CN106192626A - Change sleeper automated machine - Google Patents

Abstract

The invention discloses replacing sleeper automated machine, be made up of rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor, Hydraulic system and control System cabine and railcar.Railcar is provided with multiple castor and two longerons, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor and Hydraulic system and control System cabine are arranged on two longerons of railcar, railcar is drawn by engineering truck, electromotor provides power for oil pump and control system, is provided with fuel tank, oil pump, hydraulic control system and automatic control system in Hydraulic system and control System cabine.The present invention can be automatically by equipment rapid alignment operating position；Can adapt to straight line and curved rail length section is changed the corresponding of pillow and worked；Swivel block and push-and-pull sleeper are integrating device, simple in construction, automatically control, easy to operate, change pillow work efficiency high.

Description

Change sleeper automated machine

Technical field

The present invention relates to a kind of railway maintenance machinery, particularly to changing sleeper automated machine.

Background technology

Railroad sleeper is during using for a long time, due to natural subsidence and vibration, under the sleeper of railway local Heavy, need to carry out maintenance, indivedual sleepers damage, and need to change in time, during sleeper replacement, use manual work, take Time laborious, inefficiency, it is impossible to complete work in effective train passage gap (being commonly called as: skylight).

Summary of the invention

It is an object of the invention to provide replacing sleeper automated machine.

The present invention be by rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor, hydraulic system and Control system case and railcar composition.Railcar is provided with multiple castor and two longerons, rail-lifting equipment, transition and push-and-pull sleeper dress Put, sleeper handling apparatus, electromotor and Hydraulic system and control System cabine are arranged on two longerons of railcar, railcar by Engineering truck draws, and electromotor provides power for oil pump and control system, is provided with fuel tank, oil in Hydraulic system and control System cabine Pump, hydraulic control system and automatic control system；

Described rail-lifting equipment be by the first telescopic component, the first retractable driving device, four connecting plates, two first turn Dynamic device, two box connectors and two carry cylinder of rail composition, and box connector is provided with semicylindrical opening, carries cylinder of rail cylinder body and sets Gusset, piston rod free end is had to be provided with fagging；

The first described telescopic component is by first party tubular fixed arm, two first party tubular telescopic arms, the first laser Displacement transducer and the first range finding reference plate composition, first party tubular telescopic arm is provided with dividing plate and two symmetrical grooves, and groove sets There is bolt hole；

The first described retractable driving device is by first party tubular fixed arm, double output shaft hydraulic motor, two elastic connection Axial organ, two monaural ring bearings, left-handed screw, left-handed square nut, right handed screw, dextrorotation square nut, two square sliders, Four bolts, two the first hex nuts and two first party tubular telescopic arms composition, right handed screw be provided with the first axle journal, second Axle journal and the 3rd axle journal, left-handed screw is the same with right handed screw version, and dextrorotation square nut is provided with two symmetric coaxial spiral shells Stricture of vagina blind hole, left-handed square nut is the same with dextrorotation square nut version, and square slider is provided with axis hole；

Monaural ring bearing is sheathed on the second axle journal of right handed screw, yielding coupling by the first axle journal of right handed screw and The right-hand member output shaft fixed connection of double output shaft hydraulic motor, dextrorotation square nut screws on right handed screw appropriate location, square slider set Being located on right handed screw the 3rd axle journal, the first hex nut pretension, first party tubular telescopic arm is sheathed on from right handed screw right-hand member On it, making first party tubular telescopic arm groove bolt hole coaxial with dextrorotation square nut tapped blind hole, two bolts screw in respectively Pretension, repeats aforementioned operation, by the support of monaural ring, left-handed screw, left-handed square nut, square slider, the first hex nut, bullet Property shaft coupling, double output shaft hydraulic motor and first party tubular telescopic arm are assembled into one, and are sheathed on by first party tubular fixed arm On two first party tubular telescopic arms, double output shaft hydraulic motor symmetry is made to be fixed on table on first party tubular fixed arm endoporus Face, two monaural ring bearings are fixed on first party tubular fixed arm endoporus upper surface, form retractable driving device, square slider with First party tubular telescopic arm forms moving sets, and the first laser displacement sensor symmetry is fixed on first party tubular fixed arm side, First range finding reference plate is fixed on first party tubular telescopic arm side；

The first described tumbler is hollow by first party tubular telescopic arm, the first spiral rotary actuator, cantilever Multidiameter, the first thrust bearing, the first casing, the second thrust bearing, the second hex nut, circular connecting plate, the 3rd hexagonal spiral shell Mother, end cap and equi intensity cantilever composition, the first spiral rotary actuator output shaft is provided with thread segment and six prism shaft parts, outstanding The hollow multidiameter of arm is provided with thread segment, the first axle journal, the second axle journal, the 3rd axle journal and connecting plate, and connecting plate is provided with spacing circular arc Groove, the first casing is provided with cantilever ladder axle sleeve and spacer pin, and cantilever multidiameter is arranged with the first axle sleeve, the second axle sleeve and the 3rd axle Set, end cap is provided with bearing pin, and circular connecting plate is provided with six prism holes, and equi intensity cantilever is provided with pin shaft hole and ring flange；

First spiral rotary actuator is fixed on the base plate of first party tubular telescopic arm dividing plate front end, hollow cantilever rank Ladder axle sleeve is located on the first spiral rotary actuator output shaft, makes cantilever hollow multidiameter connecting plate be fixed on first party tubular Telescopic arm end face, the first thrust bearing is sheathed on cantilever hollow multidiameter the 3rd axle journal, and casing cantilever ladder axle sleeve is sheathed on On first spiral rotary actuator output shaft, the first thrust bearing is made to insert casing cantilever ladder axle sleeve the 3rd axle sleeve section, outstanding Arm ladder axle sleeve the second axle sleeve section is sheathed on hollow multidiameter the second axle journal, and the second thrust bearing is sheathed on the hollow ladder of cantilever On axle the first axle journal, inserting cantilever ladder axle sleeve the first axle sleeve section, the second hex nut screws in cantilever hollow multidiameter thread segment Pretension, makes the first casing and cantilever hollow multidiameter chain connection, circular connecting plate be sheathed on the first spiral rotary actuator Output shaft six prism shaft part, makes circular connecting plate be fixed on the first casing cantilever ladder axle sleeve free end, the 3rd hex nut rotation Enter the first spiral rotary actuator output shaft thread segment pretension, make the first spiral rotary actuator output shaft and the first casing Being connected, end cap is fixed on the first casing, and equi intensity cantilever pin-and-hole is sheathed on end cap bearing pin, equi intensity cantilever ring flange Being fixed on above first party tubular telescopic arm, form the first tumbler, two connecting plates make the first casing and box connector It is fixed with one, two is carried cylinder of rail cylinder body and is respectively fixedly connected with in two box connector semicylindrical openings, form rail-lifting equipment；

Described swivel block and push-and-pull sleeper device are by the second telescopic component, the second retractable driving device, the second rotation dress Put, two connecting plates and crawl and swivel block device composition；

The second described telescopic component is by second party tubular fixed arm, second party tubular telescopic arm, the second laser displacement Sensor and second range finding reference plate composition, second party tubular fixed arm is provided with ring flange, second party tubular telescopic arm be provided with every Plate and two symmetrical grooves, groove is provided with bolt hole；

The second described retractable driving device be by second party tubular fixed arm, hydraulic motor, yielding coupling, screw rod, Monaural ring bearing, square nut, square slider, the first hex nut, two the first bolts and second party tubular telescopic arm composition, Screw rod is provided with the first axle journal, the second axle journal and the 3rd axle journal, and square nut is provided with two coaxial threaded blind holes, and square slider is provided with Axis hole；

Being sheathed on screw rod the second axle journal by monaural ring bearing, square nut screws on screw rod appropriate location, square slider set Being located on screw rod the 3rd axle journal, the first hex nut pretension, yielding coupling makes hydraulic motor output shaft and screw rod the first axle journal Coaxially being fixed with one, second party tubular telescopic arm is sheathed thereon from screw rod left end, makes second party tubular telescopic arm groove bolt Hole is coaxial with square nut tapped blind hole, and two the first bolts screw in pretension respectively, and the second square tube fixed arm is from screw rod right-hand member set Being provided thereon, make hydraulic motor be fixed on second party tubular fixed arm endoporus upper surface, monaural ring bearing is fixed on the second square tube Shape fixed arm endoporus upper surface, forms the second retractable driving device, and square slider forms moving sets with second party tubular telescopic arm, Second laser displacement sensor symmetry is fixed on second party tubular fixed arm side, and the second range finding reference plate is fixed on the second square tube Shape telescopic arm side；

The second described tumbler and the first tumbler form and version is the same, carries out and the first tumbler Identical assembly operation, forms the second tumbler；

Described crawl and swivel block device are by the second casing, the second spiral rotary actuator, hydraulic jack, first push away Power bearing, the second thrust bearing, the second hex nut, piston, piston rod, ladder U-bracket, first connecting rod, second connecting rod, two Individual first fork, two rollers, end cap and two mechanical gripper device compositions, the second casing be provided with four screwed holes of symmetry, the One circular hole portion, scallop hole section, the second circular hole portion, axle sleeve section and the 3rd circular hole portion, the second spiral rotary actuator output shaft is solid Even ring flange, ring flange is provided with spacing fan-shaped boss, and scallop hole section is provided with the first confined planes and the second confined planes, and hydraulic jack sets Having ring flange, the first axle journal, the second axle journal and the 3rd axle journal, ring flange is provided with spacing fan-shaped boss, and piston is provided with axis hole, piston Bar is provided with axle journal and ears ring, and ladder U-bracket is provided with flange, axis hole, two slotted eyes, two pin-and-holes, four the first monaural rings With eight the second monaural rings, first connecting rod is provided with ears ring and monaural ring, and second connecting rod is provided with two ears rings, and the first fork sets There are monaural ring, pin-and-hole and ears ring；

Described gripper is made up of ladder U-bracket, four the second forks, two helical springs and pressing plate, the Two forks are provided with two ears rings, and pressing plate is provided with two the first monaural rings and four the second monaural rings；

By spacing for the second spiral rotary actuator output shaft ring flange fan-shaped boss and the spacing fan of hydraulic jack ring flange Shape boss aligns connected, and the first thrust bearing is sheathed on hydraulic jack the first axle journal, and hydraulic jack penetrates the second casing rank In ladder hole, the second spiral rotary actuator output shaft ring flange and hydraulic jack ring flange is made to insert second casing the first circular hole Section, spacing fan-shaped boss left surface contacts with scallop hole section the first confined planes, and the first thrust bearing inserts second casing the second circle Hole section, makes the second spiral rotary actuator be fixed on the second box bottom, makes end cap and the second casing be connected；

Second thrust bearing is sheathed on hydraulic jack the 3rd axle journal so that it is insert the second casing the 3rd circular hole portion section, Piston rod passes ladder U-bracket axis hole, and piston shaft borehole jack is located at piston rod axle journal, the second hex nut pretension, is put by piston Enter in hydraulic jack cylinder barrel, ladder U-bracket flange is penetrated hydraulic jack cylinder barrel and is connected, make oil cylinder the second axle journal and the first case Body axle sleeve section chain connection, coaxially penetrates bearing pin hinge by piston rod ears ring, second connecting rod ears ring and first connecting rod monaural ring Chain connects, and the second fork ears ring coaxially penetrates pin hinge and is connected with roller, the second fork pin-and-hole and ladder U-bracket pin-and-hole Coaxially penetrating pin hinge to connect, first connecting rod ears ring and second connecting rod ears ring are same with two the first fork monaural rings respectively Axle penetrates pin hinge and connects；

The ears ring of four the second forks is coaxially penetrated pin hinge with four the second monaural rings of ladder U-bracket respectively Connecting, another ears ring of four the second forks coaxially penetrates pin hinge with four the second monaural rings of pressing plate respectively and is connected, Two helical spring one end are connected with two the first monaural rings of ladder U-bracket respectively, and two helical spring other ends divide It is not connected with two the first monaural rings of pressing plate, forms gripper, the pulling force of two helical springs, make to be articulated with the first fork Roller contacts with pressing plate all the time, repeats aforementioned assembly operation, assembles another gripper, and composition captures and swivel block device；

First casing and the second casing are fixed with one by two connecting plates, and composition swivel block and push-and-pull sleeper device, by second Square tube shape fixed arm symmetry is fixed on two longerons of railcar；

Described sleeper handling apparatus is by moving back and forth storage sleeper device, rigid hanger hoisting apparatus and cmos image Sensor forms；

Described reciprocating motion storage sleeper device is made up of reciprocator and storage sleeper case, stores sleeper case Being provided with roller and several sleeper storehouse, wherein half sleeper storehouse, left side is used for having stored sleeper, and half sleeper storehouse, right side is used for storing Bad sleeper.

Described reciprocator be by base plate, first series connection parallelogram lindage, second series connection parallelogram lindage, Reciprocating movement driving device and the 3rd laser displacement sensor composition；

Described first series connection parallelogram lindage be by fixed cross beam, two the first forks, first connecting rod, two second Fork, moving beam and four bolt compositions, first connecting rod is provided with left handed threaded hole and two pairs of coaxial threaded blind holes, moving beam It is provided with two rollers；

As the second described series connection parallelogram lindage and the first series connection parallelogram lindage composition, second connecting rod is provided with Right-handed thread hole and two pairs of coaxial threaded blind holes, except aforesaid second connecting rod and first connecting rod version are different, remaining institute There is component structural form the same；

Described reciprocating movement driving device is by double output shaft hydraulic motor, two yielding couplings, two monaural rings Bearing, monaural ring bearing, left-handed screw, first connecting rod, right handed screw, second connecting rod and motorcycle composition, right handed screw is provided with the One axle journal and the second axle journal, left-handed screw is the same with right handed screw version, and motorcycle is provided with four rolling；

By two the first forks respectively with fixed cross beam chain connection, the first fork ears ring and the second fork ears ring with A pair of first connecting rod left side coaxial threaded blind hole is coaxial, two bolts pretensions respectively, another the first fork ears ring and another On the right of individual second fork ears ring and first connecting rod, a pair coaxial threaded blind hole is coaxial, two bolts pretensions respectively, makes the first pendulum Chain connection between bar, the second fork and three components of first connecting rod, by two the second forks respectively with moving beam chain connection, Composition the first series connection parallelogram lindage, repeats aforementioned assembly operation, is symmetrical in fixed cross beam and the moving beam vertical plane of symmetry Assemble the second series connection parallelogram lindage；

Being sheathed on the second axle journal of right handed screw by monaural ring bearing, double output shaft hydraulic motor symmetry is fixed on motorcycle On, the yielding coupling the first axle journal by right handed screw and the right-hand member output shaft fixed connection of double output shaft hydraulic motor, then by monaural Ring bearing is sheathed on the second axle journal of left-handed screw, and another yielding coupling is by the first axle journal of left-handed screw and dual output Two yielding couplings are fixed in motorcycle, make left-handed screw and first connecting rod by the left end output shaft fixed connection of axle hydraulic motor Left handed threaded hole axial contact, makes right handed screw and second connecting rod right-handed thread hole axial contact, rotates double output shaft hydraulic pressure horse The output shaft reached, makes left-handed screw screw in first connecting rod left handed threaded hole, and right handed screw screws in second connecting rod dextrorotation spiral shell simultaneously In pit, form the second driving means；

Base plate is fixed on fixed cross beam lower surface, make the four rolling of two rollers of moving beam and motorcycle respectively with Plate upper surface contacts, and the 3rd laser displacement sensor symmetry is fixed on fixed cross beam side, forms reciprocator；

Base plate is fixed on railcar crossbeam, first party tubular fixed arm and second party tubular fixed arm, stores sleeper Case is fixed on moving beam, makes two rollers of storage sleeper case contact with plate upper surface, and composition moves back and forth storage rail Pillow device；

Described rigid hanger hoisting apparatus be by two telescopic cantilever boom devices, telescoping crossbeam device, rigid hanger and Two pick-and-place sleeper device compositions；

Described telescopic cantilever boom device is by the first ladder square tube shape fixed arm, the first ladder square tube shape telescopic arm, side Tubular telescopic arm, the first multi-stage expansion shell type oil cylinder, cantilever beam, end plate, cantilever and the 4th laser displacement sensor composition, first Ladder square tube shape fixed arm is provided with ring flange and cylinder shoulder, and the first ladder square tube shape telescopic arm is provided with ring flange and cylinder shoulder, square tube shape Telescopic arm is provided with ring flange and blind end, the first multi-stage expansion shell type oil cylinder be provided with the first ring flange, the first extension sleeve, second Extension sleeve and the second ring flange, cantilever beam is provided with ring flange；

End plate symmetry being fixed on first stretch shell type oil cylinder the first ring flange, it is multistage that square tube shape telescopic arm is sheathed on first Flexible shell type oil cylinder, makes first shell type oil cylinder the second ring flange symmetry of stretching be fixed on square tube shape telescopic arm blind end, the first rank Ladder square tube shape telescopic arm is sheathed on square tube shape telescopic arm, and the first ladder square tube shape fixed arm is sheathed on the first ladder square tube shape and stretches On contracting arm, making the first ladder square tube fixed arm ring flange be connected with end plate, cantilever beam ring flange is fixed on square tube shape telescopic arm envelope On closed end, cantilever is fixed on cantilever beam ring flange, and the 4th laser displacement sensor is fixed on cantilever, forms telescopic cantilever beam Device；

Described telescoping crossbeam device be by the second ladder square tube shape fixed arm, the second ladder square tube shape telescopic arm, the 3rd Ladder square tube shape telescopic arm, the second multi-stage expansion shell type oil cylinder, end cap, push pedal and the 5th laser displacement sensor composition, second Ladder square tube shape fixed arm be provided with ring flange, cylinder shoulder and oblong aperture, the second ladder square tube shape telescopic arm be provided with first shoulder, second Cylinder shoulder and oblong aperture, the 3rd ladder square tube shape telescopic arm is provided with cylinder shoulder and two monaural rings, and the second multi-stage expansion shell type oil cylinder sets There are the first ring flange, first order extension sleeve, second level extension sleeve and the second ring flange；

End cap symmetry being fixed on second stretch shell type oil cylinder the first ring flange, the 3rd ladder square tube shape telescopic arm is sheathed on On second multi-stage expansion shell type oil cylinder, the second stretch shell type oil cylinder the second ring flange and the 3rd ladder square tube shape telescopic arm is made to close End is connected, and the second ladder square tube shape telescopic arm is sheathed on the 3rd ladder square tube shape telescopic arm, then the second ladder square tube shape is solid Arms is sheathed on the second ladder square tube shape telescopic arm, makes end cap be connected with ladder square tube shape fixed arm ring flange, and push pedal is connected In the 3rd ladder square tube shape telescopic arm blind end, the 5th laser displacement sensor symmetry is fixed on the second ladder square tube shape and fixes Arm side, forms telescoping crossbeam device,

Described rigid hanger is made up of entablature, two pull bars and sill, and entablature is provided with two ears rings, under Crossbeam is provided with two circular holes；

Being fixed on below entablature by one end symmetry of two pull bars, the other end symmetry of two pull bars is fixed on sill Above, composition rigid hanger；

Described pick-and-place sleeper device is by the 3rd spiral rotary actuator, yielding coupling and interior wide-mouth nut group Becoming, the 3rd spiral rotary actuator is provided with ring flange and output shaft, and interior wide-mouth nut is provided with axle journal；

Penetrating in sill circular hole by the 3rd spiral rotary actuator, the 3rd spiral rotary actuator ring flange is connected Above sill, yielding coupling makes the 3rd spiral rotary actuator output shaft be connected with interior wide-mouth nut axle journal, composition Pick-and-place sleeper device；

Two telescopic cantilever boom device symmetries being fixed on two longerons of railcar, the second ladder square tube shape fixed arm is solid Be connected in below two cantilever beam cantilevers, two ears rings of entablature respectively with two monaurals of the 3rd ladder square tube shape telescopic arm Ring coaxial bolts connects, and cmos image sensor is fixed on outside railcar longeron, forms sleeper handling apparatus.

The invention has the beneficial effects as follows:

1. can be automatically by equipment rapid alignment operating position；

2. can adapt to straight line and curved rail length section is changed the corresponding of pillow and worked；

3. swivel block and push-and-pull sleeper are integrating device, simple in construction, automatically control, easy to operate, change pillow work efficiency high.

Accompanying drawing explanation

Fig. 1 is the off working state schematic perspective view of the present invention.

Fig. 2 is the rail-lifting equipment duty schematic perspective view of the present invention.

Fig. 3 is that the rail-lifting equipment sidewall of the present invention cuts off working state schematic perspective view open.

Fig. 4 is the first retractable driving device exploded perspective schematic diagram of the present invention.

Fig. 5 is the first tumbler exploded perspective schematic diagram of the present invention.

Fig. 6 is two connecting plates, the box connector of the present invention and carries rail hydraulic jack schematic perspective view.

Fig. 7 is the swivel block of the present invention and push-and-pull sleeper device sidewall cuts duty schematic perspective view open

Fig. 8 is the second retractable driving device exploded perspective schematic diagram of the present invention.

Fig. 9 is the second tumbler exploded perspective schematic diagram of the present invention.

Figure 10 is crawl and the swivel block device exploded perspective schematic diagram of the present invention.

Figure 11 is the rail-lifting equipment of the present invention and swivel block and push-and-pull sleeper device duty schematic perspective view.

Figure 12 is rail-lifting equipment and the sleeper handling apparatus duty schematic perspective view of the present invention.

Figure 13 is the reciprocator schematic perspective view of the present invention.

Figure 14 is the storage sleeper case schematic perspective view of the present invention.

Figure 15 is the telescopic cantilever boom device exploded perspective schematic diagram of the present invention.

Figure 16 is the telescoping crossbeam device exploded perspective schematic diagram of the present invention.

Figure 17 is the left view of Fig. 1.

Figure 18 is close-up schematic view at the D in Figure 17.

Detailed description of the invention

Refer to shown in Fig. 1, the present invention be by rail-lifting equipment 8, transition and push-and-pull sleeper device 9, sleeper handling apparatus 16, Electromotor 18, Hydraulic system and control System cabine 19 and railcar 20 form.Railcar is provided with multiple castor 201 and two longerons 202, rail-lifting equipment 8, transition and push-and-pull sleeper device 9, sleeper handling apparatus 16, electromotor 18 and Hydraulic system and control system Case 19 is arranged on two longerons 202 of railcar, and railcar 20 is drawn by engineering truck, and electromotor 18 is oil pump and control system Power is provided, in Hydraulic system and control System cabine 19, is provided with fuel tank, oil pump, hydraulic control system and automatic control system；

Referring to shown in Fig. 2 to Fig. 6, described rail-lifting equipment 8 is by first telescopic component the 81, first retractable driving device 82, four connecting plate 84, two box connectors 85 of 83, two the first tumblers and two carry cylinder of rail 86 and form, box Connector 85 is provided with semicylindrical opening 851, carries that cylinder of rail 86 cylinder body is provided with gusset 861, piston rod free end is provided with fagging 862；

The first described telescopic component 81 be by 811, two first party tubular telescopic arms 812 of first party tubular fixed arm, First laser displacement sensor 813 and the first range finding reference plate 814 form, and first party tubular telescopic arm 812 is provided with dividing plate 8121 With two symmetrical grooves 8122, groove 8122 is provided with bolt hole 81221；

The first described retractable driving device 82 is by first party tubular fixed arm 811, double output shaft hydraulic motor 821, two 822, two monaural ring bearings 823 of individual yielding coupling, left-handed screw 824, left-handed square nut 825, right handed screw 826, the right side Rotation 827, two square sliders of square nut, 829, two the first hex nuts 830 of 828, four bolts and two first party tubulars Telescopic arm 812 forms, and right handed screw 826 is provided with the first axle journal the 8261, second axle journal 8262 and the 3rd axle journal 8263, left-handed screw 824 is the same with right handed screw 826 version, and dextrorotation square nut 827 is provided with two symmetric coaxial tapped blind holes 8271, left-handed Square nut 825 is the same with dextrorotation square nut 827 version, and square slider 828 is provided with axis hole 8281；

Monaural ring bearing 823 is sheathed on the second axle journal 8262 of right handed screw, and yielding coupling 822 is by right handed screw First axle journal 8261 and the right-hand member output shaft fixed connection of double output shaft hydraulic motor 821, dextrorotation square nut 827 screws on right handed screw 826 appropriate locations, square slider 828 is sheathed on right handed screw the 3rd axle journal 8263, the first hex nut 830 pretension, and first Square tube shape telescopic arm 812 is sheathed thereon from right handed screw 826 right-hand member, makes square tube shape telescopic arm groove bolt hole 81221 with right Rotation square nut tapped blind hole 8271 is coaxial, and two bolts 829 screw in pretension respectively, repeats aforementioned operation, is supported by monaural ring 823, left-handed screw 824, left-handed square nut 825, square slider the 828, first hex nut 830, yielding coupling 822, double Output shaft hydraulic motor 821 and first party tubular telescopic arm 812 are assembled into one, and first party tubular fixed arm 811 is sheathed on two On individual first party tubular telescopic arm 812, double output shaft hydraulic motor 821 symmetry is made to be fixed in first party tubular fixed arm 811 Hole upper surface, two monaural ring bearings 823 are fixed on first party tubular fixed arm 811 endoporus upper surface, composition telescopic drive dress Putting 82, square slider 828 and first party tubular telescopic arm 812 form moving sets, and the first laser displacement sensor 813 is symmetrical to be connected In first party tubular fixed arm 811 side, the first range finding reference plate 814 is fixed on first party tubular telescopic arm 812 side；

The first described tumbler 84 is by first party tubular telescopic arm the 812, first spiral rotary actuator, cantilever Hollow multidiameter the 842, first thrust bearing the 843, first casing the 844, second thrust bearing the 845, second hex nut 846, circle Shape connecting plate the 847, the 3rd hex nut 848, end cap 849 and equi intensity cantilever 850 form, the first spiral rotary actuator Output shaft is provided with thread segment 8411 and six prism shaft parts 8412, and the hollow multidiameter of cantilever 842 is provided with thread segment the 8421, first axle journal 8422, the second axle journal the 8423, the 3rd axle journal 8424 and connecting plate 8425, connecting plate 8425 is provided with spacing arc groove 84251, and first Casing 844 is provided with cantilever ladder axle sleeve 8441 and spacer pin 8442, cantilever ladder axle sleeve 8441 be provided with the first axle sleeve 84411, Two axle sleeve 84412 and the 3rd axle sleeves 84413, end cap 849 is provided with bearing pin 8491, and circular connecting plate 847 is provided with six prism holes 8471, Equi intensity cantilever 850 is provided with pin shaft hole 8501 and ring flange 8502；

First spiral rotary actuator is fixed on the base plate of first party tubular telescopic arm dividing plate 8121 front end, hollow outstanding Arm multidiameter 842 is sheathed on the first spiral rotary actuator output shaft 841, makes cantilever hollow multidiameter connecting plate 8425 solid Being connected in first party tubular telescopic arm 812 end face, the first thrust bearing 843 is sheathed on cantilever hollow multidiameter the 3rd axle journal 8424 On, casing cantilever ladder axle sleeve 8441 is sheathed on the first spiral rotary actuator output shaft 841, makes the first thrust bearing 843 insert casing cantilever ladder axle sleeve the 3rd axle sleeve section 84413, and cantilever ladder axle sleeve the second axle sleeve section 84412 is sheathed on hollow On multidiameter the second axle journal 8423, the second thrust bearing 845 is sheathed on cantilever hollow multidiameter the first axle journal 8422, inserts outstanding Arm ladder axle sleeve the first axle sleeve section 84411, the second hex nut 846 screws in cantilever hollow multidiameter thread segment 8421 pretension, makes First casing 844 and cantilever hollow multidiameter 842 chain connection, circular connecting plate 847 is sheathed on the first spiral and swings hydraulic pressure horse Reach output shaft six prism shaft part 8412, make circular connecting plate 847 be fixed on the first casing cantilever ladder axle sleeve 8441 free end, the Three hex nuts 848 screw in the first spiral rotary actuator output shaft thread segment 8411 pretension, make the first spiral swing hydraulic pressure Motor output shaft and the first casing 844 are connected, and end cap 849 is fixed on the first casing 844, and equi intensity cantilever pin-and-hole 8501 overlaps Being located on end cap bearing pin 8491, equi intensity cantilever ring flange 8502 is fixed on above first party tubular telescopic arm 812, composition the One tumbler 84, two connecting plates 83 make the first casing 844 be fixed with one with box connector 85, carry cylinder of rail 86 by two Cylinder body is respectively fixedly connected with in two box connector semicylindrical openings 851, forms rail-lifting equipment 8；

Referring to shown in Fig. 7 to Figure 10, described swivel block and push-and-pull sleeper device 9 are by the second telescopic component 90, second 92, two connecting plates 93 of retractable driving device the 91, second tumbler and crawl and swivel block device 94 form；

The second described telescopic component 90 is by second party tubular fixed arm 901, second party tubular telescopic arm 902, second Laser displacement sensor 903 and the second range finding reference plate 904 form, and second party tubular fixed arm 901 is provided with ring flange 9011, the Two square tube shape telescopic arms 902 are provided with dividing plate 9021 and two symmetrical grooves 9022, and groove 9022 is provided with bolt hole 90221；

The second described retractable driving device 91 is by second party tubular fixed arm 901, hydraulic motor 911, elastic shaft coupling Device 912, screw rod 913, monaural ring bearing 914, square nut 915, square slider the 916, first hex nut 917, two first Bolt 918 and second party tubular telescopic arm 902 form, and screw rod 913 is provided with the first axle journal the 9131, second axle journal 9132 and the 3rd axle Neck 9133, square nut 915 is provided with two coaxial threaded blind holes 9151, and square slider 916 is provided with axis hole 9161；

Being sheathed on screw rod the second axle journal 9132 by monaural ring bearing 914, square nut 915 screws on the suitable position of screw rod 913 Putting, square slider 916 is sheathed on screw rod the 3rd axle journal 9133, and the first hex nut 917 pretension, yielding coupling 912 makes liquid Pressure motor 911 output shaft is coaxially fixed with one with screw rod the first axle journal 9131, and second party tubular telescopic arm 902 is left from screw rod 913 Hold and sheathed make second party tubular telescopic arm groove bolt hole 90221 coaxial with square nut tapped blind hole 9151 thereon, two First bolt 918 screws in pretension respectively, and the second square tube fixed arm 901 is sheathed thereon from screw rod 913 right-hand member, makes hydraulic motor 911 are fixed on second party tubular fixed arm 901 endoporus upper surface, and monaural ring bearing 914 is fixed on second party tubular fixed arm 901 Endoporus upper surface, forms the second retractable driving device 91, and square slider 916 and second party tubular telescopic arm 902 form moving sets, Second laser displacement sensor 903 symmetry is fixed on second party tubular fixed arm 901 side, and the second range finding reference plate 904 is connected In second party tubular telescopic arm 902 side；

The second described tumbler 92 forms with the first tumbler 84 and version is the same, carries out rotating with first The assembly operation that device 84 is identical, forms the second tumbler 92；

Described crawl and swivel block device 94 are by second casing the 941, second spiral rotary actuator 942, hydraulic oil Cylinder the 943, first thrust bearing the 944, second thrust bearing the 945, second hex nut 946, piston 947, piston rod 948, ladder U Shape support 949, first connecting rod 950, second connecting rod 952, two rollers 953 of 951, two the first forks, end cap 954 and two machines Tool pawl 955 device forms, and the second casing 941 is provided with four screwed holes, 9411, first circular hole portion 9412 of symmetry, scallop hole section 9413, the second circular hole portion 9414, axle sleeve section 9415 and the 3rd circular hole portion 9416, the second spiral rotary actuator 942 output shaft Be connected ring flange 9421, and ring flange 9421 is provided with spacing fan-shaped boss 94211, and scallop hole section 9413 is provided with the first confined planes 94131 and second confined planes 94132, hydraulic jack 943 is provided with ring flange the 9431, first axle journal the 9432, second axle journal 9433 and 3rd axle journal 9434, ring flange 9431 is provided with spacing fan-shaped boss 94311, and piston 947 is provided with axis hole 9471, and piston rod 948 sets Having axle journal 9481 and ears ring 9482, ladder U-bracket 949 is provided with flange 9491,9492, two slotted eyes of axis hole 9493, two 9494, four the first monaural rings 9495 of pin-and-hole and eight the second monaural rings 9496, first connecting rod 950 is provided with ears ring 9501 and list Earrings 9502, second connecting rod 951 is provided with two ears rings 9511, and the first fork 952 is provided with monaural ring 9521, pin-and-hole 9522 and double Earrings 9523；

Described gripper 955 is by ladder U-bracket 9551, two helical springs 9552 of 949, four the second forks Forming with pressing plate 9553, the second fork 9551 is provided with two ears rings 95511, and pressing plate 9553 is provided with two the first monaural rings 95531 and four the second monaural rings 95532；

Spacing for second spiral rotary actuator output shaft ring flange fan-shaped boss 94211 is limited with hydraulic jack ring flange The fan-shaped boss 94311 in position aligns connected, and the first thrust bearing 944 is sheathed on hydraulic jack the first axle journal 9432, by hydraulic oil Cylinder penetrates in the second casing 941 shoulder hole, makes the second spiral rotary actuator output shaft ring flange 9421 and hydraulic jack method Second casing the first circular hole portion 9413 inserted by blue dish 9431, and spacing fan-shaped boss 94211 left surface is spacing with scallop hole section first Face 94131 contacts, and the first thrust bearing 944 inserts second casing the second circular hole portion 9414, makes the second spiral rotary actuator 942 are fixed on the second casing 941 base plate, make end cap 954 and the second casing 941 be connected；

Second thrust bearing 945 is sheathed on hydraulic jack the 3rd axle journal 9434 so that it is insert the second casing the 3rd circle Hole section 9416 sections, piston rod 948 is through ladder U-bracket axis hole 9492, and piston axis hole 9471 is sheathed on piston rod axle journal 9481, Second hex nut 946 pretension, inserts piston 947 in hydraulic jack 943 cylinder barrel, is penetrated by ladder U-bracket flange 9491 Hydraulic jack 943 cylinder barrel is connected, and makes oil cylinder the second axle journal 9433 and the first housing bushing section 9415 chain connection, and piston rod is double Earrings 9482, second connecting rod ears ring 9511 and first connecting rod monaural ring 9502 coaxially penetrate pin hinge and connect, the second fork Ears ring 9523 coaxially penetrates pin hinge with roller 953 and is connected, the second fork pin-and-hole 9522 and ladder U-bracket pin-and-hole 9494 Coaxially penetrate pin hinge connect, first connecting rod ears ring 9501 and second connecting rod ears ring 9511 respectively with two the first forks Monaural ring 9521 coaxially penetrates pin hinge and connects；

The ears ring 95511 of four the second forks 9551 is same with four the second monaural rings 9496 of ladder U-bracket respectively Axle penetrate pin hinge connect, another ears ring 95511 of four the second forks 9551 respectively with four the second monaurals of pressing plate Ring 95532 coaxially penetrates pin hinge and connects, and two helical spring 9552 one end are single with ladder U-bracket two first respectively Earrings 9495 is connected, and two helical spring 9552 other ends are connected with two the first monaural rings 95531 of pressing plate respectively, form machine Tool pawl 955, the pulling force of two helical springs 9552, make to be articulated with the roller 953 of the first fork 9523 all the time with pressing plate 9553 Contact, repeats aforementioned assembly operation, assembles another gripper 955, and composition captures and swivel block device 94；

First casing 844 is fixed with one by two connecting plates 93 with the second casing 941, composition swivel block and push-and-pull sleeper device 9, second party tubular fixed arm 901 symmetry is fixed on two longerons 202 of railcar；

Refer to shown in Figure 11 to Figure 18, described sleeper handling apparatus 16 be by move back and forth storage sleeper device 160, Rigid hanger hoisting apparatus 168 and cmos image sensor 175 form；

Described reciprocating motion storage sleeper device 160 is made up of reciprocator 161 and storage sleeper case 167, Storage sleeper case 167 is provided with roller 1671 and several sleeper storehouse 1672, and wherein half sleeper storehouse, left side is used for having stored sleeper, right Half sleeper storehouse, side is used for storing bad sleeper.

Described reciprocator 161 is to be connected parallel by base plate the 162, first series connection parallelogram lindage 163, second Four-bar mechanism 164, reciprocating movement driving device 165 and the 3rd laser displacement sensor 166 form；

The first described series connection parallelogram lindage 163 is by 1631, two the first forks 1632, first of fixed cross beam even 1633, two the second forks 1634 of bar, moving beam 1635 and four bolts 1636 form, and first connecting rod is provided with left handed threaded hole 16331 and two pairs of coaxial threaded blind holes 16332, moving beam 1635 is provided with two rollers 16351；

The second described series connection parallelogram lindage 164 forms the same with the first series connection parallelogram lindage 163, and second even Bar 1643 is provided with right-handed thread hole 16431 and two pairs of coaxial threaded blind holes 16432, except aforesaid second connecting rod 1643 and first connects Bar 1633 version is different, and remaining all component structural form is the same；

Described reciprocating movement driving device 165 be by 1651, two yielding couplings 1652 of double output shaft hydraulic motor, Two monaural ring bearings 1653, monaural ring bearing 1653, left-handed screw 1654, first connecting rod 1633, right handed screw 1655, second Connecting rod 1643 and motorcycle 1656 form, and right handed screw 1655 is provided with the first axle journal 16551 and the second axle journal 16552, left-handed screw 1654 is the same with right handed screw 1655 version, and motorcycle 1656 is provided with four rolling 16561；

By two the first forks 1632 respectively with fixed cross beam 1631 chain connection, the first fork 1632 ears ring and second Fork 1634 ears ring is coaxial with a pair of first connecting rod 1633 left side coaxial threaded blind hole 16332, and two bolts 1636 are the most pre- Tightly, on the right of another the first fork 1632 ears ring and another the second fork 1634 ears ring and first connecting rod 1,633 a pair with Male thread blind hole 16332 is coaxial, two bolt 1636 pretensions respectively, makes first fork the 1632, second fork 1634 and first connect Chain connection between 1,633 3 components of bar, by two the second forks 1634 respectively with moving beam 1635 chain connection, composition the One series connection parallelogram lindage 163, repeats aforementioned assembly operation, is symmetrical in fixed cross beam and the moving beam vertical plane of symmetry assembles Second series connection parallelogram lindage 164；

Monaural ring bearing 1653 is sheathed on the second axle journal 16552 of right handed screw, double output shaft hydraulic motor 1651 Symmetry is fixed in motorcycle 1656, and yielding coupling 1652 is by the first axle journal 16551 of right handed screw and double output shaft hydraulic pressure horse Reach the right-hand member output shaft fixed connection of 1651, then monaural ring bearing 1653 is sheathed on the second axle journal of left-handed screw 1654, another Individual yielding coupling 1652 is by solid to the first axle journal of left-handed screw 1654 and the left end output shaft of double output shaft hydraulic motor 1651 Even, two yielding couplings 1652 are fixed in motorcycle 1656, make left-handed screw 1654 and first connecting rod left handed threaded hole 16331 axial contact, make right handed screw 1655 and second connecting rod right-handed thread hole 10231 axial contact, rotate double output shaft liquid The output shaft of pressure motor 1651, makes left-handed screw 1654 screw in first connecting rod left handed threaded hole 16331, right handed screw simultaneously 1655 screw in second connecting rod right-handed thread hole 10231, form the second driving means 165；

Base plate 162 is fixed on fixed cross beam 1631 lower surface, makes two rollers 16351 and the four of motorcycle of moving beam Individual roller respectively with base plate 162 upper surface, the 3rd laser displacement sensor 166 symmetry is fixed on fixed cross beam 1631 side Face, forms reciprocator 161；

Base plate 162 is fixed on railcar 20 crossbeam, first party tubular fixed arm 811 and second party tubular fixed arm 901 On, storage sleeper case 167 is fixed on moving beam 1635, makes two rollers 1671 and the table on base plate 162 of storage sleeper case Face contacts, and composition moves back and forth storage sleeper device 160；

Described rigid hanger hoisting apparatus 168 is by two telescopic cantilever boom devices 169, telescoping crossbeam device 170, just Property suspension bracket 171 and two pick-and-place sleeper devices 172 form；

Described telescopic cantilever boom device 169 is to be stretched by first ladder square tube shape fixed arm the 1691, first ladder square tube shape Contracting arm 1692, square tube shape telescopic arm the 1693, first multi-stage expansion shell type oil cylinder 1694, cantilever beam 1695, end plate 1696, cantilever 1697 and the 4th laser displacement sensor 1698 form, the first ladder square tube shape fixed arm 1691 is provided with ring flange 16911 and cylinder Shoulder 16912, the first ladder square tube shape telescopic arm 1692 is provided with ring flange 16921 and cylinder shoulder 16922, and square tube shape telescopic arm 1693 sets Ring flange 16931 and blind end 16932, the first multi-stage expansion shell type oil cylinder 1694 is had to be provided with the first ring flange 16941, first stretch Contracting sleeve the 16942, second extension sleeve 16943 and the second ring flange 16944, cantilever beam 1695 is provided with ring flange 16951；

End plate 1696 symmetry is fixed on first stretch shell type oil cylinder the first ring flange 16941, square tube shape telescopic arm 1693 It is sheathed on the first multi-stage expansion shell type oil cylinder 1694, makes first to stretch shell type oil cylinder the second ring flange 16944 symmetry side of being fixed on Tubular telescopic arm blind end 16932, the first ladder square tube shape telescopic arm 1692 is sheathed on square tube shape telescopic arm 1693, the first rank Ladder square tube shape fixed arm 1691 is sheathed on the first ladder square tube shape telescopic arm 1692, makes the first ladder square tube fixed arm ring flange 16911 are connected with end plate 1696, and cantilever beam ring flange 16951 is fixed on square tube shape telescopic arm blind end 16932, cantilever 1697 Being fixed on cantilever beam ring flange 16951, the 4th laser displacement sensor 1698 is fixed on cantilever 1697, forms telescopic cantilever Boom device 169；

Described telescoping crossbeam device 170 is to be stretched by second ladder square tube shape fixed arm the 1701, second ladder square tube shape Arm the 1702, the 3rd ladder square tube shape telescopic arm the 1703, second multi-stage expansion shell type oil cylinder 1704, end cap 1705, push pedal 1706 and 5th laser displacement sensor 1707 forms, and the second ladder square tube shape fixed arm 1701 is provided with ring flange 17011, cylinder shoulder 17012 With oblong aperture 17013, the second ladder square tube shape telescopic arm 1702 is provided with 17021, second shoulder 17022 of first shoulder and oblong aperture 17023, the 3rd ladder square tube shape telescopic arm 1703 is provided with cylinder shoulder 17031 and two monaural rings 17032, the second multi-stage expansion shell type Oil cylinder 1704 is provided with the first ring flange 17041, first order extension sleeve 17042, second level extension sleeve 17043 and the second flange Dish 17044；

End cap 1705 symmetry being fixed on second stretch shell type oil cylinder the first ring flange 17041, the 3rd ladder square tube shape is stretched Contracting arm 1703 is sheathed on the second multi-stage expansion shell type oil cylinder 1704, make second stretch shell type oil cylinder the second ring flange 17042 with 3rd ladder square tube shape telescopic arm 1703 blind end is connected, and the second ladder square tube shape telescopic arm 1702 is sheathed on the 3rd ladder square tube On shape telescopic arm 1703, then the second ladder square tube shape fixed arm 1701 is sheathed on the second ladder square tube shape telescopic arm 1702, Making end cap 1705 be connected with ladder square tube shape fixed arm ring flange 1701, push pedal 1706 is fixed on the 3rd ladder square tube shape telescopic arm 1703 blind ends, are fixed on the second ladder square tube shape fixed arm 1701 side, group by the 5th laser displacement sensor 1707 symmetry Become telescoping crossbeam device 170,

Described rigid hanger 171 is made up of 1711, two pull bars 1712 of entablature and sill 1713, entablature 1711 are provided with two ears rings 17111, and sill 1713 is provided with two circular holes 17131；

Being fixed on below entablature 1713 by one end symmetry of two pull bars 1712, the other end of two pull bars 1712 is symmetrical It is fixed on above sill 1713, forms rigid hanger 171；

Described pick-and-place sleeper device 172 is by the 3rd spiral rotary actuator 1721, yielding coupling 1722 and interior Wide-mouth nut 1723 forms, and the 3rd spiral rotary actuator 1721 is provided with ring flange 17211 and output shaft 17212, interior wide-mouth Nut 1723 is provided with axle journal 17231；

3rd spiral rotary actuator 1721 is penetrated in sill 17132 circular hole, the 3rd spiral rotary actuator Ring flange 17211 is fixed on above sill 1162, and yielding coupling 1722 makes the 3rd spiral rotary actuator output shaft 17212 are connected with interior wide-mouth nut axle journal 17231, form pick-and-place sleeper device 172；

Two telescopic cantilever boom device 169 symmetries being fixed on two longerons 202 of railcar, the second ladder square tube shape is solid Arms 1701 is fixed on below two cantilever beam 169 cantilevers, two ears rings 17111 of entablature respectively with the 3rd ladder square tube Two monaural ring 17032 coaxial bolts of shape telescopic arm connect, and cmos image sensor 175 is fixed on outside railcar longeron 202 Side, forms sleeper handling apparatus 16.

Work process and the principle of the present embodiment are as follows:

1. pull-out bad sleeper work: using and manually or mechanically cleared up by ballast between the sleeper of bad sleeper both sides, bad sleeper is left Bolt machine oil labelling outside the sleeper rail of second, side, when engineering truck traction track car runs near sleeper to be changed, CMOS The image information that imageing sensor gathers, is identified automatically by pattern recognition system, and makes engineering truck be parked in cmos image sensing The position that device is coaxial with machine oil labelling bolt, swivel block and push-and-pull sleeper device are positioned at directly over bad sleeper, and rail-lifting equipment is positioned at bad On the left of sleeper between sleeper directly over, position shown in Fig. 1, oil pump starts working, and hydraulic oil makes hydraulic motor start to rotate forward, and drives Dynamic screw rod rotates forward, and makes square nut promote second party tubular telescopic arm to stretch out, and second party tubular telescopic arm entrusts second turn Dynamic device and crawl and swivel block device move out, and measure itself and the second range finding reference plate by the second laser displacement sensor Displacement signal, controls hydraulic motor, the first spiral rotary actuator and the second spiral rotary actuator and works, second turn Dynamic device and crawl and swivel block device move out to correct position, and hydraulic motor stops rotating forward, and it starts to rotate backward, Driving screw rod rotates backward, and makes square nut pull second party tubular telescopic arm to retract, and second party tubular telescopic arm entrusts second Tumbler and crawl and swivel block device inward, hydraulic oil makes the first spiral rotary actuator start forward to turn simultaneously Dynamic, drive the first casing to rotate forward, the first casing is entrusted and is rotated forward with its second casing being connected, and the second casing is entrusted and grabbed Take and swivel block device rotates forward, when the first casing rotates forward to its spacer pin and the cantilever hollow multidiameter spacing circle of connecting plate During arc groove end thereof contacts, crawl entrusted by the second casing and swivel block device rotates forward 90 °, and the first spiral rotary actuator stops Rotating forward, the middle position of solenoid directional control valve makes the first spiral rotary actuator pressurize, when two pressing plates of gripper are inwardly transported When moving to bad appropriate location, sleeper both sides, hydraulic motor stops rotating backward, and hydraulic oil makes hydraulic cylinder piston rod stretch out, and promotes First connecting rod and second connecting rod motion, make two symmetrically arranged 3rd forks swing in opposite directions, be articulated with the 3rd fork ears ring Roller push down pressing plate, roller rolls and makes pressing plate overcome the pulling force of two cylindrically coiled springs to make translation, two in-parallels four Linkage forward swings, and when two platen clamp sleepers, the middle position of solenoid directional control valve makes hydraulic jack pressurize；

Hydraulic oil makes the first telescopic drive double output shaft hydraulic motor start to rotate forward, and drives left-handed screw and dextrorotation spiral shell Bar forward synchronous axial system, makes left-handed square nut and dextrorotation square nut promote respectively and stretches with its two first party tubulars being connected Contracting arm synchronizes to stretch out, and is measured the displacement signal of itself and the first range finding reference plate by the first laser displacement sensor, controls the One telescopic drive double output shaft hydraulic motor and the work of the first spiral rotary actuator, two first party tubular telescopic arms are respectively Entrust two the first tumblers and carry cylinder of rail and move out to appropriate location, the first telescopic drive double output shaft hydraulic motor Stopping rotates forward, and it starts to rotate backward, and drives left-handed screw and right handed screw reverse sync to rotate, makes left-handed square nut The Tong Bu retraction with two first party tubular telescopic arms that dextrorotation square nut pulls respectively with it is connected, two first party tubulars are stretched Contracting arm is entrusted two the first tumblers respectively and carries cylinder of rail inward, and hydraulic oil makes the first spiral swing hydraulic pressure horse simultaneously Reaching and start to rotate forward, drive the first casing to rotate forward, the first casing is entrusted and is rotated forward with its cylinder of rail that carries being connected, when When first casing rotates forward to its spacer pin and cantilever hollow multidiameter connecting plate spacing arc groove end thereof contacts, carry cylinder of rail Rotating forward 90 °, the first spiral rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes the first spiral swing liquid Pressure motor pressurize, when carrying cylinder of rail inward to its cylinder body and rail lower flange contacts side surfaces, its gusset upper surface with Contacting below rail, the first telescopic drive double output shaft hydraulic motor stops rotating backward；

Hydraulic oil makes to carry cylinder of rail piston rod to start to stretch out, when being fixed on the fagging contact railway roadbed stone carrying cylinder of rail piston rod After being cut and being compacted into, along with carrying constantly stretching out of cylinder of rail piston rod, carry the cylinder body of cylinder of rail and entrust gusset and move upward, Making rail jack-up, carry cylinder of rail piston rod and stop stretching out, the middle position of solenoid directional control valve makes to propose cylinder of rail pressurize, carries cylinder of rail piston Bar stops stretching out；

Hydraulic oil makes the second spiral rotary actuator start to rotate forward, and makes the second oil cylinder entrust gripper forward and turns Dynamic, gripper makes sleeper rotate forward, when the second spiral rotary actuator ring flange and the spacing sector of hydraulic jack ring flange When boss and the contact of second casing scallop hole the second confined planes, gripper makes sleeper rotate forward 90 °, and the second spiral swings hydraulic pressure Motor stops rotating forward, and hydraulic oil makes hydraulic motor start to rotate forward, and makes gripper pull bad sleeper to move out, when bad Sleeper moves out to end face thereafter with when above rail lower flange trailing flank is coplanar, and hydraulic motor stops rotating forward, high pressure Oil makes the second spiral rotary actuator start to rotate backward, and makes hydraulic jack entrust gripper and rotates backward, and gripper makes rail Pillow rotates backward, when the second spiral rotary actuator ring flange and the spacing fan-shaped boss of cylinder flange dish and the second casing sector During the first confined planes contact of hole, gripper makes sleeper rotate backward 90 °, position shown in Figure 11, the second spiral rotary actuator Stopping rotates backward；

Hydraulic oil makes hydraulic cylinder piston rod start to retract, and pulls first connecting rod and second connecting rod motion, makes two symmetries The 3rd fork backswing arranged, under the pulling force effect of two cylindrically coiled springs, makes two pressing plates make translation, and two also Connection parallelogram lindage backswing, when two pressing plates contact with the disengagement of sleeper side, hydraulic cylinder piston rod stops retracting；

Hydraulic oil makes hydraulic motor start to rotate forward, make the second tumbler and crawl and swivel block device move out to Appropriate location, hydraulic motor stops rotating forward, and hydraulic oil makes the first spiral rotary actuator start to rotate backward, and drives the One casing rotates backward, and the first casing is entrusted and rotated backward with its second casing being connected, and the second casing entrusts crawl and swivel block Device rotates backward, when the first casing rotate backward to its spacer pin and the cantilever hollow multidiameter spacing arc groove of connecting plate another During end in contact, crawl entrusted by the second casing and swivel block device rotates backward 90 °, and the first spiral rotary actuator stops reversely turning Dynamic, the middle position of solenoid directional control valve makes the first spiral rotary actuator pressurize, and hydraulic oil makes hydraulic motor start to rotate backward, makes Second tumbler and crawl and swivel block device inward are to position shown in Fig. 1, and hydraulic motor stops rotating backward；

Hydraulic oil makes to carry cylinder of rail piston rod to start to retract, and its piston rod hauls fagging and moves upward, and rail falls to former Position, pushes down bad sleeper so that it is upper surface is parallel with two rail lower surfaces, carries cylinder of rail piston rod and is retracted to stop, high Force feed makes the first telescopic drive double output shaft hydraulic motor start to rotate forward, and makes the first tumbler and carries cylinder of rail to outward transport Moving to appropriate location, the first telescopic drive double output shaft hydraulic motor stops rotating forward, and hydraulic oil makes the first spiral swing liquid Pressure motor starts to rotate backward, and drives the first casing to rotate backward, and two the first casings are entrusted respectively and carried with its two be connected Cylinder of rail rotates backward, when the first casing rotates backward to its spacer pin and the cantilever hollow multidiameter spacing arc groove of connecting plate another During end thereof contacts, carrying cylinder of rail and rotate backward 90 °, the first spiral rotary actuator stops rotating backward, solenoid directional control valve Middle position makes the first spiral rotary actuator pressurize；First telescopic drive double output shaft hydraulic motor starts to rotate backward, and makes two Individual first tumbler and carry cylinder of rail inward to position shown in Fig. 1, the first telescopic drive double output shaft hydraulic motor stops Only rotate backward, pull out bad sleeper end-of-job；

2. handling bad sleeper work: engineering truck traction track car moves to right, and is automatically identified that by pattern recognition system sleeper is firm The number of rail outer bolt image, makes railcar move to right a sleeper pitch, and rail-lifting equipment is positioned on the right side of bad sleeper between adjacent sleeper Surface, hydraulic oil makes the first telescopic drive double output shaft hydraulic motor start to rotate forward, make two the first tumblers and Carrying cylinder of rail to move out to appropriate location, the first telescopic drive double output shaft hydraulic motor stops rotating forward, and it starts instead To rotation, making two the first tumblers and carry cylinder of rail inward, hydraulic oil makes the first spiral rotary actuator simultaneously Starting to rotate forward, make to carry cylinder of rail when rotating forward 90 °, the first spiral rotary actuator stops rotating forward, and electromagnetism changes The first spiral rotary actuator pressurize is made, when carrying cylinder of rail inward to its cylinder body and side, rail lower flange to the middle position of valve During the contact of face, its gusset upper surface contacts with below rail, and the first telescopic drive double output shaft hydraulic motor stops reversely turning Dynamic；

Hydraulic oil makes reciprocating motion drive double output shaft hydraulic motor to start to rotate forward, and drives left-handed screw and dextrorotation spiral shell Bar forward synchronous axial system, promotes first connecting rod and second connecting rod to synchronize translation respectively, makes symmetrically arranged first series connection parallel four Each two pairs of swing link synchronous backswings about linkage and the second series connection parallelogram lindage, make 2 second fork is pulled movement Crossbeam to left movement, moving beam entrust storage sleeper case to left movement, measure it with past by the 3rd laser displacement sensor Multiple motion drives the displacement signal of double output shaft hydraulic motor, controls to move back and forth driving double output shaft hydraulic motor work, When store sleeper case move to the left to store bad sleeper position in storehouse immediately below pick-and-place sleeper device time, move back and forth and drive dual output Axle hydraulic motor stop rotate forward, reciprocating movement driving device by motorcycle support about freely move；

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start to stretch out with first order extension sleeve, pushes away Dynamic 3rd ladder square tube shape telescopic arm stretches out, and the 3rd ladder square tube shape telescopic arm is entrusted rigid hanger and moved out, when the 3rd rank Ladder square tube shape telescopic arm extend out to its shoulder with second ladder second shoulder grafting of square tube shape telescopic arm touch time, the second multi-stage expansion set Formula oil cylinder second level extension sleeve starts to stretch out, and promotes the 3rd ladder square tube shape telescopic arm to stretch out, and the 3rd ladder square tube shape is stretched Arm pulls the second ladder square tube shape telescopic arm to stretch out, and is measured the displacement signal of itself and push pedal by the 5th laser displacement sensor, Control the first multi-stage expansion shell type cylinder efficient, when the interior wide-mouth nut of two, pick-and-place sleeper device and have been pulled out between sleeper bad When above sleeper, two bolts in inner side are coaxial, the second multi-stage expansion shell type oil cylinder second level extension sleeve stops stretching out；

Hydraulic oil makes the sleeve of two the first multi-stage expansion shell type oil cylinders start to retract step by step, square tube shape telescopic arm and first Ladder square tube shape telescopic arm starts to retract successively, and rigid hanger is entrusted pick-and-place sleeper device and declined, and is passed by the 4th laser displacement Sensor measures the displacement signal of itself and sill, controls the first multi-stage expansion shell type cylinder efficient, when two interior wide-mouth nuts With two bolts in inner side above sleeper close to time, hydraulic oil makes two the 3rd spiral rotary actuators start to rotate forward, makes Two interior wide-mouth nut forward rotate, when two interior wide-mouth nuts screw on two bolts in inner side above sleeper, to the 3rd spiral pendulum Hydrodynamic pressure motor rotates forward to hard-over, position shown in Figure 12, and the 3rd spiral rotary actuator stops rotating forward, the The first order sleeve of one multi-stage expansion shell type oil cylinder stops retracting；

Hydraulic oil makes to carry cylinder of rail piston rod to start to stretch out, and makes rail jack-up, carries cylinder of rail piston rod and stops stretching out, electromagnetism The middle position of reversal valve makes to propose cylinder of rail pressurize；

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start to stretch out, and promotes the 3rd ladder square tube shape Telescopic arm stretches out, and the 3rd ladder square tube shape telescopic arm pulls the second ladder square tube shape telescopic arm to stretch out, and the 3rd ladder square tube shape is stretched Contracting arm entrusts rigid hanger and pick-and-place sleeper device moves out, and pick-and-place sleeper device is entrusted bad sleeper and moved out, when bad rail Pillow move out to end face thereafter leave appropriate location, sleeper lower flange time, the second multi-stage expansion shell type oil cylinder second level telescopic Cylinder stops stretching out；

Hydraulic oil makes the first order sleeve of two the first multi-stage expansion shell type oil cylinders start synchronization to stretch out, entrust square tube shape and stretch Contracting arm stretches out, and rigid hanger is entrusted pick-and-place sleeper device and risen, when square tube shape telescopic arm ring flange and the first ladder square tube shape are stretched When contracting arm cylinder shoulder grafting touches, the second level sleeve of the first multi-stage expansion shell type oil cylinder starts to stretch out, and square tube shape telescopic arm pulls first Ladder square tube shape telescopic arm stretches out, when pick-and-place sleeper device rises to suitable height, the second of the first multi-stage expansion shell type oil cylinder Level sleeve stops stretching out；

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start to retract, and pulls the 3rd ladder square tube shape Telescopic arm is retracted, and the 3rd ladder square tube shape telescopic arm entrusts rigid hanger and pick-and-place sleeper device inward, when push pedal and the During two ladder square tube shape telescopic arm contacts, second level extension sleeve is retracted with first order extension sleeve, and the 3rd ladder square tube shape is stretched Contracting arm draws push pedal to retract, and push pedal promotes the second ladder square tube shape telescopic arm to retract, when sleeper inward is to storing bad sleeper storehouse During surface, the second multi-stage expansion shell type oil cylinder first order extension sleeve stops retracting, and hydraulic oil makes the first multi-stage expansion shell type The sleeve of oil cylinder starts to retract step by step, and pick-and-place sleeper device is entrusted bad sleeper and declined, when bad sleeper declines close at the bottom of bad sleeper storehouse Or previously put into bad sleeper time, hydraulic oil make two the 3rd spiral rotary actuators start reverse sync rotate, make two Interior wide-mouth nut rotates backward, and when bad sleeper is discharged in storehouse, the 3rd spiral rotary actuator stops rotating backward, and first The sleeve of multi-stage expansion shell type oil cylinder starts to stretch out step by step, and rigid hanger and pick-and-place sleeper device rise to position shown in Fig. 1, hang Transport bad sleeper to have worked；

3. handling is well placed sleeper work: hydraulic oil makes reciprocating motion drive double output shaft hydraulic motor to start reverse turning Dynamic, drive left-handed screw and right handed screw reverse sync to rotate, pull first connecting rod and second connecting rod to synchronize translation respectively, it is right to make Each two pairs of fork synchronous hunting in opposite directions about the first series connection parallelogram lindage of title setting and the second series connection parallelogram lindage, Making two to promote moving beam to move right the second fork, moving beam is entrusted storage sleeper case and is moved right, when storage sleeper Case move right to stored sleeper position in storehouse immediately below pick-and-place sleeper device time, move back and forth drive double output shaft hydraulic motor Stopping rotates backward；

Hydraulic oil makes the sleeve of the first multi-stage expansion shell type oil cylinder start to retract step by step, and rigid hanger entrusts pick-and-place sleeper dress Put decline, above two interior wide-mouth nuts and sleeper two, inner side bolt close to time, hydraulic oil makes the 3rd spiral swing hydraulic pressure Motor output shaft starts to rotate forward, when two interior wide-mouth nuts screw on two bolts in inner side above sleeper, to the 3rd spiral pendulum Hydrodynamic pressure motor rotates forward to hard-over, and the 3rd spiral rotary actuator stops rotating forward, the first multi-stage expansion set The first order sleeve of formula oil cylinder stops retracting；

Hydraulic oil makes the sleeve of the first multi-stage expansion shell type oil cylinder start to stretch out step by step, and rigid hanger entrusts pick-and-place sleeper dress Putting rising, pick-and-place sleeper device has been entrusted sleeper and has been risen to suitable height, the first order sleeve of the first multi-stage expansion shell type oil cylinder Stopping is stretched out；

Hydraulic oil makes the first order extension sleeve of the second multi-stage expansion shell type oil cylinder and second level extension sleeve stretch out successively, Making the 3rd ladder square tube shape telescopic arm entrust rigid hanger to move out, pick-and-place sleeper device has been entrusted sleeper and has been moved out to suitable Working as position, the first order extension sleeve of the second multi-stage expansion shell type oil cylinder stops stretching out, and hydraulic oil makes the first multi-stage expansion shell type The sleeve of oil cylinder starts to retract step by step, pick-and-place sleeper device entrusted sleeper drop to its when contacting with railway roadbed, hydraulic oil makes The first order sleeve of one multi-stage expansion shell type oil cylinder stops retracting；

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start to retract, and the 3rd ladder square tube shape is stretched Arm entrusts rigid hanger inward, and pick-and-place sleeper device has entrusted sleeper inward to appropriate location, has made sleeper penetrate Under rail, when having made sleeper rear end face and above rail lower flange trailing flank be coplanar, position shown in Figure 12, the second multi-stage expansion set Formula oil cylinder second level extension sleeve stops retracting；

Hydraulic oil makes to carry cylinder of rail piston rod to start to retract, and its piston rod hauls fagging and moves upward, and rail falls to former Position, pushes down good sleeper so that it is upper surface is parallel with two rail lower surfaces, carries cylinder of rail piston rod and is retracted to stop, high Force feed makes the first telescopic drive double output shaft hydraulic motor start to rotate forward, make two the first tumblers and carry cylinder of rail to Moving to outward appropriate location, the first telescopic drive double output shaft hydraulic motor stops rotating forward, and hydraulic oil makes the first spiral pendulum Hydrodynamic pressure motor starts to rotate backward, and drives the first casing to rotate backward, two the first casings entrust respectively with its be connected two The individual cylinder of rail that carries rotates backward, when the first casing rotates backward to its spacer pin and the cantilever hollow multidiameter spacing circular arc of connecting plate During the contact of the groove other end, carrying cylinder of rail and rotate backward 90 °, the first spiral rotary actuator stops rotating backward, electromagnetic switch The middle position of valve makes the first spiral rotary actuator pressurize；First telescopic drive double output shaft hydraulic motor starts to rotate backward, Make two the first tumblers and carry cylinder of rail inward to position shown in Fig. 1, the first telescopic drive double output shaft hydraulic pressure horse Reach stopping to rotate backward；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, when the 3rd spiral rotary actuator reversely turns When moving to hard-over, discharging sleeper, the 3rd spiral rotary actuator stops rotating backward, the first multi-stage expansion shell type oil cylinder Sleeve start to stretch out step by step, rigid hanger is entrusted pick-and-place sleeper device and is risen to suitable height, and hydraulic oil makes second multistage to stretch The extension sleeve of contracting shell type oil cylinder is retracted successively, makes the 3rd ladder square tube shape telescopic arm entrust rigid hanger and pick-and-place sleeper device Inward, pick-and-place sleeper device moves to position shown in Fig. 1, and handling is put sleeper to be finished changing and worked, and first multistage stretches The second level sleeve of contracting shell type oil cylinder stops stretching out, and the first order sleeve of the second multi-stage expansion shell type oil cylinder stops retracting, handling It is well placed sleeper to have worked；

4. advanced sleeper to work: engineering truck traction track car moves to left, automatically identified that by pattern recognition system sleeper is firm The number of rail outer bolt image, makes railcar move to left a sleeper pitch, swivel block and push-and-pull sleeper device and has been positioned at above sleeper, Directly over rail-lifting equipment has been positioned on the right side of sleeper between sleeper, hydraulic oil makes hydraulic motor start to rotate forward, and makes the second rotation dress Putting and capture and swivel block device moves out, when second party tubular telescopic arm extend out to stop, hydraulic motor stops forward and turns It is dynamic,

Hydraulic oil makes the first spiral rotary actuator start to rotate forward, and makes the second casing entrust crawl and swivel block device Rotating forward 90 °, the first spiral rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes the first spiral swing liquid Pressure motor pressurize, hydraulic oil makes hydraulic motor start to rotate backward, and makes the second tumbler and crawl and swivel block device inwardly transport Dynamic, when two presser motions of gripper are in time finishing changing appropriate location, sleeper both sides, and position shown in Figure 11, hydraulic motor stops Rotating backward, hydraulic oil makes hydraulic cylinder piston rod stretch out, and when two platen clamp sleepers, the middle position of solenoid directional control valve makes liquid Compressing cylinder pressurize；

Hydraulic oil makes the first telescopic drive double output shaft hydraulic motor start to rotate forward, make two the first tumblers and Carrying cylinder of rail to move out to appropriate location, the first telescopic drive double output shaft hydraulic motor stops rotating forward, and it starts instead To rotation, making entrust two the first tumblers respectively and carry cylinder of rail inward, hydraulic oil makes the first spiral swing simultaneously Hydraulic motor starts to rotate forward, and makes to carry cylinder of rail when rotating forward 90 °, and the first spiral rotary actuator stops forward and turns Dynamic, the middle position of solenoid directional control valve makes the first spiral rotary actuator pressurize, when carrying cylinder of rail inward to its cylinder body and steel During the contacts side surfaces of rail lower flange, its gusset upper surface contacts with below rail, the first telescopic drive double output shaft hydraulic motor Stopping rotates backward；

Hydraulic oil makes to carry cylinder of rail piston rod to start to stretch out, and makes rail jack-up, carries cylinder of rail piston rod and stops stretching out, electromagnetism The middle position of reversal valve makes to propose cylinder of rail pressurize；

Hydraulic oil makes the second spiral rotary actuator start to rotate forward, when making gripper make sleeper rotate forward 90 °, Second spiral rotary actuator stops rotating forward, and hydraulic oil makes hydraulic motor start to rotate backward, and makes gripper promote Sleeper inward, is a good sleeper inward to shown in Fig. 1 during position, and hydraulic oil makes hydraulic motor stop rotating backward, high Force feed makes the second spiral rotary actuator start to rotate backward, when making gripper make sleeper rotate backward 90 °, and the second spiral pendulum Hydrodynamic pressure motor stops rotating backward；

Hydraulic oil makes hydraulic cylinder piston rod start to retract, and when two pressing plates contact with sleeper disengagement, hydraulic jack is lived Stopper rod stops retracting；

Hydraulic oil makes hydraulic motor start to rotate forward, make the second tumbler and crawl and swivel block device move out to Appropriate location, hydraulic oil makes hydraulic motor stop rotating forward, and hydraulic oil makes the first spiral rotary actuator start reverse turning Dynamic, make the second casing entrust crawl and swivel block device rotates backward 90 °, the first spiral rotary actuator stops rotating backward, The middle position of solenoid directional control valve makes the first spiral rotary actuator pressurize, and hydraulic oil makes hydraulic motor start to rotate backward, and makes Two tumblers and crawl and swivel block device inward are to position shown in Fig. 1, and hydraulic motor stops rotating backward；

Hydraulic oil makes to carry cylinder of rail piston rod to start to retract, and rail falls to original position, carries cylinder of rail piston rod and is retracted to Stop, hydraulic oil makes the first telescopic drive double output shaft hydraulic motor start to rotate forward, makes two the first tumblers and carry Cylinder of rail moves out to appropriate location, and the first telescopic drive double output shaft hydraulic motor stops rotating forward, and hydraulic oil makes the One spiral rotary actuator starts to rotate backward, and makes to carry cylinder of rail when rotating backward 90 °, and the first spiral rotary actuator stops Only rotating backward, the middle position of solenoid directional control valve makes the first spiral rotary actuator pressurize；First telescopic drive double output shaft liquid Pressure motor starts to rotate backward, and makes two the first tumblers and carries cylinder of rail inward to position shown in Fig. 1, and first stretches Drive double output shaft hydraulic motor to stop rotating backward, advance sleeper end-of-job, tractor traction track car to leave.

Yielding coupling and interior wide-mouth nut can effectively adapt to sleeper bolt position deviation, make interior wide-mouth nut easily screw on Sleeper bolt；The symmetrically arranged first series connection parallelogram lindage of reciprocator and the second series connection parallelogram lindage, make In moving beam reciprocating movement parallel with fixed cross beam all the time；Synchronous valve in hydraulic system, makes two first multistage to stretch The sleeve synchronization telescope of contracting shell type oil cylinder；Rigid hanger makes sleeper in handling without swinging, improve handling sleeper speed.

Claims (1)

1. change sleeper automated machine, it is characterised in that: it is by rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling Device, electromotor, Hydraulic system and control System cabine and railcar composition；Railcar is provided with multiple castor and two longerons, carries Rail device, transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor and Hydraulic system and control System cabine are arranged on track On two longerons of car, railcar is drawn by engineering truck, and electromotor provides power, hydraulic system and control for oil pump and control system Fuel tank, oil pump, hydraulic control system and automatic control system it is provided with in System cabine processed；

Described rail-lifting equipment is by the first telescopic component, the first retractable driving device, four connecting plates, two the first rotation dresses Put, two box connectors and two carry cylinder of rail composition, and box connector is provided with semicylindrical opening, carry cylinder of rail cylinder body and are provided with and add Power plate, piston rod free end are provided with fagging；

The first described telescopic component is by first party tubular fixed arm, two first party tubular telescopic arms, the first laser displacements Sensor and the first range finding reference plate composition, first party tubular telescopic arm is provided with dividing plate and two symmetrical grooves, and groove is provided with spiral shell Keyhole；

The first described retractable driving device by first party tubular fixed arm, double output shaft hydraulic motor, two yielding couplings, Two monaural ring bearings, left-handed screw, left-handed square nut, right handed screw, dextrorotation square nut, two square sliders, four Bolt, two the first hex nuts and two first party tubular telescopic arm compositions, right handed screw is provided with the first axle journal, the second axle journal With the 3rd axle journal, left-handed screw is the same with right handed screw version, and it is blind that dextrorotation square nut is provided with two symmetric coaxial screw threads Hole, left-handed square nut is the same with dextrorotation square nut version, and square slider is provided with axis hole；

Monaural ring bearing is sheathed on the second axle journal of right handed screw, and yielding coupling is by the first axle journal of right handed screw and lose-lose The right-hand member output shaft fixed connection of shaft hydraulic motor, dextrorotation square nut screws on right handed screw appropriate location, and square slider is sheathed on On right handed screw the 3rd axle journal, the first hex nut pretension, first party tubular telescopic arm is sheathed thereon from right handed screw right-hand member, Making square tube shape telescopic arm groove bolt hole coaxial with dextrorotation square nut tapped blind hole, two bolts screw in pretension respectively, repeat Aforementioned operation, by the support of monaural ring, left-handed screw, left-handed square nut, square slider, the first hex nut, yielding coupling, Double output shaft hydraulic motor and first party tubular telescopic arm are assembled into one, and first party tubular fixed arm is sheathed on two first party On tubular telescopic arm, double output shaft hydraulic motor symmetry is made to be fixed on first party tubular fixed arm endoporus upper surface, two monaurals Ring bearing is fixed on first party tubular fixed arm endoporus upper surface, forms retractable driving device, square slider and first party tubular Telescopic arm forms moving sets, and the first laser displacement sensor symmetry is fixed on first party tubular fixed arm side, the first range finding ginseng It is fixed on first party tubular telescopic arm side according to plate；

The first described tumbler is by first party tubular telescopic arm, the first spiral rotary actuator, the hollow ladder of cantilever Axle, the first thrust bearing, the first casing, the second thrust bearing, the second hex nut, circular connecting plate, the 3rd hex nut, end Lid and equi intensity cantilever form, and the first spiral rotary actuator output shaft is provided with thread segment and six prism shaft parts, and cantilever is empty Heart multidiameter is provided with thread segment, the first axle journal, the second axle journal, the 3rd axle journal and connecting plate, and connecting plate is provided with spacing arc groove, the One casing is provided with cantilever ladder axle sleeve and spacer pin, and cantilever multidiameter is arranged with the first axle sleeve, the second axle sleeve and the 3rd axle sleeve, end Being covered with bearing pin, circular connecting plate is provided with six prism holes, and equi intensity cantilever is provided with pin shaft hole and ring flange；

First spiral rotary actuator is fixed on the base plate of first party tubular telescopic arm dividing plate front end, hollow cantilever multidiameter It is sheathed on the first spiral rotary actuator output shaft, makes cantilever hollow multidiameter connecting plate be fixed on first party tubular and stretch Arm end face, the first thrust bearing is sheathed on cantilever hollow multidiameter the 3rd axle journal, and casing cantilever ladder axle sleeve is sheathed on first On spiral rotary actuator output shaft, the first thrust bearing is made to insert casing cantilever ladder axle sleeve the 3rd axle sleeve section, cantilever rank Ladder axle sleeve the second axle sleeve section is sheathed on hollow multidiameter the second axle journal, and the second thrust bearing is sheathed on the hollow multidiameter of cantilever the On one axle journal, inserting cantilever ladder axle sleeve the first axle sleeve section, the second hex nut screws in cantilever hollow multidiameter thread segment pretension, The first casing and cantilever hollow multidiameter chain connection, circular connecting plate is made to be sheathed on the first spiral rotary actuator output shaft Six prism shaft parts, make circular connecting plate be fixed on the first casing cantilever ladder axle sleeve free end, and the 3rd hex nut screws in first Spiral rotary actuator output shaft thread segment pretension, makes the first spiral rotary actuator output shaft and the first casing be connected, End cap is fixed on the first casing, and equi intensity cantilever pin-and-hole is sheathed on end cap bearing pin, and equi intensity cantilever ring flange is connected Above first party tubular telescopic arm, forming the first tumbler, two connecting plates make the first casing be connected with box connector Integrally, two are carried cylinder of rail cylinder body and is respectively fixedly connected with in two box connector semicylindrical openings, form rail-lifting equipment；

Described swivel block and push-and-pull sleeper device be by the second telescopic component, the second retractable driving device, the second tumbler, two Individual connecting plate and crawl and swivel block device form；

The second described telescopic component is by second party tubular fixed arm, second party tubular telescopic arm, the second laser displacement sensing Device and second range finding reference plate composition, second party tubular fixed arm is provided with ring flange, second party tubular telescopic arm be provided with dividing plate and Two symmetrical grooves, groove is provided with bolt hole；

The second described retractable driving device is by second party tubular fixed arm, hydraulic motor, yielding coupling, screw rod, monaural Ring bearing, square nut, square slider, the first hex nut, two the first bolts and second party tubular telescopic arm composition, screw rod Being provided with the first axle journal, the second axle journal and the 3rd axle journal, square nut is provided with two coaxial threaded blind holes, and square slider is provided with axle Hole；

Being sheathed on screw rod the second axle journal by monaural ring bearing, square nut screws on screw rod appropriate location, and square slider is sheathed on On screw rod the 3rd axle journal, the first hex nut pretension, yielding coupling makes hydraulic motor output shaft coaxial with screw rod the first axle journal Being fixed with one, second party tubular telescopic arm is sheathed thereon from screw rod left end, make second party tubular telescopic arm groove bolt hole with Square nut tapped blind hole is coaxial, and two the first bolts screw in pretension respectively, and the second square tube fixed arm is sheathed on from screw rod right-hand member On it, making hydraulic motor be fixed on second party tubular fixed arm endoporus upper surface, it is solid that monaural ring bearing is fixed on second party tubular Arms endoporus upper surface, forms the second retractable driving device, and square slider and second party tubular telescopic arm form moving sets, and second Laser displacement sensor symmetry is fixed on second party tubular fixed arm side, and the second range finding reference plate is fixed on second party tubular and stretches Contracting arm side；

The second described tumbler and the first tumbler form and version is the same, carries out identical with the first tumbler Assembly operation, form the second tumbler；

Described crawl and swivel block device are by the second casing, the second spiral rotary actuator, hydraulic jack, the first thrust axis Hold, the second thrust bearing, the second hex nut, piston, piston rod, ladder U-bracket, first connecting rod, second connecting rod, two One fork, two rollers, end cap and two mechanical gripper device compositions, the second casing is provided with four screwed holes of symmetry, the first circle Hole section, scallop hole section, the second circular hole portion, axle sleeve section and the 3rd circular hole portion, the second spiral rotary actuator output shaft fixed connection method Blue dish, ring flange is provided with spacing fan-shaped boss, and scallop hole section is provided with the first confined planes and the second confined planes, and hydraulic jack is provided with method Blue dish, the first axle journal, the second axle journal and the 3rd axle journal, ring flange is provided with spacing fan-shaped boss, and piston is provided with axis hole, and piston rod sets Having axle journal and ears ring, ladder U-bracket is provided with flange, axis hole, two slotted eyes, two pin-and-holes, four the first monaural rings and eight Individual second monaural ring, first connecting rod is provided with ears ring and monaural ring, and second connecting rod is provided with two ears rings, and the first fork is provided with list Earrings, pin-and-hole and ears ring；

Described gripper is made up of ladder U-bracket, four the second forks, two helical springs and pressing plate, the second pendulum Bar is provided with two ears rings, and pressing plate is provided with two the first monaural rings and four the second monaural rings；

By convex for spacing for the second spiral rotary actuator output shaft ring flange fan-shaped boss sector spacing with hydraulic jack ring flange Platform aligns connected, and the first thrust bearing is sheathed on hydraulic jack the first axle journal, and hydraulic jack penetrates the second casing shoulder hole In, make the second spiral rotary actuator output shaft ring flange and hydraulic jack ring flange insert second casing the first circular hole portion, Spacing fan-shaped boss left surface contacts with scallop hole section the first confined planes, and the first thrust bearing inserts second casing the second circular hole Section, makes the second spiral rotary actuator be fixed on the second box bottom, makes end cap and the second casing be connected；

Second thrust bearing is sheathed on hydraulic jack the 3rd axle journal so that it is insert the second casing the 3rd circular hole portion section, piston Bar passes ladder U-bracket axis hole, and piston shaft borehole jack is located at piston rod axle journal, the second hex nut pretension, piston is inserted liquid In compressing cylinder cylinder barrel, ladder U-bracket flange is penetrated hydraulic jack cylinder barrel and is connected, make oil cylinder the second axle journal and the first casing axle Set section chain connection, coaxially penetrates pin hinge even by piston rod ears ring, second connecting rod ears ring and first connecting rod monaural ring Connecing, the second fork ears ring coaxially penetrates pin hinge and is connected with roller, and the second fork pin-and-hole is coaxial with ladder U-bracket pin-and-hole Penetrating pin hinge to connect, first connecting rod ears ring and second connecting rod ears ring are coaxially worn with two the first fork monaural rings respectively Enter pin hinge to connect；

The ears ring of four the second forks is coaxially penetrated respectively pin hinge even with four the second monaural rings of ladder U-bracket Connecing, another ears ring of four the second forks coaxially penetrates pin hinge with four the second monaural rings of pressing plate respectively and is connected, and two Individual helical spring one end is connected with two the first monaural rings of ladder U-bracket respectively, and two helical spring other ends are respectively It is connected with two the first monaural rings of pressing plate, forms gripper, the pulling force of two helical springs, make to be articulated with the rolling of the first fork Wheel contacts with pressing plate all the time, repeats aforementioned assembly operation, assembles another gripper, and composition captures and swivel block device；

First casing and the second casing are fixed with one by two connecting plates, and composition swivel block and push-and-pull sleeper device, by the second square tube Shape fixed arm symmetry is fixed on two longerons of railcar；

Described sleeper handling apparatus is by moving back and forth storage sleeper device, rigid hanger hoisting apparatus and cmos image sensing Device forms；

Described reciprocating motion storage sleeper device is made up of reciprocator and storage sleeper case, and storage sleeper case is provided with Roller and several sleeper storehouse, wherein half sleeper storehouse, left side is used for having stored sleeper, and half sleeper storehouse, right side is used for storing bad rail Pillow；

Described reciprocator is by base plate, the first series connection parallelogram lindage, the second series connection parallelogram lindage, reciprocal Kinematic driving unit and the 3rd laser displacement sensor composition；

The first described series connection parallelogram lindage is by fixed cross beam, two the first forks, first connecting rod, two the second pendulum Bar, moving beam and four bolt compositions, first connecting rod is provided with left handed threaded hole and two pairs of coaxial threaded blind holes, and moving beam sets There are two rollers；

As the second described series connection parallelogram lindage and the first series connection parallelogram lindage composition, second connecting rod is provided with dextrorotation Screwed hole and two pairs of coaxial threaded blind holes, except aforesaid second connecting rod and first connecting rod version are different, remaining is all zero years old Modular construction form is the same；

Described reciprocating movement driving device be by double output shaft hydraulic motor, two yielding couplings, two monaural ring bearings, Monaural ring bearing, left-handed screw, first connecting rod, right handed screw, second connecting rod and motorcycle composition, right handed screw is provided with the first axle journal With the second axle journal, left-handed screw is the same with right handed screw version, and motorcycle is provided with four rolling；

By two the first forks respectively with fixed cross beam chain connection, the first fork ears ring and the second fork ears ring and first A pair of connecting rod left side coaxial threaded blind hole is coaxial, two bolts pretensions respectively, another the first fork ears ring and another the On the right of two fork ears rings and first connecting rod, a pair coaxial threaded blind hole is coaxial, two bolts pretensions respectively, make the first fork, the Chain connection between two forks and three components of first connecting rod, by two the second forks respectively with moving beam chain connection, composition First series connection parallelogram lindage, repeats aforementioned assembly operation, is symmetrical in fixed cross beam and the moving beam vertical plane of symmetry assembles Second series connection parallelogram lindage；

Being sheathed on the second axle journal of right handed screw by monaural ring bearing, double output shaft hydraulic motor symmetry is fixed in motorcycle, The yielding coupling the first axle journal by right handed screw and the right-hand member output shaft fixed connection of double output shaft hydraulic motor, then monaural ring is propped up Cover for seat is located on the second axle journal of left-handed screw, and another yielding coupling is by the first axle journal of left-handed screw and double output shaft liquid Two yielding couplings are fixed in motorcycle, make left-handed screw left-handed with first connecting rod by the left end output shaft fixed connection of pressure motor Screwed hole axial contact, makes right handed screw and second connecting rod right-handed thread hole axial contact, rotates double output shaft hydraulic motor Output shaft, makes left-handed screw screw in first connecting rod left handed threaded hole, and right handed screw screws in second connecting rod right-handed thread hole simultaneously In, form the second driving means；

Base plate is fixed on fixed cross beam lower surface, make the four rolling of two rollers of moving beam and motorcycle respectively with base plate Upper surface, the 3rd laser displacement sensor symmetry is fixed on fixed cross beam side, forms reciprocator；

Being fixed on by base plate on railcar crossbeam, first party tubular fixed arm and second party tubular fixed arm, storage sleeper case is solid Being connected on moving beam, make two rollers of storage sleeper case contact with plate upper surface, composition moves back and forth storage sleeper dress Put；

Described rigid hanger hoisting apparatus is by two telescopic cantilever boom devices, telescoping crossbeam device, rigid hanger and two Pick-and-place sleeper device forms；

Described telescopic cantilever boom device is by the first ladder square tube shape fixed arm, the first ladder square tube shape telescopic arm, square tube shape Telescopic arm, the first multi-stage expansion shell type oil cylinder, cantilever beam, end plate, cantilever and the 4th laser displacement sensor composition, the first ladder Square tube shape fixed arm is provided with ring flange and cylinder shoulder, and the first ladder square tube shape telescopic arm is provided with ring flange and cylinder shoulder, and square tube shape is stretched Arm is provided with ring flange and blind end, the first multi-stage expansion shell type oil cylinder be provided with the first ring flange, the first extension sleeve, second stretch Sleeve and the second ring flange, cantilever beam is provided with ring flange；

End plate symmetry being fixed on first stretch shell type oil cylinder the first ring flange, square tube shape telescopic arm is sheathed on the first multi-stage expansion Shell type oil cylinder, makes first shell type oil cylinder the second ring flange symmetry of stretching be fixed on square tube shape telescopic arm blind end, the first ladder side Tubular telescopic arm is sheathed on square tube shape telescopic arm, and the first ladder square tube shape fixed arm is sheathed on the first ladder square tube shape telescopic arm On, make the first ladder square tube fixed arm ring flange be connected with end plate, cantilever beam ring flange is fixed on square tube shape telescopic arm blind end On, cantilever is fixed on cantilever beam ring flange, and the 4th laser displacement sensor is fixed on cantilever, composition telescopic cantilever beam dress Put；

Described telescoping crossbeam device is by the second ladder square tube shape fixed arm, the second ladder square tube shape telescopic arm, the 3rd ladder Square tube shape telescopic arm, the second multi-stage expansion shell type oil cylinder, end cap, push pedal and the 5th laser displacement sensor composition, the second ladder Square tube shape fixed arm is provided with ring flange, cylinder shoulder and oblong aperture, and the second ladder square tube shape telescopic arm is provided with first shoulder, second shoulder And oblong aperture, the 3rd ladder square tube shape telescopic arm is provided with cylinder shoulder and two monaural rings, and the second multi-stage expansion shell type oil cylinder is provided with the One ring flange, first order extension sleeve, second level extension sleeve and the second ring flange；

End cap symmetry being fixed on second stretch shell type oil cylinder the first ring flange, the 3rd ladder square tube shape telescopic arm is sheathed on second On multi-stage expansion shell type oil cylinder, make the second stretch shell type oil cylinder the second ring flange and the 3rd ladder square tube shape telescopic arm blind end solid Even, the second ladder square tube shape telescopic arm is sheathed on the 3rd ladder square tube shape telescopic arm, then by the second ladder square tube shape fixed arm Being sheathed on the second ladder square tube shape telescopic arm, make end cap and ladder square tube shape fixed arm ring flange be connected, push pedal is fixed on the Three ladder square tube shape telescopic arm blind ends, are fixed on the second ladder square tube shape fixed arm side by the 5th laser displacement sensor symmetry Face, forms telescoping crossbeam device,

Described rigid hanger is made up of entablature, two pull bars and sill, and entablature is provided with two ears rings, sill It is provided with two circular holes；

Being fixed on below entablature by one end symmetry of two pull bars, the other end symmetry of two pull bars is fixed on sill Face, forms rigid hanger；

Described pick-and-place sleeper device is made up of the 3rd spiral rotary actuator, yielding coupling and interior wide-mouth nut, the Three spiral rotary actuators are provided with ring flange and output shaft, and interior wide-mouth nut is provided with axle journal；

Penetrating in sill circular hole by the 3rd spiral rotary actuator, the 3rd spiral rotary actuator ring flange is fixed on down Above crossbeam, yielding coupling makes the 3rd spiral rotary actuator output shaft be connected with interior wide-mouth nut axle journal, forms pick-and-place Sleeper device；

Two telescopic cantilever boom device symmetries being fixed on two longerons of railcar, the second ladder square tube shape fixed arm is fixed on Below two cantilever beam cantilevers, two ears rings of entablature are same with two monaural rings of the 3rd ladder square tube shape telescopic arm respectively Axle bolt connects, and cmos image sensor is fixed on outside railcar longeron, forms sleeper handling apparatus.