensor; the calculation control center 3 calculates the rail top height H3=H1- of the rail 1 H2, and compare the standard size H of the rail 1 with the measured rail top height H3 according to the standard profile of the rail, and use the principle of similarity to establish the ideal profile size of the rail 1.

Further, as shown in Figures 1 and 2, the mechanical arm 71 protrudes from the grinding vehicle 2, the jet nozzle 72 is installed in the front sleeve of the mechanical arm 71, and the gyroscope 73 is installed in the On the front end sleeve of the mechanical arm 71, a gyroscope power signal line 731 is provided between the gyroscope 73 and the calculation control unit 3, and the gyroscope 73 and the The communication connection of the control unit 3 is calculated; the jet nozzle 72 is connected with the jet generation unit 4 through the jet tube 42 .

As shown in Figure 3, another aspect of the present invention provides a method for controlling the attitude of abrasive water jet rail grinding nozzles, comprising the following steps:

S1: Perform calibration and zero-point drift compensation on the coordinate system of the robotic arm 71 and its own posture, the first laser ranging sensor, the second laser ranging sensor, and the gyroscope; specifically, in each Before the next operation, the coordinate system of the robotic arm and its own attitude, the first laser ranging sensor, the second laser ranging sensor, and the gyroscope are calibrated and zero-point drift compensation is performed to ensure that the movement of the robotic arm is consistent with the measurement data of the laser ranging sensor. the accuracy;

S2: According to the standard profile of the rail 1, the calculation control center compares the standard size of the rail with the measured rail top height of the rail 1, and uses the principle of similarity to establish the ideal profile size of the rail 1; the measured rail top Obtaining the height includes the following steps:

S21: During the driving process of the grinding vehicle, measure the distance H1 between the grinding vehicle 2 and the rail sleeper 11 through the first laser distance measuring sensor 61, and send The distance H1 data is sent to the computing control center 3;

S22: Measure the distance H2 between the grinding car 2 and the rail top of the rail 1 through the second laser ranging sensor 62, and transmit the distance H2 data to the computer through the second laser ranging sensor power signal line 621 Control Center 3;

S23: the calculation control center 3 obtains the measured rail top height of the rail 1 through calculation H3=H1-H2 and obtains the measured rail top height of the rail 1 through calculation by the calculation control center 3;

S3: The calculation control center 3 compares the ideal profile size of the rail with the real-time jet cutting parameters, and calculates the target position of the jet nozzle 72; specifically, the calculation control center 3 compares the ideal profile size of the rail 1 with the real-time Jet cutting parameters, and calculate the target position data of the jet nozzle 72, the target position data includes the distance H0 of the jet nozzle 72 from the rail 1, and the jet nozzle 72 rotates along the direction of the rail 1 Angle α0 and the included angle β0 between the jet nozzle 72 and the upper surface of the rail sleeper 11; the real-time jet cutting parameters include the jet flow velocity and pressure calculated by the calculation control center according to the comparison between the polished ideal profile and the real-time detected profile .

S4: The calculation control center 3 analyzes the real-time state detection data of the gyroscope 73 and the mechanical arm 71, and calculates the actual spatial position of the jet nozzle; specifically, the gyroscope 73 uses the gyroscope The instrument power signal line 731 transmits the real-time angle data information detected by it to the calculation control center 3, and the manipulator drive unit 5 transmits the real-time state information of the manipulator 71 through the manipulator power signal line 51. Transfer to the calculation control center 3, the calculation control center 3 obtains the actual spatial position data of the jet nozzle 72 through calculation, and the actual spatial position data includes the distance H4, The rotation angle α1 of the jet nozzle 72 along the direction of the rail 1 and the included angle β1 between the jet nozzle 72 and the upper surface of the rail sleeper 11;

S5: The computing control center 3 plans the path of the mechanical arm 71, and the mechanical arm driving unit 5 drives the mechanical arm 71 so that the position of the jet nozzle 72 reaches the target from the actual spatial position position, so as to realize the precise control of the spatial position of the jet nozzle; specifically, the calculation control center 3 plans the path of the manipulator 71, which is transmitted to the manipulator drive unit 5 by the power signal line 51 of the manipulator , the mechanical arm driving unit 5 provides power to drive the mechanical arm 71 so that the position of the jet nozzle 72 reaches the target position from the actual spatial position, that is, the distance between the jet nozzle 72 and the rail 1 is determined by H4 When H0 is reached, the rotation angle of the jet nozzle 72 along the direction of the rail 1 changes from α1 to α0, and the angle between the jet nozzle 72 and the upper surface of the rail sleeper 11 changes from β1 to β0;

S6: The computing control center 3 transmits the new real-time jet cutting parameters to the jet generating system 4, and the jet generating system 4 generates a high-pressure abrasive jet and transmits it to the jet nozzle 72, and the jet nozzle 72 converts the The high-pressure abrasive jet impacts on the rail 1 for grinding; specifically, the calculation control center 3 transmits the new real-time jet cutting parameters to the jet generation system 4 through the power signal line 41 of the jet generation system, so The jet generating system 4 generates a high-pressure abrasive jet and transmits it to the jet nozzle 72 through the jet pipe 42, and the jet nozzle 72 impacts the high-pressure abrasive jet on the rail 1 for grinding.

The working principle of an abrasive water jet rail grinding nozzle attitude control system provided by the present invention: the present invention quickly collects the rail top height data of different cross-section rails during the running process of the grinding train through the laser ranging sensor assembly, and controls the The center processes the collected data and calculates the ideal profile size of rails with different cross-sections, so as to realize the real-time calculation of the target spatial position of the jet nozzles in different rail cross-sections; the spatial state of the jet nozzles is precisely positioned by the gyroscope and the mechanical arm, and combined with the jet flow The target space position of the nozzle is used for path planning, and the mechanical arm drive unit is used to drive the mechanical arm and drive the jet nozzle to quickly reach the target space position to perform grinding work; it solves the obvious difference in the cross-sectional size of different rails in the existing rail grinding. During the process, the distance between each part and the rail sleeper is not exactly the same, and it is difficult to achieve precise positioning of the jet nozzle.

It is easy for those skilled in the art to understand that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, etc., All should be included within the protection scope of the present invention.

Claims (9)

1. A method for controlling the attitude of a grinding nozzle of a steel rail by abrasive particle water jet is characterized in that:

the system used for realizing the abrasive particle water jet steel rail grinding nozzle attitude control method comprises a grinding wagon (2) arranged above a steel rail (1) to be ground, a calculation control center (3), a jet flow generation unit (4) and a mechanical arm driving unit (5) which are arranged in the grinding wagon (2), and a laser ranging sensor assembly (6) and a nozzle control unit (7) which are arranged on the lower surface of the grinding wagon (2); wherein,

the jet flow generation unit (4), the mechanical arm driving unit (5), the laser ranging sensor assembly (6) and the nozzle control unit (7) are in communication connection with the calculation control center (3) respectively; the laser ranging sensor assembly (6) comprises a first laser ranging sensor (61) and a second laser ranging sensor (62) which are arranged on the lower surface of the grinding wagon (2) at intervals;

the nozzle control unit (7) comprises a mechanical arm (71) arranged below the mechanical arm driving unit (5), a jet flow nozzle (72) arranged on the mechanical arm (71) and a gyroscope (73);

the jet nozzle (72) is connected with the jet generation unit (4) through a jet pipe (42);

the rail top height data of the steel rails (1) with different sections in the running process of the grinding wagon (2) are rapidly acquired through the laser ranging sensor assembly (6), the acquired data are processed through the calculation control center (3), and the ideal grinding contour size of the steel rails (1) with different sections is calculated, so that the real-time calculation of the target space positions of the jet nozzles (72) with different steel rail sections is realized; the space state of the jet flow nozzle (72) is accurately positioned through the gyroscope (73) and the mechanical arm (71), a path is planned in combination with the target space position of the jet flow nozzle (72), and the mechanical arm (71) is driven through the mechanical arm driving unit (5) and drives the jet flow nozzle (72) to quickly reach the target space position to execute polishing work;

the abrasive particle water jet steel rail grinding nozzle attitude control method comprises the following steps:

s1: respectively calibrating a coordinate system and self attitude of the mechanical arm (71), the first laser ranging sensor (61), the second laser ranging sensor (62) and the gyroscope (73) and compensating zero drift;

s2: the calculation control center compares the standard size of the steel rail with the actually measured rail top height of the steel rail (1) according to the standard profile of the steel rail (1), and establishes the ideal profile size of the steel rail (1) by utilizing the similarity principle;

s3: the calculation control center (3) compares the ideal contour dimension of the steel rail with the real-time jet cutting parameters to calculate and obtain target position data of the jet nozzle (72);

s4: the calculation control center (3) analyzes real-time state detection data of the gyroscope (73) and the mechanical arm (71), and obtains actual spatial position data of the jet flow nozzle (72) through calculation;

s5: the calculation control center (3) plans the path of the mechanical arm (71), and the mechanical arm driving unit (5) drives the mechanical arm (71) to enable the position of the jet flow nozzle (72) to reach the target position from the actual spatial position, so that the precise control of the spatial position of the jet flow nozzle is realized;

s6: the calculation control center (3) transmits new real-time jet cutting parameters to the jet generation unit (4), the jet generation unit (4) generates high-pressure abrasive jet and transmits the high-pressure abrasive jet to the jet nozzle (72), and the high-pressure abrasive jet is impacted on the steel rail (1) by the jet nozzle (72) to be polished.

2. The attitude control method for the abrasive particle water jet steel rail grinding nozzle according to claim 1, characterized by comprising the following steps: a power supply control line (41) of a jet flow generation system is arranged between the jet flow generation unit (4) and the calculation control center (3), and the communication connection between the jet flow generation unit (4) and the calculation control center (3) is realized through the power supply control line (41) of the jet flow generation system;

a mechanical arm power signal line (51) is arranged between the mechanical arm driving unit (5) and the calculation control center (3), and the mechanical arm driving unit (5) is in communication connection with the calculation control center (3) through the mechanical arm power signal line (51);

a gyroscope power signal line (731) is arranged between the gyroscope (73) and the calculation control center (3), and the gyroscope (73) is in communication connection with the calculation control center (3) through the gyroscope power signal line (731).

3. The abrasive water jet rail grinding nozzle attitude control method according to claim 2, characterized in that: a first laser ranging sensor power supply signal line (611) is arranged between the first laser ranging sensor (61) and the calculation control center (3), and the first laser ranging sensor (61) is in communication connection with the calculation control center (3) through the first laser ranging sensor power supply signal line (611);

a second laser ranging sensor power supply signal line (621) is arranged between the second laser ranging sensor (62) and the calculation control center (3), and the second laser ranging sensor (62) is in communication connection with the calculation control center (3) through the second laser ranging sensor power supply signal line (621).

4. The attitude control method for the abrasive particle water jet steel rail grinding nozzle according to claim 3, characterized by comprising the following steps: the steel rail (1) is arranged on the steel rail sleeper (11);

the first laser ranging sensor (61) is arranged right above the center of the steel rail sleeper (11) and used for measuring the distance H1 between the grinding wagon (2) and the steel rail sleeper (11) in real time and transmitting the data of the distance H1 to the calculation control center (3) through a power signal line (611) of the first laser ranging sensor;

the second laser ranging sensor (62) is arranged right above the rail top center of the steel rail (1) and used for measuring the distance H2 between the grinding wagon (2) and the rail top of the steel rail (1) in real time and transmitting the data of the distance H2 to the calculation control center (3) through a power signal wire (621) of the second laser ranging sensor.

5. The abrasive water jet rail grinding nozzle attitude control method according to any one of claims 1 to 4, characterized in that: the mechanical arm (71) extends out of the grinding wagon (2), the jet nozzle (72) is installed in a front end sleeve of the mechanical arm (71), and the gyroscope (73) is installed on the front end sleeve of the mechanical arm (71).

6. The method for controlling the attitude of a rail grinding nozzle by abrasive water jet according to claim 5, wherein the step S2 of obtaining the measured rail top height comprises the following steps:

s21: during the running process of the grinding wagon, measuring the distance H1 between the grinding wagon (2) and the rail sleeper (11) through the first laser ranging sensor (61), and transmitting the data of the distance H1 to the calculation control center (3) through a power signal line (611) of the first laser ranging sensor;

s22: measuring the distance H2 between the grinding wagon (2) and the rail top of the steel rail (1) through the second laser ranging sensor (62), and transmitting the data of the distance H2 to a calculation control center (3) through a power signal line (621) of the second laser ranging sensor;

s23: the calculation control center (3) calculates the measured rail top height H3= H1-H2 of the steel rail (1) and calculates the measured rail top height of the steel rail (1) through the calculation control center (3).

7. The method for controlling the attitude of the rail grinding nozzle by abrasive water jet according to claim 5, wherein the target position data in step S3 comprises a distance H0 between the jet nozzle (72) and the rail (1), a rotation angle α 0 of the jet nozzle (72) along the rail (1), and an included angle β 0 between the jet nozzle (72) and the upper surface of the rail sleeper (11).

8. The method of claim 5, wherein the obtaining of the actual spatial position data in step S4 comprises: the gyroscope (73) transmits the detected real-time angle data information to the calculation control center (3) through the gyroscope power signal line (731), the mechanical arm driving unit (5) transmits the real-time state information of the mechanical arm (71) to the calculation control center (3) through the mechanical arm power signal line (51), and the calculation control center (3) obtains the actual spatial position data of the jet flow nozzle (72) through calculation.

9. The method for controlling the attitude of the rail grinding nozzle by abrasive water jet according to claim 5, wherein the actual spatial position data in step S4 comprises a distance H4 between the jet nozzle (72) and the rail (1), a rotation angle α 1 of the jet nozzle (72) along the rail (1), and an included angle β 1 between the jet nozzle (72) and the upper surface of the rail sleeper (11).

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