Abstract: In order to solve the problems of low efficiency, high labor intensity and insufficient accuracy of traditional manual grinding methods, a fully automatic rail weld grinding system based on industrial robots was proposed. The system uses Siemens S7-1500 series PLC as the core controller, cooperates with Yaskawa GP180 six-axis industrial robot, collects rail surface topography data in real time through laser displacement sensor, and combines flexible force control technology and dynamic trajectory compensation algorithm to achieve high-precision lamination and grinding of complex special-shaped surfaces. In addition, the system significantly improves the grinding efficiency and surface quality through the multi-grinding wheel cooperative operation and the millenoblade wear compensation mechanism. According to the actual production verification of the rail welding base, the grinding efficiency of the system is 6 minutes/weld, and the manual intervention rate is less than 4%, which effectively solves the bottleneck problem of insufficient automation of the rail welding production line.