CN106320107A - Railway maintenance electro-hydraulic integration machine for replacing sleeper - Google Patents

Abstract

The invention discloses a railway maintenance electro-hydraulic integration machine for replacing sleeper. The railway maintenance electro-hydraulic integration machine for replacing sleeper comprises a tamping ballast leveling device, a runway shoulder and ballast bed trimming device, a grab bucket stone-cleaning device, a ballast discharge device, a sleeper end stone-cleaning device, a sprocket stone discharge device, a four-nuts synchronous installation and disassembly device, a first rail lifting device, a sleeper transfer and push-pull device, a hoisting and swinging sleeper device, a rail vehicle, generators, a hydraulic system and a control system box. The railway maintenance electro-hydraulic integration machine for replacing sleeper makes a work device quickly aligned to a work position, the ballasts are automatically discharged from the gap between sleepers, the outside of a sleeper end and the ballast bed below a steel rail; sandy soils in the ballast are automatically separated, the ballast are automatically used to backfill the gap between the sleepers at two sides of the replaced sleeper for tamping and leveling, the shape of runway shoulder and ballast bed are repaired, the synchronous installation and disassembly of four nuts are achieved, the fatigue life of the bolt is improved, and the reliability of the connection between the sleeper and he steel rail are ensured. The sleeper transfer and push-pull device is an integrated device, has compact structure, and is suitable for various works of the sleeper changing in straight-line and curve-line rail sections. The efficiency of the sleeper changing is high.

Description

A kind of railway maintenance mechanical-electrical-hydraulic integration machinery changing sleeper

Technical field

The present invention relates to a kind of railway maintenance machinery, change the railway maintenance mechanical-electrical-hydraulic integration of sleeper particularly to one Machinery.

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 a kind of railway maintenance mechanical-electrical-hydraulic integration machinery changing sleeper.

The present invention be by tamping flat quarrel device, road shoulder and railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, Pillow end clear stone device, sprocket calculus device, four nuts synchronization assembling and disassembling devices, the first rail-lifting equipment, transition and push-and-pull sleeper device, Handling sleeper device, electromotor, Hydraulic system and control System cabine and railcar composition.Railcar is provided with multiple castor and two Longeron, tamping flat quarrel device, road shoulder and railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, pillow end clear stone device, Sprocket calculus device, four nuts synchronize assembling and disassembling devices, the first rail-lifting equipment, transition and push-and-pull sleeper device, handling sleeper device, Electromotor and Hydraulic system and control System cabine are arranged on two longerons of railcar, and railcar is drawn by engineering truck, generating Machine is that oil pump and control system provide power, be provided with in Hydraulic system and control System cabine fuel tank, oil pump, hydraulic control system and Automatic control system；

Described tamping flat quarrel device is made up of entablature, the first lowering or hoisting gear and the assembly that vibrates, and entablature is provided with two Individual connecting plate, connecting plate is provided with several bolt hole；

The first described lowering or hoisting gear be by sill assembly, the first lifting drive, symmetrically arranged two parallel Four-bar mechanism and the first laser displacement sensor composition；

Described sill assembly is made up of first party tubular fixed arm and two first party tubular telescopic arms, first party Tubular fixed arm is provided with two long slot bores of symmetry, and it is recessed with symmetrical two that first party tubular telescopic arm is provided with two monaural rings Groove, groove is provided with bolt hole；

The first described lifting drive is by first party tubular fixed arm, double output shaft hydraulic motor, two elasticity Shaft coupling, two monaural ring bearings, left-handed screw, left-handed square nut, right handed screw, dextrorotation square nut, two first party Tubular telescopic arm, two square sliders, four the first bolts and two the first hex nut compositions, right handed screw is provided with the first axle Neck, the 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 symmetries Tapped blind hole, left-handed square nut is the same with dextrorotation square nut version, and square slider is provided with axis hole；

Described parallelogram lindage is made up of first party tubular telescopic arm, two forks and entablature；

Being sheathed on right handed screw the second axle journal by monaural ring bearing, dextrorotation square nut screws on the suitable position of right handed screw Putting, square slider is sheathed on right handed screw the 3rd axle journal, the first hex nut pretension, and yielding coupling makes double output shaft hydraulic pressure On the right side of motor, output shaft is coaxially connected with right handed screw the first axle journal, and 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 the first bolts are respectively Screw in the tapped blind hole pretension of dextrorotation square nut, repeat aforementioned assembly operation, by monaural ring bearing, left-handed screw, left-handed side Shape nut, square slider, the first hex nut, yielding coupling, double output shaft hydraulic motor and first party tubular telescopic arm group Dress one, is sheathed on first party tubular fixed arm on two first party tubular telescopic arms, makes double output shaft hydraulic motor symmetrical Being fixed on first party tubular fixed arm endoporus upper surface, two monaural ring bearings are fixed on table on first party tubular fixed arm endoporus Face, forms the first lifting drive, and square slider forms moving sets with first party tubular telescopic arm；

By one end of two forks respectively with first party tubular telescopic arm chain connection, the other end of two forks respectively with Entablature chain connection, forms parallelogram lindage, repeats aforementioned assembly operation, be symmetrical in entablature and first party tubular is fixed The vertical plane of symmetry of arm assembles another parallelogram lindage, and the first laser displacement sensor symmetry is fixed on first party tubular Above fixed arm, form the first lowering or hoisting gear；

The described assembly that vibrates be by entablature, several first elastic connecting component, oscillating plate, eight vibrating spears, eight Second hex nut and the first dither motor composition, the first elastic connecting component is by bolt, two helical springs, pads With the 3rd hex nut composition, oscillating plate is provided with several bolt hole and eight circular holes；

By bolt through entablature connecting plate bolt hole, helical spring is sheathed on bolt, then passes through oscillating plate spiral shell Keyhole, then another helical spring is sheathed on bolt, pad is sheathed on bolt, hex nut pretension, and oscillating plate is with upper Crossbeam realizes elasticity and connects；Vibrating spear passes oscillating plate circular hole, the second hex nut pretension, and the first dither motor symmetry is solid Being connected in above oscillating plate, first party tubular fixed arm symmetry is fixed on two longerons of railcar, composition tamping flat quarrel device；

Described road shoulder and railway roadbed modification device are by the first entablature assembly, the first retractable driving device, the second lifting Device and bucket device composition；

The first described entablature assembly is by second party tubular fixed arm, second party tubular telescopic arm, the second laser position Displacement sensor and the second range finding reference plate composition, second party tubular fixed arm is provided with four ears rings, second party tubular telescopic arm Being provided with two symmetrical grooves, groove is provided with bolt hole；

The first described retractable driving device be by second party tubular fixed arm, hydraulic motor, the first yielding coupling, One monaural ring bearing, screw rod, square nut, square slider, the first hex nut, two the first bolts and second party tubular are flexible Arm forms, and 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；

Being sheathed on the second axle journal of screw rod by first monaural ring bearing, the first yielding coupling is by the first axle journal of screw rod With the output shaft fixed connection of hydraulic motor, square nut screws on screw rod appropriate location, and square slider is sheathed on screw rod the 3rd axle journal, First hex nut pretension, second party tubular telescopic arm is sheathed thereon from screw rod left end, makes two tapped blind holes of square nut Coaxial with two bolts hole of second party tubular telescopic arm, two the first tools for bolts ' pretensions, second party tubular fixed arm is from hydraulic motor Right-hand member is sheathed thereon, and hydraulic motor is fixed on second party tubular fixed arm endoporus upper surface, forms the first telescopic drive Device, square slider forms moving sets with second party tubular telescopic arm, the second laser displacement sensor is fixed on the second square tube Above shape fixed arm, the second range finding reference plate is fixed on above second party tubular telescopic arm；

The second described lowering or hoisting gear be by first series connection parallelogram lindage, second series connection parallelogram lindage, second Lifting drive, servo-actuated Equipoising support apparatus and the 3rd laser displacement sensor composition；

Described first series connection parallelogram lindage be by sill, the first fork, the second fork, two the 3rd forks, First connecting rod and four the second bolt compositions, first connecting rod is provided with two pairs of coaxial threaded blind holes and left handed threaded hole,

As the second described series connection parallelogram lindage and the first series connection parallelogram lindage composition, second connecting rod is provided with Two pairs of coaxial tapped blind holes and right-handed thread hole, except aforesaid second connecting rod and first connecting rod version are different, remaining All component structural forms are the same；

The second described lifting drive is by double output shaft hydraulic motor, two the second yielding couplings, left-handed spiral shells Bar, first connecting rod, right handed screw, second connecting rod and two second monaural ring bearings composition, right handed screw be provided with the first axle journal and Second axle journal, left-handed screw is the same with right handed screw version；

Described servo-actuated Equipoising support apparatus be by plate shape entablature, the 3rd series connection parallelogram lindage, the first strut, the Two struts, slide bar, two slide blocks, two turriform linear Stiffness springs, two the second hex nuts, two the 3rd bolts and two Individual 4th bolt composition, slide bar is provided with fixed disc, is arranged with two light bar segment and two thread segments；Slide block is provided with circular hole With a pair coaxial threaded blind hole；

Described 3rd series connection parallelogram lindage be by plate shape entablature, sill, the 4th fork, the 5th fork, the Six forks, the 7th fork, two third connecting rods and two bearing pin compositions；

By the first fork and sill chain connection, between the second fork, the 4th fork and three components of sill, hinge is even Connecing, the first fork ears ring and the 3rd fork ears ring are coaxial with a pair of first connecting rod left side tapped blind hole, two the second bolts Respectively pretension, makes chain connection between the first fork, the 3rd fork and three components of first connecting rod, the second fork ears ring and another On the right of individual 3rd fork ears ring and first connecting rod, a pair tapped blind hole is coaxial, two the second bolts pretensions respectively, makes the second pendulum Chain connection between bar, another the 3rd fork and three components of first connecting rod, two the 3rd forks are solid with second party tubular respectively Arms chain connection, composition the first series connection parallelogram lindage, repeats aforementioned assembly operation, is symmetrical in sill and the second square tube The vertical plane of symmetry of shape fixed arm assembles the second series connection parallelogram lindage；

Being sheathed on the second axle journal of right handed screw by second monaural ring bearing, the second yielding coupling is by right handed screw The right-hand member output shaft fixed connection of the first axle journal and double output shaft hydraulic motor, then another the second monaural ring bearing is sheathed on left-handed On second axle journal of screw rod, another second yielding coupling is by the first axle journal of left-handed screw and double output shaft hydraulic motor Left end output shaft fixed connection, makes left-handed screw and first connecting rod left handed threaded hole axial contact, makes right handed screw right with second connecting rod Rotation screwed hole axial contact, rotates the output shaft of double output shaft hydraulic motor, makes left-handed screw screw in first connecting rod left hand thread Kong Zhong, during right handed screw screws in second connecting rod right-handed thread hole simultaneously, forms the second lifting drive；

Two turriform linear Stiffness springs are sheathed on respectively two light bar segment of slide bar, then two slide blocks are overlapped respectively Being located at two light bar segment of slide bar, two the second hex nut pretensions respectively, two slide blocks make turriform linear Stiffness bullet respectively Spring suitably compresses, by the 5th fork and sill chain connection, make the left side monaural ring of two third connecting rods respectively with the 4th pendulum A pair tapped blind hole of the ears ring of bar, the 6th fork ears ring and slide block is coaxial, two the 3rd bolt pretensions respectively, makes the 4th Chain connection between fork, the 6th fork and three components of slide block, puts with the 5th respectively by the right monaural ring of two third connecting rods The ears ring of bar, the 7th fork ears ring are coaxial, and two bearing pins respectively penetrate, and make third connecting rod, the 5th fork and the 7th fork Chain connection between three components, the 6th fork and the 7th fork respectively with plate shape entablature chain connection, composition the 3rd series connection is flat Row four-bar mechanism；

A pair tapped blind hole of the first strut ears ring, the second strut ears ring and slide block is coaxial, two the 4th bolts Pretension respectively, makes chain connection between the first strut, the second strut and three components of slide block, the second strut and plate shape entablature hinge Connect, form servo-actuated Equipoising support apparatus；

Double output shaft hydraulic motor symmetry is fixed on plate shape entablature, two the second monaural ring bearings are fixed on plate On shape entablature, the 3rd laser displacement sensor symmetry is fixed on below second party tubular fixed arm, forms the second lowering or hoisting gear；

Described bucket device is made up of the first bucket assembly, arm and U-shaped suspension rod, arm be provided with monaural ring, first Ears ring, the second ears ring and ring flange；

The first described bucket assembly is made up of hydraulic jack, strut, connecting rod and bucket body, and the piston rod of hydraulic jack is certainly Be provided with monaural ring by end, cylinder body is provided with monaural ring；Strut is provided with ears ring and monaural ring；Connecting rod is provided with monaural ring and ears Ring, bucket body is provided with the first ears ring and the second ears ring；

With arm the second ears ring, cylinder body of hydraulic oil cylinder monaural ring is coaxially penetrated pin hinge be connected, strut monaural ring with Arm the first ears ring coaxially penetrates pin hinge and connects, and bucket body the second ears ring and arm monaural ring coaxially penetrate pin hinge Connecting, connecting rod monaural ring coaxially penetrates pin hinge with bucket body the first ears ring and is connected, connecting rod ears ring, strut ears ring and liquid Oil pressuring cylinder piston bar monocycle coaxially penetrates pin hinge and connects, and forms the first bucket assembly, and U-shaped suspension rod is solid with arm ring flange Even, form bucket device, U-shaped suspension rod is fixed on second party tubular telescopic arm, composition road shoulder and railway roadbed modification device；

Described grab bucket clear stone device is made up of entablature, two the 3rd lowering or hoisting gears and eight the first grab mechanisms, Entablature is provided with two longerons and two cantilever longitudinal beams；

The 3rd described lowering or hoisting gear and the composition of the first lowering or hoisting gear and version are the same, carry out and the first lifting dress Put identical assembly operation, form the 3rd lowering or hoisting gear；

The first described grab mechanisms is made up of two the second bucket assemblies and arm, and arm is arranged with two monaurals Ring, two the first ears rings, 2 second ears ring and ring flanges；

Second bucket assembly and the first bucket assembly form and version is the same；

With two the second ears rings of arm, two cylinder body of hydraulic oil cylinder monaural rings are coaxially penetrated pin hinge respectively be connected, Two strut monaural rings coaxially penetrate pin hinge with two the first ears rings of arm respectively and are connected, two bucket body the second ears rings Coaxially penetrate pin hinge with two monaural rings of arm respectively to be connected, two connecting rod monaural rings respectively with two bucket body the first ears Ring coaxially penetrates pin hinge and connects, and connecting rod ears ring, strut ears ring and hydraulic cylinder piston rod monocycle coaxially penetrate bearing pin Chain connection, forms the first grab mechanisms, is respectively symmetrically by eight arm ring flanges and is fixed on two longerons of entablature and two On cantilever longitudinal beam, the composition clear stone device of grab bucket；

Described ballast collection arranging device be by cmos image sensor, casing, two stone removing doors, two collection crossdrifts, two Stone removing door driving means, two collection crossdrift driving means, crossbeam, several second elastic connecting component, the second dither motors With two end cap compositions, crossbeam is provided with several bolt hole, and end cap is provided with sand discharge Tu Zui；

Described casing be provided with base plate, flechette-type bottom, two the first Ji Shicang, the second Ji Shicang, two square cylindrical, two Individual gradual change isosceles trapezoid skewed slot, four first convex stupefied and two second convex stupefied, base plate is provided with several bolt hole, and flechette-type bottom sets There are several sieve aperture, the first Ji Shicang to be provided with two symmetrical calculus mouths and two Ji Shikou, the second Ji Shicang are provided with the two of symmetry Individual calculus mouth and two Ji Shikou, the first convex stupefied top and bottom are provided with two ears rings of symmetry, and it is right that the second convex stupefied top and bottom are provided with Two the ears rings claimed, stone removing door is provided with two the first monaural rings and four the second monaural rings, and collection crossdrift is provided with two first lists Earrings, four the second monaural rings and six spill plates；

Described stone removing door driving means is driven oil cylinder, the first push-pull bar and the second push-pull bar to form by stone removing door, the One push-pull bar is provided with the first ears ring and the second ears ring, and the second push-pull bar is provided with the first ears ring and the second ears ring；

Described collection crossdrift driving means is driven oil cylinder, the 3rd push-pull bar and the 4th push-pull bar to form by collection crossdrift, the Three push-pull bars are provided with the first ears ring and the second ears ring, and the 4th push-pull bar is provided with the first ears ring and the second ears ring；

The second described elastic connecting component and the first Flexible Connector form and version is the same；

By two drive hydraulic cylinder piston rod monaural rings respectively with the first push-pull bar the first ears ring and the second push-pull bar First ears ring coaxially penetrates pin hinge and connects, and forms stone removing door driving means；

By two drive hydraulic cylinder piston rod monaural rings respectively with the 3rd push-pull bar the first ears ring and the 4th push-pull bar First ears ring coaxially penetrates pin hinge and connects, composition collection crossdrift driving means；

By the four of stone removing door the second monaural rings respectively with the ears ring of two the first convex stupefied lower surfaces, second convex stupefied below Two ears rings coaxially penetrate pin hinge connect, collection crossdrift four the second monaural rings respectively with two first convex stupefied above Ears ring, two ears rings of the second convex stupefied upper surface coaxially penetrate pin hinge connect；

Two driving hydraulic jacks are respectively fixedly connected with on the medial wall of two square cylindrical, two the first push-pull bars second Ears ring is co-axially inserted pin hinge with two the first monaural rings of stone removing door respectively and is connected, two second push-pull bar the second ears rings It is co-axially inserted pin hinge with two the first monaural rings of another stone removing door respectively to be connected, drives two hydraulic jack solid respectively Be connected on the lateral wall of two square cylindrical, two the 3rd push-pull bar the second ears rings respectively with collection two the first monaural rings of crossdrift Be co-axially inserted pin hinge to connect, two the 4th push-pull bar the second ears rings respectively with two the first monaural rings of another stone removing door Being co-axially inserted pin hinge to connect, two end caps are respectively fixedly connected with on casing；

By bolt through sill bolt hole, helical spring is sheathed on bolt, then passes through box bottom bolt hole, Being sheathed on bolt by another helical spring, pad is sheathed on bolt again, hex nut pretension, and casing and crossbeam realize bullet Property connect；Second dither motor symmetry is fixed on box bottom, and crossbeam symmetry is fixed on two longerons of railcar, Cmos image sensor is fixed on below crossbeam, forms ballast collection arranging device；

Described pillow end clear stone device be by the second entablature assembly, the second retractable driving device, the 4th lowering or hoisting gear, Two grab mechanisms and U-shaped bar composition；

The second described entablature assembly and the first entablature assembly composition and version are the same, carry out with first on horizontal The assembly operation that beam assembly is identical, forms the second entablature assembly；

The second described retractable driving device is the same with the first retractable driving device composition and version, carries out and first The assembly operation that retractable driving device is identical, forms two retractable driving device；

The 4th described lowering or hoisting gear and the second lowering or hoisting gear form and version is the same, carries out and the second lowering or hoisting gear Identical assembly operation, forms the 4th lowering or hoisting gear；

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

Being connected with U-shaped bar by arm ring flange, then be fixed on by U-shaped bar on second party tubular telescopic arm, composition pillow end is clear Stone device；

Described sprocket calculus device be by the 3rd entablature assembly, the 3rd retractable driving device, the 5th lowering or hoisting gear and Two sprocket calculus device compositions；

Described upper 3rd transverse beam assembly is by third party's tubular fixed arm, two third party's tubular telescopic arms, the 4th swashs Optical displacement sensor and the 4th range finding reference plate composition, third party's tubular fixed arm is provided with four ears rings, and third party's tubular is stretched Contracting arm is provided with two grooves of symmetry, and groove is provided with bolt hole；

The 3rd described retractable driving device is the same with the composition of the first lifting drive, except aforesaid third party's tubular Fixed arm and first party tubular fixed arm version is different, third party's tubular telescopic arm and first party tubular telescopic arm structure Form is different, and remaining all component structural form is the same；

Carry out the assembly operation identical with the first lifting drive, form the 3rd retractable driving device, the 4th laser position Displacement sensor symmetry is fixed on above third party's shape fixed arm, and the 4th range finding reference plate is fixed on third party's tubular telescopic arm Face；

The 5th described lowering or hoisting gear and the second lowering or hoisting gear form and version is the same, carries out and the second lowering or hoisting gear Identical assembly operation, forms the 5th lowering or hoisting gear；

Described sprocket calculus assembly is by double output shaft hydraulic motor, two yielding couplings, two sprocket calculus portions Part, U-shaped bar, eight C-shaped-rod and suspension bracket composition, U-shaped bar is provided with two circular flange dishes and square flange, and C-shaped-rod is provided with the One ring flange and the second ring flange, suspension bracket is provided with two the first ring flanges and eight the second ring flanges；

Described sprocket calculus parts be by square beam, sprocket wheel, sprocket wheel wheel shaft, inducer, inducer wheel shaft, four hold Roller, four BOGEY WHEEL wheel shafts, several chain tooth assembly sum bearing pins composition, square beam be provided with the first ears ring, second Ears ring and four the 3rd ears rings；

By square beam the first ears ring and sprocket coaxiality, penetrate sprocket wheel wheel shaft chain connection, square beam the second ears Ring is coaxial with inducer, penetrates inducer wheel shaft chain connection, and square beam the 3rd ears ring is coaxial with BOGEY WHEEL, penetrates load-bearing Wheel wheel shaft chain connection, makes square beam, sprocket wheel, inducer and four BOGEY WHEELs be assembled into one；

Described chain tooth assembly is made up of sleeve and chain link；

Described chain link is made up of two bolts, two nuts, chain tooth plate, the first carrier bar and the second carrier bar, chain tooth plate Being provided with two bolts hole and several equal strength sprocket, the first carrier bar is provided with the first monaural ring, the second monaural ring and the 3rd monaural ring, Second carrier bar is provided with the first monaural ring, the second monaural ring and the 3rd monaural ring；

Sprocket crab bolt hole and first carrier bar the second monaural ring is coaxial, penetrate bolt, nut pretension, chain tooth plate another Bolt hole and second carrier bar the second monaural ring are coaxial, penetrate bolt, nut pretension, form chain link, by the first chain of the first chain link Plate the first monaural ring, second chain link the first carrier bar the 3rd monaural ring, sleeve, second chain link the second carrier bar the 3rd monaural ring and first Chain link the second carrier bar the first monaural ring coaxially penetrates pin hinge and connects, and repeats aforementioned operation, until by hinged for several chain links one Body, by placed on it to the square beam being assembled into one, sprocket wheel, inducer and four BOGEY WHEELs, by the first carrier bar of last chain link First monaural ring, first chain link the first carrier bar the 3rd monaural ring, sleeve, first chain link the second carrier bar the 3rd monaural ring and last chain Save second carrier bar the first monaural ring and coaxially penetrate pin hinge connection, make all chain tooth assembly chain connection annular integrative-structures, Composition sprocket calculus parts,

Double output shaft hydraulic motor double output shaft, two yielding couplings and two sprocket wheel wheel shafts being connected, U-shaped bar is square Ring flange is fixed on double output shaft hydraulic motor, and eight C-shaped-rod the second ring flanges are respectively symmetrically and are fixed on two square beams On, eight the second ring flanges of suspension bracket are connected with eight C-shaped-rod the first ring flanges respectively, two circular flange dishes of U-shaped bar and suspension bracket Two the first ring flanges are respectively fixedly connected with on third party's tubular telescopic arm, form sprocket calculus device；

It is by the 4th entablature assembly, the 6th lowering or hoisting gear and two nuts that described sleeper four nut synchronizes assembling and disassembling device Assembling and disassembling device forms；

The 4th described entablature assembly is made up of four directions tubular fixed arm and two four directions tubular telescopic arms, the Four directions tubular fixed arm is provided with two long slot bores of symmetry, and four directions tubular telescopic arm is provided with two of two monaural rings and symmetry Groove, groove is provided with bolt hole；

The 4th described entablature assembly is the same with sill assembly composition, except tubular fixed arm orientation, aforesaid four directions , the four directions tubular telescopic arm orientation different with first party tubular fixed arm orientation and first party tubular telescopic arm orientation differ Sample, remaining all component structural form is the same；

The 6th described lowering or hoisting gear is by the 6th lifting drive, symmetrically arranged two parallelogram lindages and Five laser displacement sensor compositions；

The 6th described lifting drive and the composition of the first lifting drive and version are the same；

Described parallelogram lindage is made up of sill, two forks and four directions tubular telescopic arm, and sill sets There are four ears rings and two symmetrical long slot bores；

Carry out the assembly operation identical with the first lifting drive, form the 6th lifting drive；

By one end of two forks respectively with the four directions tubular telescopic arm chain connection, the other end of two forks respectively with Sill chain connection, forms parallelogram lindage, is symmetrical in four directions tubular fixed arm and the vertical plane of symmetry group of sill Fill another parallelogram lindage, the 5th laser displacement sensor symmetry is fixed on below the tubular fixed arm of four directions, composition 6th lowering or hoisting gear；

Described nut assembling and disassembling device be by two suspension rods, the first spiral rotary actuator, upper cover, circular connecting plate, First hex nut, internal gear, two power transmission shafts, two gears, housing, two the first thrust bearings, two the second thrust axis Hold, two the second hex nuts, two yielding couplings and two interior wide-mouth magnetic coupling boxs composition, the first spiral swings liquid Pressure motor is provided with ring flange, its output shaft is provided with circular shaft section and six prism shaft parts, is above covered with axis hole, and circular connecting plate is provided with six Prism hole, power transmission shaft is provided with the first axle journal, the second axle journal, the 3rd axle journal, the 4th axle journal and thread segment, housing be provided with ring flange and Two axis holes, interior wide-mouth magnetic coupling box is provided with axle journal；

Upper cover is sheathed on the first spiral rotary actuator output shaft circular shaft section, makes upper cover and the first spiral swing hydraulic pressure Motor ring flange is connected, then circle connecting plate is sheathed on the first spiral rotary actuator six prism shaft part, the first hexagonal spiral shell Female pretension, internal gear is coaxially connected with circular connecting plate, and geared sleeve is located at power transmission shaft the first axle journal and is connected, the first thrust axis bearing sleeve Being located on power transmission shaft the second axle journal, power transmission shaft makes the first thrust bearing contact with housing through housing axis hole, the second thrust bearing Being sheathed on power transmission shaft the 3rd axle journal, the second hex nut screws on power transmission shaft thread segment pretension, and yielding coupling makes power transmission shaft Four axle journals are coaxially connected with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, and the gear teeth flank of tooth of two gears divides Not being connected with the gear teeth face of internal gear, upper cover and shell flange dish, one end symmetry of two suspension rods is fixed on housing two Side, forms nut assembling and disassembling device, and the other end symmetry of two suspension rods is fixed on two sides of the 4th fixed arm, and sill is fixed on On two side rail inner faces of railcar, composition sleeper four nut synchronizes assembling and disassembling device；

The first described rail-lifting equipment is by entablature, the 7th lowering or hoisting gear and carries rail assembly and forms,

The 7th described lowering or hoisting gear and the first lowering or hoisting gear form and version is the same, carries out and the first lowering or hoisting gear Identical assembly operation, forms the 7th lowering or hoisting gear；

The described rail assembly that carries is by two suspension rods, the 5th square tube shape fixed arm, double output shaft hydraulic motor, two elasticity Shaft coupling, two monaural ring bearings, left-handed screw, the first box type telescopic arm, right handed screw, the second box type telescopic arm and two One carry rail hydraulic jack composition, suspension rod is provided with the first ring flange and the second ring flange, the 5th square tube shape fixed arm be provided with two right The semicylindrical opening claimed, left-handed screw is provided with the first axle journal and the second axle journal, the second right handed screw and left-handed screw version one Sample, the first box type telescopic arm is provided with semicylindrical opening and left-handed motion thread hole, and the second box type telescopic arm is provided with semicylindrical opening and the right side Rotation motion thread hole, first carries that rail cylinder body of hydraulic oil cylinder is provided with gusset, piston rod free end is provided with fagging；

Monaural ring bearing is sheathed on left-handed screw the second axle journal, left-handed screw precession the first box type telescopic left-handed biography of arm Dynamic screwed hole appropriate location, yielding coupling makes output shaft on the left of double output shaft hydraulic motor coaxial with left-handed screw the first axle journal Be connected, repeat aforementioned assembly operation, by another monaural ring bearing, right handed screw, the second box type telescopic arm, yielding coupling and Double output shaft hydraulic motor is assembled into one, and the 5th square tube shape fixed arm is sheathed on the first box type telescopic arm and the second box type telescopic On arm, making double output shaft hydraulic motor symmetry be fixed on the 5th square tube shape fixed arm endoporus upper surface, two monaural ring bearings are solid Being connected in above the 5th square tube shape fixed arm endoporus, two first carry rail hydraulic jack and are respectively fixedly connected with in the first box type telescopic arm semicircle In post holes and in the second box type telescopic arm semicylindrical opening, make two first to carry rail hydraulic jack and be symmetrical arranged, two suspension rods second Ring flange symmetry is fixed on above the 5th square tube shape fixed arm, and composition carries rail assembly, and two suspension rod the first ring flange symmetries are connected In two sides of entablature, form the first rail-lifting equipment；

Described swivel block and push-and-pull sleeper device be by first crossbeam telescopic component, first crossbeam retractable driving device, One tumbler, two connecting plates and crawl and swivel block device composition；

Described first crossbeam telescopic component is by the 6th square tube shape fixed arm, the 6th square tube shape telescopic arm, the 6th laser Displacement transducer forms, and the 6th square tube shape fixed arm is provided with blind end, and the 6th square tube shape telescopic arm is provided with dividing plate and two symmetries Groove, groove is provided with bolt hole；

Described first crossbeam retractable driving device is as the first retractable driving device composition, except aforementioned 6th square tube shape Fixed arm and second party tubular fixed arm version is different, the 6th square tube shape telescopic arm and second party tubular telescopic arm structure Form is different, and remaining all component structural form is the same；

Carrying out the assembly operation identical with the first retractable driving device, form first crossbeam retractable driving device, the 6th swashs Optical displacement sensor symmetry is fixed on above the 6th square tube shape fixed arm；

The first described tumbler is hollow by the 6th square tube shape telescopic arm, the second spiral rotary actuator, cantilever Multidiameter, the first thrust bearing, the first casing, the second thrust bearing, the first hex nut, circular connecting plate, the second hexagonal spiral shell Mother, end cap and equi intensity cantilever composition, the second 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 spacer pin and cantilever ladder axle sleeve, 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 axis holes, and equi intensity cantilever is provided with pin shaft hole and ring flange；

Second spiral rotary actuator is fixed on the 6th square tube shape telescopic arm dividing plate front end base plate, hollow cantilever rank Ladder axle sleeve is located on the second spiral rotary actuator, makes cantilever hollow multidiameter connecting plate be fixed on the 6th square tube shape telescopic arm End face, the first thrust bearing is sheathed on cantilever hollow multidiameter the 3rd axle journal, and the first casing cantilever ladder axle sleeve is sheathed on sky On heart cantilever multidiameter, the first thrust bearing is made to insert the first casing cantilever ladder axle sleeve the 3rd axle sleeve section, cantilever ladder axle sleeve Second axle sleeve section is sheathed on hollow multidiameter the second axle journal, and the second thrust bearing is sheathed on cantilever hollow multidiameter the first axle journal On, insert cantilever ladder axle sleeve the first axle sleeve section, the first hex nut screws in cantilever hollow multidiameter thread segment pretension, makes first Casing and cantilever hollow multidiameter chain connection, circular connecting plate is sheathed on the second spiral rotary actuator output shaft six prism Shaft part, makes circular connecting plate be fixed on casing cantilever ladder axle sleeve free end, and the second hex nut screws in the second spiral and swings liquid Pressure motor output shaft thread segment pretension, makes the second spiral rotary actuator output shaft and the first casing be connected, and end cap is fixed on On first casing, equi intensity cantilever pin-and-hole is sheathed on end cap bearing pin, and equi intensity cantilever ring flange is fixed on the 6th square tube Above shape telescopic arm, form the first tumbler；

Described crawl and swivel block device are by the second casing, the 3rd spiral rotary actuator, hydraulic jack, first push away Power bearing, the second thrust bearing, the 3rd hex nut, piston, piston rod, ladder U-bracket, first connecting rod, second connecting rod, two Individual second fork, two rollers, end cap and two mechanical gripper device compositions, the second casing be provided with the first circular hole portion, scallop hole section, Second circular hole portion, axle sleeve section and the 3rd circular hole portion, the 3rd spiral rotary actuator output shaft fixed connection ring flange, ring flange is provided with Spacing fan-shaped boss, scallop hole section is provided with the first confined planes and the second confined planes, hydraulic jack be provided with ring flange, the first axle journal, 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 is provided with 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 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 second fork is provided with monaural ring, pin-and-hole and double Earrings；

Described gripper is made up of ladder U-bracket, four the 3rd forks, two helical springs and pressing plate, the Three 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 3rd 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 3rd spiral rotary actuator output shaft ring flange and hydraulic jack ring flange is made to insert second casing the first circular hole Section, makes the spacing fan-shaped boss of the 3rd spiral rotary actuator output shaft ring flange and the spacing fan-shaped boss of hydraulic jack ring flange Insert in scallop hole section, make two spacing fan-shaped boss left surfaces contact with scallop hole section the first confined planes, make the first thrust axis Bearing enters second casing the second circular hole portion, makes the 3rd spiral rotary actuator be fixed on the second box bottom, make end cap with Second casing is 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 3rd 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 coaxially penetrates pin hinge even respectively 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, composition swivel block and push-and-pull sleeper device；

Described handling sleeper device is by the second rail-lifting equipment, moves back and forth storage sleeper device and rigid hanger lifting Device forms；

The second described rail-lifting equipment be by second cross beam telescopic component, second cross beam retractable driving device, two second Tumbler, four connecting plates, two box connectors and two second carry rail hydraulic jack composition, and box connector symmetry sets Having semicylindrical opening, second carries that rail cylinder body of hydraulic oil cylinder is provided with gusset, piston rod free end is provided with fagging；

Described second cross beam telescopic component be by the 7th square tube shape fixed arm, two the 7th square tube shape telescopic arms, the 7th Laser displacement sensor and the 7th range finding reference plate composition, the 7th square tube shape telescopic arm is provided with dividing plate, two symmetrical grooves, groove It is provided with bolt hole；

Described second cross beam retractable driving device is the same with the composition of the first lifting drive, except aforesaid 7th side Tubular fixed arm and first party tubular fixed arm version is different, the 7th square tube shape telescopic arm and first party tubular telescopic arm Version is different, and remaining all component structural form is the same；

Carrying out the assembly operation identical with the first lifting drive, form second cross beam retractable driving device, the 7th swashs Optical displacement sensor symmetry is fixed on the 7th square tube shape fixed arm side, and the 7th range finding reference plate is fixed on the 7th square tube shape and stretches Arm side；

Second tumbler and the first tumbler form and version is the same, carries out identical with the first tumbler Assembly operation, forms the second tumbler 153；

First casing is fixed with one with box connector by two connecting plates, two second is carried rail hydraulic jack respectively It is fixed in two box connecting rod semicylindrical openings, forms the second rail-lifting equipment, the 7th square tube shape fixed arm symmetry is fixed on rail On two longerons of road car；

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 is by base plate, the 3rd crossbeam telescopic component, reciprocating movement driving device, is symmetrical arranged Two parallelogram lindages and the 8th laser displacement sensor composition；

The 3rd described crossbeam telescopic component is made up of eighth tubular fixed arm and two eighth tubular telescopic arms, Eighth tubular fixed arm is provided with two long slot bores of symmetry, and eighth tubular telescopic arm is provided with two monaural rings and symmetrical two Individual groove, groove is provided with bolt hole；

As the composition of described reciprocating movement driving device and the first lifting drive, except aforesaid eighth tubular Fixed arm orientation and first party tubular fixed arm orientation is different, eighth tubular telescopic arm orientation and first party tubular telescopic arm Orientation is different；Remaining all component structural form is the same；

Described parallelogram lindage is made up of eighth cylinder telescopic arm, two forks and moving beam, and moving beam sets There are two rollers；

Carry out the assembly operation identical with the first lifting drive, form reciprocating movement driving device；

By one end of two forks respectively with eighth tubular telescopic arm chain connection, the other end of two forks respectively with Moving beam chain connection, forms parallelogram lindage, repeats aforementioned assembly operation, be symmetrical in eighth tubular fixed arm and shifting The vertical plane of symmetry of dynamic crossbeam assembles another parallelogram lindage, and base plate is fixed on below eighth tubular fixed arm, makes shifting Two rollers of dynamic crossbeam contact with plate upper surface, the 8th laser displacement sensor symmetry is fixed on eighth tubular and fixes Arm side, forms reciprocator；

Being fixed on by base plate on railcar crossbeam and the 7th square tube shape fixed arm, storage sleeper case is fixed on moving beam On, make the roller of storage sleeper case contact with substrate, composition moves back and forth storage sleeper device；

Described rigid hanger hoisting apparatus be by two telescopic cantilever boom devices, telescoping crossbeam device, rigid hanger, two Individual pick-and-place sleeper device and the 9th laser displacement sensor composition；

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 tenth 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 is fixed on first multi-stage expansion shell type oil cylinder the first ring flange, and square tube shape telescopic arm is sheathed on first Multi-stage expansion shell type oil cylinder, makes first multi-stage expansion shell type oil cylinder the second ring flange symmetry be fixed on square tube shape telescopic arm and closes End, the first 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 rank On ladder square tube shape telescopic 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 On shape telescopic arm blind end, cantilever is fixed on cantilever beam ring flange, and the tenth laser displacement sensor is fixed on cantilever, composition Telescopic cantilever boom 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 and push pedal composition, the second ladder square tube shape fixed arm is provided with Ring flange, cylinder shoulder and long slot bore, the second ladder square tube shape telescopic arm is provided with first shoulder, second shoulder and long slot bore, the 3rd rank 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 first ring flange, the first order Extension sleeve, second level extension sleeve and the second ring flange；

End cap symmetry is fixed on second multi-stage expansion shell type oil cylinder the first ring flange, the 3rd ladder square tube shape telescopic arm set It is located on the second multi-stage expansion shell type oil cylinder, makes second multi-stage expansion shell type oil cylinder the second ring flange and the 3rd ladder square tube shape stretch Contracting arm blind end is connected, and 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 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, Push pedal is fixed on the 3rd ladder square tube shape telescopic arm blind end, and the 9th laser displacement sensor symmetry is fixed on the second ladder side Tubular fixed 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 4th spiral rotary actuator, yielding coupling and interior wide-mouth nut group Becoming, the 4th 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 4th spiral rotary actuator, the 4th spiral rotary actuator ring flange is fixed on down Above crossbeam, the 3rd yielding coupling makes the 4th 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 are fixed on two longerons of railcar, telescoping crossbeam device the second ladder side Tubular fixed arm is fixed on below two cantilever beam cantilevers, and two ears rings of entablature stretch with the 3rd ladder square tube shape respectively Two monaural ring coaxial bolts of arm connect, and form sleeper handling apparatus.

The invention has the beneficial effects as follows:

1. quickly equipment can be directed at operating position；

2. can quickly discharge the ballast between sleeper, the most automatically remove the sandy soil in rock ballast；

3. can quickly remove railway roadbed ballast outside pillow end；

4. can quickly remove railway roadbed ballast below rail；

5. it is capable of four nuts and synchronizes mounting or dismounting, make four nut pretightning forces consistent, improve the fatigue life of bolt, protect The reliability that card sleeper is connected with rail；

6. swivel block and push-and-pull sleeper are integrating device, compact conformation, and swivel block and push-and-pull sleeper work efficiency are high；

7. can quickly handling and put sleeper work；

8. can quickly be backfilled to rock ballast switch tracks between the sleeper of pillow both sides；

9. can quickly repair shoulder and the shape of railway roadbed；

10. can by be backfilling into switch tracks pillow between ballast quickly consolidate shake flat；

11. can adapt to straight line and the work in every of pillow is changed in curved rail length section；

12. are capable of automatically controlling, 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 front view of Fig. 1.

Fig. 3 is the tamping flat quarrel device off working state schematic perspective view of the present invention.

Fig. 4 is the tamping flat quarrel device duty schematic perspective view of the present invention.

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

Fig. 6 is the front view of Fig. 3.

Fig. 7 is close-up schematic view at the A in Fig. 6.

Fig. 8 is road shoulder and the railway roadbed modification device duty schematic perspective view of the present invention.

Fig. 9 is the first retractable driving device exploded perspective schematic diagram of the present invention.

Figure 10 is the second lifting drive exploded perspective schematic diagram of the present invention.

Figure 11 is the second servo-actuated Equipoising support apparatus exploded perspective schematic diagram of lifting of the present invention.

Figure 12 is the first bucket device exploded perspective schematic diagram of the present invention.

Figure 13 is that the grab bucket clear stone device lasher of the present invention makees state schematic perspective view.

Figure 14 is the grab bucket clear stone device collection stone duty schematic perspective view of the present invention.

Figure 15 is the grab bucket clear stone device calculus duty schematic perspective view of the present invention.

Figure 16 is the 3rd lifting drive exploded perspective schematic diagram of the present invention.

Figure 17 is the first grab mechanisms exploded perspective schematic diagram of the present invention.

Figure 18 is the ballast collection arranging device collection stone duty schematic perspective view of the present invention.

Figure 19 is close-up schematic view at the B in Figure 18.

Figure 20 is the ballast collection arranging device calculus duty schematic perspective view of the present invention.

Figure 21 is N-N section view schematic perspective view in Figure 18.

Figure 22 is the pillow end clear stone device duty schematic perspective view of the present invention.

Figure 23 is the second retractable driving device exploded perspective schematic diagram of the present invention.

Figure 24 is the 4th lifting drive exploded perspective schematic diagram of the present invention.

Figure 25 is the 4th servo-actuated Equipoising support apparatus exploded perspective schematic diagram of lifting of the present invention.

Figure 26 is the second grab mechanisms exploded perspective schematic diagram of the present invention.

Figure 27 is the sprocket calculus device duty schematic perspective view of the present invention.

Figure 28 is the 3rd retractable driving device exploded perspective schematic diagram of the present invention.

Figure 29 is the 5th lifting drive exploded perspective schematic diagram of the present invention.

Figure 30 is the 5th servo-actuated Equipoising support apparatus exploded perspective schematic diagram of lifting of the present invention.

Figure 31 is the sprocket calculus device schematic perspective view of the present invention.

Figure 32 is the sprocket calculus assembly exploded perspective schematic diagram of the present invention.

Figure 33 is the chain link exploded perspective schematic diagram of the present invention.

Figure 34 is that sleeper four nut of the present invention synchronizes assembling and disassembling device duty schematic perspective view.

Figure 35 is the 6th lifting drive exploded perspective schematic diagram of the present invention.

Figure 36 is the nut assembling and disassembling device exploded perspective schematic diagram of the present invention.

Figure 37 is first rail-lifting equipment of the present invention and swivel block and push-and-pull sleeper device duty schematic perspective view.

Figure 38 is the 7th lifting drive exploded perspective schematic diagram of the present invention.

Figure 39 be the present invention carry rail assembly exploded perspective schematic diagram.

Figure 40 is the swivel block of the present invention and push-and-pull sleeper device cuts sidewall duty schematic perspective view open.

Figure 41 is the first crossbeam retractable driving device exploded perspective schematic diagram of the present invention.

Figure 42 is the first tumbler exploded perspective schematic diagram of the present invention.

Figure 43 is crawl and the swivel block device exploded perspective schematic diagram of the present invention.

Figure 44 is the handling sleeper device off working state schematic perspective view of the present invention.

Figure 45 is the second rail-lifting equipment duty schematic perspective view of the present invention.

Figure 46 is that second rail-lifting equipment of the present invention cuts sidewall off working state schematic perspective view open.

Figure 47 is the second cross beam retractable driving device exploded perspective schematic diagram of the present invention.

Figure 48 is the second tumbler exploded perspective schematic diagram of the present invention.

Figure 49 is that the second of the present invention carries rail hydraulic jack, two connecting plates and box connector exploded perspective schematic diagram.

Figure 50 is the reciprocator schematic perspective view of the present invention.

Figure 51 is the reciprocating movement driving device exploded perspective schematic diagram of the present invention.

Figure 52 is the storage sleeper case schematic perspective view of the present invention.

Figure 53 is the handling sleeper device duty schematic perspective view of the present invention.

Figure 54 is the telescopic cantilever boom device exploded perspective schematic diagram of the present invention.

Figure 55 is the telescoping crossbeam device exploded perspective schematic diagram of the present invention.

Figure 56 is the left view of Figure 44.

Figure 57 is close-up schematic view at the D in Figure 56.

Detailed description of the invention

Referring to shown in Fig. 1 and Fig. 2, the present invention is by consolidating flat quarrel device 1, road shoulder and railway roadbed modification device 2, grab bucket clearly Stone device 3, ballast collection arranging device 4, pillow end clear stone device 5, sprocket calculus device 6, four nut synchronize assembling and disassembling device 7, first carry Rail device 8, transition and push-and-pull sleeper device 9, handling sleeper device 15, electromotor 18, Hydraulic system and control System cabine 19 and Railcar 20 forms.Railcar is provided with multiple castor 201 and two longerons 202, tamping flat quarrel device 1, road shoulder and railway roadbed correction of the flank shape Device 2, clear stone device 3 of grabbing bucket, ballast collection arranging device 4, pillow end clear stone device 5, sprocket calculus device 6, four nut synchronize mounting or dismounting Device the 7, first rail-lifting equipment 8, transition and push-and-pull sleeper device 9, handling sleeper device 15, electromotor 18 and hydraulic system and control System cabine 19 processed 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 processed provides power, is provided with fuel tank, oil pump, hydraulic control system and automatically controls and be in Hydraulic system and control System cabine 19 System；

Referring to shown in Fig. 3 to Fig. 7, described tamping flat quarrel device 1 is by entablature the 11, first lowering or hoisting gear 12 and to shake Smashing assembly 13 to form, entablature 11 is provided with two connecting plates 111, and connecting plate is provided with several bolt hole 1111；

The first described lowering or hoisting gear 12 is by sill assembly the 121, first lifting drive 122, symmetrically arranged Two parallelogram lindages 123 and the first laser displacement sensor 125 form；

Described sill assembly 121 is by first party tubular fixed arm 1211 and two first party tubular telescopic arms 1212 Composition, first party tubular fixed arm 1211 is provided with two long slot bores 12111 of symmetry, and first party tubular telescopic arm 1212 is provided with two Individual monaural ring 12121 and two symmetrical grooves 12122, groove 12122 is provided with bolt hole 12123；

The first described lifting drive 122 is by first party tubular fixed arm 1211, double output shaft hydraulic motor 1221,1222, two monaural ring bearings 1223, left-handed screw 1224, left-handed square nut 1225, dextrorotation of two yielding couplings Screw rod 1226, dextrorotation square nut 1212, two square sliders of 1227, two first party tubular telescopic arms 1228, four first Bolt 1229 and two the first hex nuts 1230 form, and right handed screw 1226 is provided with first axle journal the 12261, second axle journal 12262 and the 3rd axle journal 12263, left-handed screw 1224 is the same with right handed screw 1226 version, dextrorotation square nut 1227 Being provided with two symmetrical tapped blind holes 12271, left-handed square nut 1225 is the same with dextrorotation square nut 1227 version, square Slide block 1228 is provided with axis hole 12281；

Described parallelogram lindage 123 is by 1212, two forks 1231 of first party tubular telescopic arm and entablature 11 Composition；

Being sheathed on right handed screw the second axle journal 12262 by monaural ring bearing 1223, dextrorotation square nut 1227 screws on the right side Rotation screw rod 1226 appropriate location, square slider 1228 is sheathed on right handed screw the 3rd axle journal 12263, the first hex nut 1230 Pretension, yielding coupling 1222 makes output shaft and right handed screw 1,226 first axle journal on the right side of double output shaft hydraulic motor 1221 12261 are coaxially connected, and first party tubular telescopic arm 1212 is sheathed thereon from right handed screw 1226 right-hand member, make first party tubular stretch Contracting arm groove bolt hole 12123 is coaxial with dextrorotation square nut 1227 tapped blind hole 12271, and two the first bolts 1229 revolve respectively Enter tapped blind hole 12271 pretension of dextrorotation square nut 1227, repeat aforementioned assembly operation, by monaural ring bearing 1223, left-handed Screw rod 1224, left-handed square nut 1225, square slider the 1228, first hex nut 1230, yielding coupling 1222, dual output Axle hydraulic motor 1221 and first party tubular telescopic arm 1212 are assembled into one, and first party tubular fixed arm 1211 is sheathed on two On first party tubular telescopic arm 1212, double output shaft hydraulic motor 1221 symmetry is made to be fixed in first party tubular fixed arm 1211 Hole upper surface, two monaural ring bearings 1223 are fixed on first party tubular fixed arm 1211 endoporus upper surface, composition the first lifting Driving means 122, square slider 1228 and first party tubular telescopic arm 1212 form moving sets；

By one end of two forks 1231 respectively with first party tubular telescopic arm 1212 chain connection, two forks 1231 The other end respectively with entablature 11 chain connection, form parallelogram lindage 123, repeat aforementioned assembly operation, be symmetrical in horizontal stroke The vertical plane of symmetry of beam 11 and first party tubular fixed arm 1211 assembles another parallelogram lindage 123, by the first laser position Displacement sensor 125 symmetry is fixed on above first party tubular fixed arm 1211, forms the first lowering or hoisting gear 12；

The described assembly 13 that vibrates is to be shaken by entablature 11, several first elastic connecting component 131, oscillating plate 132, eight 133, eight the second hex nuts 134 of tamper and the first dither motor 135 form, the first elastic connecting component 131 be by 1311, two helical springs 1312 of bolt, pad 1313 and hex nut 1314 form, and oscillating plate 132 is provided with several bolt hole 1321 and eight circular holes 1322；

By bolt 1311 through entablature connecting plate bolt hole 1111, helical spring 1312 is sheathed on bolt 1311, Then passing through oscillating plate bolt hole 1321, then be sheathed on bolt 1311 by another helical spring 1312, pad 1313 is sheathed On bolt 1311, hex nut 1314 pretension, oscillating plate 132 realizes elastic connection with entablature 11；Vibrating spear 133 is through shaking Dynamic plate circular hole 1322, the second hex nut 134 pretension, the first dither motor 135 symmetry is fixed on above oscillating plate, and first Square tube shape fixed arm 1211 symmetry is fixed on two longerons 202 of railcar, composition tamping flat quarrel device 1；

Refer to shown in Fig. 8 to Figure 12, described road shoulder and railway roadbed modification device 2 be by the first entablature assembly 21, the One retractable driving device the 22, second lowering or hoisting gear 23 and bucket device 24 form；

The first described entablature assembly 21 be by second party tubular fixed arm 211, second party tubular telescopic arm 212, Dual-laser displacement transducer 213 and the second range finding reference plate 214 form, and second party tubular fixed arm 211 is provided with four ears rings 2111, second party tubular telescopic arm 212 is provided with two symmetrical grooves 2121, and groove 2121 is provided with bolt hole 21211；

The first described retractable driving device 22 is by second party tubular fixed arm 211, hydraulic motor the 221, first elasticity Shaft coupling the 222, first monaural ring bearing 223, screw rod 224, square nut 225, square slider the 226, first hex nut 227, Two the first bolts 228 and second party tubular telescopic arm 212 form, and screw rod 224 is provided with first axle journal the 2241, second axle journal 2242 With the 3rd axle journal 2243, square nut 225 is provided with two coaxial threaded blind holes 2251；

Being sheathed on the second axle journal 2242 of screw rod by first monaural ring bearing 223, the first yielding coupling 222 is by screw rod The first axle journal 2241 and the output shaft fixed connection of hydraulic motor 221, square nut 225 screws on screw rod 224 appropriate location, square cunning Block 226 is sheathed on screw rod the 3rd axle journal 2243, and the first hex nut 227 pretension, second party tubular telescopic arm 212 is from screw rod 224 left ends are sheathed thereon, make 225 2 tapped blind holes of square nut 2252 and two bolts hole of second party tubular telescopic arm 21211 is coaxial, two the first bolt 228 pretensions, and second party tubular fixed arm 211 is sheathed thereon from hydraulic motor 221 right-hand member, And hydraulic motor 221 is fixed on second party tubular fixed arm 211 endoporus upper surface, form the first retractable driving device 21, side Shape slide block 226 and second party tubular telescopic arm 212 form moving sets, and the second laser displacement sensor 213 is fixed on second party Above tubular fixed arm 211, the second range finding reference plate 214 is fixed on above second party tubular telescopic arm 212；

The second described lowering or hoisting gear 23 is by first series connection parallelogram lindage the 231, second series connection parallelogram lindage 232, the second lifting drive 233, servo-actuated Equipoising support apparatus 234 and the 3rd laser displacement sensor 235 form；

The first described series connection parallelogram lindage 231 is by sill the 2311, first fork the 2312, second fork 2313, two the 3rd forks 2314, first connecting rod 2315 and four the second bolts 2316 form, and first connecting rod 2315 is provided with two To coaxial threaded blind hole 23151 and left handed threaded hole 23152,

Described second series connection parallelogram lindage 232 is connected as parallelogram lindage 231 forms with first, the second company Bar 2325 is provided with two to coaxial tapped blind hole 23251 and right-handed thread hole 23252, except aforesaid second connecting rod 2325 and first Connecting rod 2315 version is different, and remaining all component structural form is the same；

The second described lifting drive 233 is by 2331, two the second yielding couplings of double output shaft hydraulic motor 2332, left-handed screw 2333, first connecting rod 2315, right handed screw 2334, second connecting rod 2325 and two the second monaural ring bearings 2335 compositions, right handed screw 2334 is provided with the first axle journal 23341 and the second axle journal 23342, left-handed screw 2333 and right handed screw 2334 versions are the same；

Described servo-actuated Equipoising support apparatus 234 be by plate shape entablature the 2340, the 3rd series connection parallelogram lindage 2341, First strut the 2342, second strut 2343, slide bar 2345, two turriform linear Stiffness springs 2346, two of 2344, two slide blocks Individual second 2347, two the 3rd bolts 2348 of hex nut and two the 4th bolts 2349 form, and slide bar 2344 is provided with fixing Disk 23441, it is arranged with two light bar segment 23442 and two thread segments 23443；Slide block 2345 is provided with circular hole 23451 and To coaxial threaded blind hole 23452；

The 3rd described series connection parallelogram lindage 2341 is by plate shape entablature 2340, sill the 2311, the 4th fork 23412, the 5th fork the 23413, the 6th fork the 23414, the 7th 23415, two third connecting rods 23416 of fork and two bearing pins 23417 compositions；

By the first fork 2312 and sill 2311 chain connection, the second fork the 2313, the 4th fork 23412 and sill Chain connection between 2311 3 components, the first fork 2312 ears ring and the 3rd fork 2314 ears ring are left with first connecting rod 2315 A pair of limit tapped blind hole 23151 is coaxial, two the second bolt 2316 pretensions respectively, makes the first fork the 2312, the 3rd fork 2314 And chain connection between 2,315 3 components of first connecting rod, the second fork 2313 ears ring and another the 3rd fork 2314 ears ring Coaxial with a pair tapped blind hole 23151 on the right of first connecting rod 2315, two the second bolt 2316 pretensions respectively, make the second fork 2313, chain connection between another the 3rd fork 2314 and 2,315 3 components of first connecting rod, two the 3rd forks 2314 are respectively With second party tubular fixed arm 211 chain connection, composition the first series connection parallelogram lindage 231, repeat aforementioned assembly operation, right Claim to assemble the second series connection parallelogram lindage 232 in the vertical plane of symmetry of sill 2311 and second party tubular fixed arm 211；

Second monaural ring bearing 2335 is sheathed on the second axle journal 23342 of right handed screw, the second yielding coupling 2332 by the first axle journal 23341 of right handed screw and the right-hand member output shaft fixed connection of double output shaft hydraulic motor 2331, then by another Individual second monaural ring bearing 2335 is sheathed on the second axle journal of left-handed screw 2333, and another second yielding coupling 2332 will First axle journal of left-handed screw 2333 and the left end output shaft fixed connection of double output shaft hydraulic motor 2331, make left-handed screw 2333 with First connecting rod left handed threaded hole 23152 axial contact, makes right handed screw 2334 coaxially connect with second connecting rod right-handed thread hole 23252 Touch, rotate the output shaft of double output shaft hydraulic motor 2331, make left-handed screw 2333 screw in first connecting rod left handed threaded hole 23152 In, during right handed screw 2334 screws in second connecting rod right-handed thread hole 23252 simultaneously, form the second lifting drive 233；

Two turriform linear Stiffness springs 2346 are sheathed on respectively two light bar segment 23442 of slide bar, then by two Slide block 2345 is sheathed on two light bar segment 23442 of slide bar, two the second hex nuts 2347 pretension, two slide blocks respectively respectively 2345 make turriform linear Stiffness spring 2346 suitably compress respectively, by the 5th fork 23413 and sill 2311 chain connection, Make the left side monaural ring of two third connecting rods 23416 respectively with ears ring, the 6th fork 2314 ears ring of the 4th fork 23412 Coaxial with a pair tapped blind hole 23452 of slide block, two the 3rd bolt 2348 pretensions respectively, make the 4th fork the 23412, the 6th pendulum Chain connection between bar 23414 and 2,345 3 components of slide block, by the right monaural ring of two third connecting rods 23416 respectively with the 5th The ears ring of fork 23413, the 7th fork 23415 ears ring are coaxial, and two bearing pins 23417 respectively penetrate, and make third connecting rod 23416, chain connection between the 5th fork 23413 and 23,415 3 components of the 7th fork, the 6th fork 23414 and the 7th fork 23415 respectively with plate shape entablature 2340 chain connection, composition the 3rd series connection parallelogram lindage 2341；

By the first strut 2342 ears ring, the second strut 2343 ears ring and a pair tapped blind hole 23452 of slide block 2345 Coaxially, two the 4th bolt 2349 pretensions respectively, make between first strut the 2342, second strut 2343 and 2,345 3 components of slide block Chain connection, the second strut 2343 and plate shape entablature 2340 chain connection, form servo-actuated Equipoising support apparatus 234；

Double output shaft hydraulic motor 2331 symmetry is fixed on plate shape entablature 2340, by two the second monaural ring bearings 2335 are fixed on plate shape entablature 2340, and the 3rd laser displacement sensor 235 symmetry is fixed on second party tubular fixed arm 211 Below, the second lowering or hoisting gear 23 is formed；

Described bucket device 24 is made up of the first bucket assembly 25, arm 26 and U-shaped suspension rod 27, and arm 26 is provided with list Earrings the 261, first ears ring the 262, second ears ring 263 and ring flange 264；

The first described bucket assembly 25 is made up of hydraulic jack 251, strut 252, connecting rod 253 and bucket body 254, hydraulic pressure The piston rod free end of oil cylinder 251 is provided with monaural ring 2511, cylinder body is provided with monaural ring 2512；Strut 252 is provided with ears ring 2521 and monaural ring 2522；Connecting rod 253 is provided with monaural ring 2531 and ears ring 2532, and bucket body 254 is provided with the first ears ring 2541 and the second ears ring 2542；

With arm the second ears ring 263, cylinder body of hydraulic oil cylinder monaural ring 2512 is coaxially penetrated pin hinge be connected, strut Monaural ring 2522 coaxially penetrates pin hinge with arm the first ears ring 262 and is connected, bucket body the second ears ring 2542 and arm list Earrings 261 coaxially penetrates pin hinge and connects, and connecting rod monaural ring 2531 and bucket body the first ears ring 2541 coaxially penetrate bearing pin hinge Chain connects, and connecting rod ears ring 2532, strut ears ring 2521 and hydraulic cylinder piston rod monocycle 2511 coaxially penetrate pin hinge Connect, form the first bucket assembly 25, U-shaped suspension rod 27 is connected with arm ring flange 264, form bucket device 24, U-shaped is hung Bar 27 is fixed on second party tubular telescopic arm 212, composition road shoulder and railway roadbed modification device 2；

Referring to shown in Figure 13 to Figure 21, described grab bucket clear stone device 3 is by 31, two the 3rd lowering or hoisting gears of entablature 32 and eight the first grab mechanisms 33 form, entablature 31 is provided with two longerons 311 and two cantilever longitudinal beams 312；

The 3rd described lowering or hoisting gear 32 is the same with the composition of the first lowering or hoisting gear 12 and version, carries out and first liter The assembly operation that falling unit 12 is identical, forms the 3rd lowering or hoisting gear 32；

The first described grab mechanisms 33 is made up of two the second bucket assemblies 34 and arm 35, and arm 35 is arranged with Two monaural rings 351, two first ears rings 352,2 second ears ring 353 and ring flanges 354；

Second bucket assembly 34 forms with the first bucket assembly 25 and version is the same；

Two cylinder body of hydraulic oil cylinder monaural rings 2512 are coaxially penetrated with two the second ears rings 353 of arm respectively bearing pin hinge Chain connects, and two strut monaural rings 2522 coaxially penetrate pin hinge with two the first ears rings 352 of arm respectively and are connected, two Bucket body the second ears ring 2542 coaxially penetrates pin hinge with two monaural rings 351 of arm respectively and is connected, two connecting rod monaural rings 2531 coaxially penetrate pin hinge with two bucket body the first ears rings 2541 respectively is connected, connecting rod ears ring 2532, strut ears Ring 2521 and hydraulic cylinder piston rod monocycle 2511 coaxially penetrate pin hinge and connect, and form the first grab mechanisms 33, by eight Arm ring flange 354 is respectively symmetrically and is fixed on two longerons of entablature 321 and two cantilever longitudinal beams 322, the composition clear stone of grab bucket Device 3；

Described ballast collection arranging device 4 is by cmos image sensor 40,41, two stone removing doors of casing 42, two collection stone 44, two collection crossdrift driving means 45 of 43, two stone removing door driving means of door, crossbeam 46, several second elastic connecting component 47, Second dither motor 48 and two end caps 49 form, and crossbeam 46 is provided with several bolt hole 461, and end cap 49 is provided with sand discharge Tu Zui 491；

Described casing 41 is provided with base plate 411, flechette-type bottom 412, two first collection stone storehouse 413, second collects stone storehouse 414, 415, two gradual change isosceles trapezoid skewed slots of two square cylindrical 416, four first convex stupefied 417 and two second convex stupefied 418, base plate 411 are provided with several bolt hole 4111, and flechette-type bottom 412 is provided with several sieve aperture 4121, and the first collection stone storehouse 413 is provided with the two of symmetry Individual calculus mouth 4131 and two collection stone mouths 4132, the second collection stone storehouse 414 is provided with symmetrical two calculus mouths 4141 and two collection stones Mouth 4142, the first convex stupefied 417 top and bottom are provided with two ears rings 4171 of symmetry, and the second convex stupefied 418 top and bottom are provided with symmetry Two ears rings 4181, stone removing door 42 is provided with two the first monaural rings 421 and four the second monaural rings 422, and collection crossdrift 43 is provided with 431, four the second monaural rings 432 of two the first monaural rings and six spill plates 433；

Described stone removing door driving means 44 is to be driven oil cylinder the 441, first push-pull bar 442 and the second push-pull bar by stone removing door 443 compositions, the first push-pull bar 442 is provided with the first ears ring 4421 and the second ears ring 4422, and the second push-pull bar 443 is provided with first Ears ring 4431 and the second ears ring 4432；

Described collection crossdrift driving means 45 is to be driven oil cylinder the 451, the 3rd push-pull bar 452 and the 4th push-pull bar by collection crossdrift 453 compositions, the 3rd push-pull bar 452 is provided with the first ears ring 4521 and the second ears ring 4522, and the 4th push-pull bar 453 is provided with first Ears ring 4531 and the second ears ring 4532；

The second described elastic connecting component 47 forms with the first Flexible Connector 131 and version is the same；

Will drive hydraulic jack 441 piston rod monaural ring respectively with two first push-pull bar the first ears rings 4421 and second Push-pull bar the first ears ring 4431 coaxially penetrates pin hinge and connects, and forms stone removing door driving means 44；

Will drive hydraulic jack 451 piston rod monaural ring respectively with the 3rd push-pull bar the first ears ring 4521 and the 4th push-and-pull Bar the first ears ring 4531 coaxially penetrates pin hinge and connects, composition collection crossdrift driving means 45；

By four the second monaural rings 422 of stone removing door 42 respectively with the ears ring 4171 of two the first convex stupefied 417 lower surfaces, Second convex stupefied 418 two ears rings 4181 below coaxially penetrate pin hinge and connect, four the second monaural rings of collection crossdrift 43 432 is same with two ears rings 4181 of two first convex stupefied 417 convex stupefied 418 upper surfaces of ears ring 4171, second above respectively Axle penetrates pin hinge and connects；

Two driving hydraulic jacks 441 are respectively fixedly connected with on the medial wall of two square cylindrical 415, two the first push-and-pulls Bar the second ears ring 4422 is co-axially inserted pin hinge with two the first monaural rings 421 of stone removing door respectively and is connected, and two second push away Pull bar the second ears ring 4432 is co-axially inserted pin hinge with two the first monaural rings 421 of another stone removing door respectively and is connected, will Two drive hydraulic jack 451 to be respectively fixedly connected with on the lateral wall of two square cylindrical 415, two the 3rd push-pull bar the second ears Ring 4522 is co-axially inserted pin hinge is connected with collection two the first monaural ring 431 of crossdrift respectively, two the 4th push-pull bars second pair Earrings 4432 is co-axially inserted pin hinge with two the first monaural rings 431 of another stone removing door respectively and is connected, two end caps 49 points It is not fixed on casing 41；

By bolt 1311 through sill bolt hole 461, helical spring 1312 is sheathed on bolt 1311, then passes through Box bottom bolt hole 4111, then another helical spring 1312 is sheathed on bolt 1311, pad 1313 is sheathed on bolt On 1311, hex nut 1314 pretension, casing 41 realizes elastic connection with crossbeam 46；Second dither motor 48 is symmetrical to be connected On box bottom 411, crossbeam 46 symmetry is fixed on two longerons 202 of railcar, and cmos image sensor 40 is fixed on Below crossbeam 46, form ballast collection arranging device 4；

Referring to shown in Figure 22 to Figure 26, described pillow end clear stone device 5 is by the second entablature assembly 51, second stretches Driving means the 52, the 4th lowering or hoisting gear the 53, second grab mechanisms 54 and U-shaped bar 55 form；

The second described entablature assembly 52 forms with the first entablature assembly 21 and version is the same, carries out and first The assembly operation that entablature assembly 21 is identical, forms the second entablature assembly 52；

The second described retractable driving device 52 forms with the first retractable driving device 22 and version is the same, carry out with The assembly operation that first retractable driving device 22 is identical, forms two retractable driving device 52；

The 4th described lowering or hoisting gear 53 forms with the second lowering or hoisting gear 23 and version is the same, carries out and the second lifting The assembly operation that device 23 is identical, forms the 4th lowering or hoisting gear 53；

The second described grab mechanisms 54 forms with the first grab mechanisms 33 and version is the same, carries out and the first grab bucket The assembly operation that device 33 is identical, forms the second grab mechanisms 54；

Arm ring flange 354 is connected with U-shaped bar 55, then U-shaped bar 55 is fixed on second party tubular telescopic arm 212, Composition pillow end clear stone device 5；

Referring to shown in Figure 27 to Figure 33, described sprocket calculus device 6 is to be stretched by the 3rd entablature assembly the 61, the 3rd Driving means the 62, the 5th lowering or hoisting gear 63 and two sprocket calculus devices 64 form；

Described upper 3rd transverse beam assembly 61 is by 611, two third party's tubular telescopic arms of third party's tubular fixed arm 612, the 4th laser displacement sensor 613 and the 4th range finding reference plate 614 form, and third party's tubular fixed arm 611 is provided with four Ears ring 6111, third party's tubular telescopic arm 612 is provided with two grooves 6121 of symmetry, and groove 6121 is provided with bolt hole 61211；

The 3rd described retractable driving device 62 is the same with the composition of the first lifting drive 122, except the aforesaid 3rd Square tube shape fixed arm 611 and first party tubular fixed arm 1211 version is different, third party's tubular telescopic arm 612 and first Square tube shape telescopic arm 1212 version is different, and remaining all component structural form is the same；

Carrying out the assembly operation identical with the first lifting drive 122, form the 3rd retractable driving device 62, the 4th swashs Optical displacement sensor 613 symmetry is fixed on above third party's shape fixed arm 611, and the 4th range finding reference plate 614 is fixed on third party Above tubular telescopic arm 612；

The 5th described lowering or hoisting gear 63 forms with the second lowering or hoisting gear 23 and version is the same, carries out and the second lifting The assembly operation that device 23 is identical, forms the 5th lowering or hoisting gear 63；

Described sprocket calculus assembly 64 is by double output shaft hydraulic motor 642, two chains of 641, two yielding couplings Tooth row Plumbum preparatium part 643,644, eight C-shaped-rod 645 of U-shaped bar and suspension bracket 646 form, and U-shaped bar 644 is provided with two circular flange dishes 6441 and square flange 6442, C-shaped-rod 645 is provided with the first ring flange 6451 and the second ring flange 6452, and suspension bracket 646 is provided with two Individual first ring flange 6461 and eight the second ring flanges 6462；

Described sprocket calculus parts 643 are by square beam 6431, sprocket wheel 6432, sprocket wheel wheel shaft 6433, inducer 6434,6436, four BOGEY WHEEL wheel shafts 6437 of 6435, four BOGEY WHEELs of inducer wheel shaft, several chain tooth assembly 6438 and several Bearing pin 6439 forms, and square beam 6431 is provided with the first ears ring the 64311, second ears ring 64312 and four the 3rd ears Ring 64313；

By coaxial with sprocket wheel 6432 for square beam the first ears ring 64311, penetrate sprocket wheel wheel shaft 6433 chain connection, square Crossbeam the second ears ring 64312 is coaxial with inducer 6334, penetrates inducer wheel shaft 6435 chain connection, square beam the 3rd pair Earrings 64313 is coaxial with BOGEY WHEEL 6436, penetrates BOGEY WHEEL wheel shaft 6437 chain connection, make square beam 6431, sprocket wheel 6432, Inducer 6434 and four BOGEY WHEELs 6436 are assembled into one；

Described chain tooth assembly 6438 is made up of sleeve 64381 and chain link 64382；

Described chain link 64382 is by 64383, two nuts 64384 of two bolts, chain tooth plate the 64385, first carrier bar 64388 and second carrier bar 64392 form, chain tooth plate 64385 is provided with two bolts hole 64386 and several equal strength sprocket 64387, First carrier bar 64388 is provided with the first monaural ring the 64389, second monaural ring 64390 and the 3rd monaural ring 64391, the second carrier bar 64392 are provided with the first monaural ring the 64393, second monaural ring 64394 and the 3rd monaural ring 64395；

By coaxial to sprocket crab bolt hole 64386 and first carrier bar the second monaural ring 64390, penetrate bolt 64383, nut 64384 pretensions, another bolt hole 64386 of chain tooth plate and second carrier bar the second monaural ring 64394 are coaxial, penetrate bolt 64383, Nut 64384 pretension, forms chain link 64382, by first carrier bar the first monaural ring the 64389, second chain link first of the first chain link Carrier bar the 3rd monaural ring 64391, sleeve the 64381, second chain link the second carrier bar the 3rd monaural ring 64395 and first chain link the second chain Plate the first monaural ring 64393 coaxially penetrates bearing pin 6439 chain connection, repeats aforementioned operation, until being cut with scissors by several chain links 64382 Connect one, by placed on it to the square beam 6431 being assembled into one, sprocket wheel 6432, inducer 6434 and four BOGEY WHEELs 6436, By first carrier bar the first monaural ring the 64389, first chain link the first carrier bar the 3rd monaural ring 64391 of last chain link, sleeve 64381, first chain link the second carrier bar the 3rd monaural ring 64393 and last chain link the second carrier bar the first monaural ring 64395 are coaxially worn Enter bearing pin 6339 chain connection, make all chain tooth assembly 6438 chain connection annular integrative-structures, form sprocket calculus parts 643,

By solid to double output shaft hydraulic motor 641 double output shaft, two yielding couplings 642 and two sprocket wheel wheel shafts 6433 Even, U-shaped bar 644 square flange is fixed on double output shaft hydraulic motor 641, and eight C-shaped-rod the second ring flanges 6452 are respectively Symmetry is fixed on two square beams 6431, eight the second ring flanges 6462 of suspension bracket respectively with eight C-shaped-rod the first ring flanges 6451 are connected, and two circular flange dishes 6441 of U-shaped bar and two the first ring flanges 6461 of suspension bracket are respectively fixedly connected with in third party's tubular On telescopic arm 612, form sprocket calculus device 6；

Referring to shown in Figure 34 to Figure 36, it is by the 4th entablature assembly that described sleeper four nut synchronizes assembling and disassembling device 7 71, the 6th lowering or hoisting gear 72 and two nut assembling and disassembling devices 73 form；

The 4th described entablature assembly 71 is by four directions tubular fixed arm 711 and two four directions tubular telescopic arms 712 compositions, four directions tubular fixed arm 711 is provided with two long slot bores 7111 of symmetry, and four directions tubular telescopic arm 712 is provided with two Individual monaural ring 7121 and two symmetrical grooves 7122, groove 7122 is provided with bolt hole 71221；

The 4th described entablature assembly 71 forms the same with sill assembly 121, except aforesaid four directions tubular is fixed Arm 711 orientation and first party tubular fixed arm 1211 orientation is different, the tubular telescopic arm 712 orientation, four directions and first party tubular Telescopic arm 1212 orientation is different, and remaining all component structural form is the same；

The 6th described lowering or hoisting gear 72 is by the 6th lifting drive 721, symmetrically arranged two parallel four-bar machines Structure 722 and the 5th laser displacement sensor 723 form；

The 6th described lifting drive 721 is the same with the composition of the first lifting drive 122 and version；

Described parallelogram lindage 722 is by 7221, two forks 7222 of sill and four directions tubular telescopic arm 712 Composition, sill 7221 is provided with four ears rings 72211 and two symmetrical long slot bores 72212；

Carry out the assembly operation identical with the first lifting drive 122, form the 6th lifting drive 721；

By one end of two forks 7222 respectively with the four directions tubular telescopic arm 712 chain connection, two forks 7222 The other end respectively with sill 7221 chain connection, form parallelogram lindage 722, be symmetrical in the four directions tubular fixed arm 711 Another parallelogram lindage 722 is assembled with the vertical plane of symmetry of sill 7221, the 5th laser displacement sensor 723 is symmetrical It is fixed on below the tubular fixed arm 711 of four directions, forms the 6th lowering or hoisting gear 72；

Described nut assembling and disassembling device 73 be by two suspension rods the 731, first spiral rotary actuator 732, upper cover 733, Circular connecting plate the 734, first hex nut 735, internal gear 737, two gears 738 of 736, two power transmission shafts, housing 739, two 740, two the second thrust bearings of individual first thrust bearing, 742, two yielding coupling 743 and of 741, two the second hex nuts Two interior wide-mouth magnetic coupling boxs 744 form, and the first spiral rotary actuator 732 is provided with ring flange 7321, its output shaft Being provided with circular shaft section 7322 and six prism shaft parts 7323, upper cover 733 is provided with axis hole 7331, and circular connecting plate 734 is provided with six prism holes 7341, power transmission shaft 737 is provided with the first axle journal the 7371, second axle journal the 7372, the 3rd axle journal the 7373, the 4th axle journal 7374 and thread segment 7375, housing 739 is provided with ring flange 7391 and two axis holes 7392, and interior wide-mouth magnetic coupling box 744 is provided with axle journal 7441；

Upper cover 733 is sheathed on the first spiral rotary actuator output shaft circular shaft section 7322, makes upper cover 733 and the first spiral shell Rotation rotary actuator ring flange 7321 is connected, then circle connecting plate 734 is sheathed on the first spiral rotary actuator six rib Axis of a cylinder section 7323, the first hex nut 735 pretension, internal gear 736 is coaxially connected with circular connecting plate 734, and gear 738 is sheathed on Power transmission shaft the first axle journal 7371 is connected, and the first thrust bearing 740 is sheathed on power transmission shaft the second axle journal 7372, and power transmission shaft 737 is worn Crossing housing axis hole 7392 makes the first thrust bearing 740 contact with housing 739, and the second thrust bearing 741 is sheathed on power transmission shaft the 3rd On axle journal 7373, the second hex nut 742 screws on power transmission shaft thread segment 7375 pretension, and yielding coupling 743 makes power transmission shaft the 4th Axle journal 7374 is coaxially connected with interior wide-mouth magnetic coupling box axle journal 7441, and internal gear 736 is inserted in housing 739, two gears The gear teeth flank of tooth of 738 respectively with the gear teeth face of internal gear 736, upper cover 733 is connected with shell flange dish 7391, and two are hung One end symmetry of bar 731 is fixed on housing 739 both sides, forms nut assembling and disassembling device 73, and the other end symmetry of two suspension rods 731 is solid Being connected in 711 2 sides of the 4th fixed arm, sill 7221 is fixed on two longeron 202 medial surface of railcar, forms sleeper Four nuts synchronize assembling and disassembling device 7；

Referring to shown in Figure 37 to Figure 43, the first described rail-lifting equipment 8 is by entablature the 81, the 7th lowering or hoisting gear 82 and Carry rail assembly 83 to form,

The 7th described lowering or hoisting gear 82 forms and as version with the first lowering or hoisting gear 12, carries out and the first lifting The assembly operation that device 12 is identical, forms the 7th lowering or hoisting gear 82；

The described rail assembly 83 that carries is by two suspension rods the 830, the 5th square tube shape fixed arm 831, double output shaft hydraulic motor 832,833, two monaural ring bearings 834 of two yielding couplings, left-handed screw the 835, first box type telescopic arm 836, dextrorotation spiral shell Bar the 837, second box type telescopic arm 838 and two first carry rail hydraulic jack 839 and form, and suspension rod 830 is provided with the first ring flange 8301 and second ring flange 8302, the 5th square tube shape fixed arm 831 is provided with two symmetrical semicylindrical openings 8311, left-handed screw 835 are provided with the first axle journal 8351 and the second axle journal 8352, and the second right handed screw 837 is the same with left-handed screw 835 version, the One box type telescopic arm 836 is provided with semicylindrical opening 8361 and left-handed motion thread hole 8362, and the second box type telescopic arm 838 is provided with semicircle Post holes 8381 and clockwise drive screwed hole 8382, first carries rail hydraulic jack 839 cylinder body is provided with gusset 8391, piston rod certainly It is provided with fagging 8392 by end；

Being sheathed on left-handed screw the second axle journal 8352 by monaural ring bearing 834, left-handed screw 835 precession the first box is stretched Appropriate location, contracting arm left-handed motion thread hole 8362, yielding coupling 833 make on the left of double output shaft hydraulic motor 832 output shaft with Left-handed screw the first axle journal 8351 is coaxially connected, and repeats aforementioned assembly operation, by another monaural ring bearing 834, right handed screw 837, the second box type telescopic arm 838, yielding coupling 833 and double output shaft hydraulic motor 832 are assembled into one, by the 5th square tube shape Fixed arm 831 is sheathed on the first box type telescopic arm 836 and the second box type telescopic arm 838, makes double output shaft hydraulic motor 832 right Claiming to be fixed on the 5th square tube shape fixed arm 831 endoporus upper surface, two monaural ring bearings 834 are fixed on the 5th square tube shape fixed arm Above 831 endoporus, two first carry rail hydraulic jack 839 and are respectively fixedly connected with in the first box type telescopic arm semicylindrical opening 8361 and the In two box type telescopic arm semicylindrical openings 8381, make two first to carry rail hydraulic jack 839 and be symmetrical arranged, two suspension rods 830 second Ring flange 8302 symmetry is fixed on above the 5th square tube shape fixed arm 831, and composition puies forward rail assembly 83, two suspension rod 830 first methods Blue dish 8301 symmetry is fixed on 81 2 sides of entablature, forms the first rail-lifting equipment 8；

Described swivel block and push-and-pull sleeper device 9 are by first crossbeam telescopic component 90, first crossbeam retractable driving device 91,92, two connecting plates 93 of the first tumbler and crawl and swivel block device 94 form；

Described first crossbeam telescopic component 90 be by the 6th square tube shape fixed arm the 901, the 6th square tube shape telescopic arm 902, 6th laser displacement sensor 903 forms, and the 6th square tube shape fixed arm 901 is provided with blind end 9011, the 6th square tube shape telescopic arm 902 are provided with dividing plate 9021 and two symmetrical grooves 9022, and groove 9022 is provided with bolt hole 90221；

As described first crossbeam retractable driving device 91 and the first retractable driving device 22 form, except aforementioned 6th side Tubular fixed arm 901 and first party tubular fixed arm 211 version is different, the 6th square tube shape telescopic arm 902 and first party Tubular telescopic arm 212 version is different, and remaining all component structural form is the same；

Carry out the assembly operation identical with the first retractable driving device 22, form first crossbeam retractable driving device 91, the Six laser displacement sensor 903 symmetries are fixed on above the 6th square tube shape fixed arm 901；

The first described tumbler 92 be by the 6th square tube shape telescopic arm the 902, second spiral rotary actuator 921, The hollow multidiameter of cantilever the 922, first thrust bearing the 923, first casing the 924, second thrust bearing the 925, first hex nut 926, circular connecting plate the 927, second hex nut 928, end cap 929 and equi intensity cantilever 930 form, and the second spiral swings liquid Pressure motor 921 output shaft is provided with thread segment 9211 and six prism shaft parts 9212, and the hollow multidiameter of cantilever 922 is provided with thread segment 9221, the first axle journal the 9222, second axle journal the 9223, the 3rd axle journal 9224 and connecting plate 9225, connecting plate 9225 is provided with spacing circle Arc groove 92251, the first casing 924 is provided with spacer pin 9241 and cantilever ladder axle sleeve 9242, and cantilever ladder axle sleeve 9242 is provided with One axle sleeve the 92421, second axle sleeve 92422 and the 3rd axle sleeve 92423, end cap 929 is provided with bearing pin 9291, and circular connecting plate 927 sets Having six prism axis holes 9271, equi intensity cantilever 930 is provided with pin shaft hole 9301 and ring flange 9302；

Second spiral rotary actuator 921 is fixed on the 6th square tube shape telescopic arm dividing plate 9021 front end base plate, empty Heart cantilever multidiameter 922 is sheathed on the second spiral rotary actuator 921, makes cantilever hollow multidiameter connecting plate 9225 be connected In the 6th square tube shape telescopic arm 902 end face, the first thrust bearing 923 is sheathed on cantilever hollow multidiameter the 3rd axle journal 9224, First casing cantilever ladder axle sleeve 9242 is sheathed on hollow cantilever multidiameter 922, makes the first thrust bearing 923 insert the first case Body cantilever ladder axle sleeve the 3rd axle sleeve section 92423, cantilever ladder axle sleeve the second axle sleeve section 92422 is sheathed on hollow multidiameter second On axle journal 9223, the second thrust bearing 925 is sheathed on cantilever hollow multidiameter the first axle journal 9222, inserts cantilever ladder axle sleeve First axle sleeve section 92421, the first hex nut 926 screws in cantilever hollow multidiameter thread segment 9221 pretension, makes the first casing 924 Multidiameter 922 chain connection hollow with cantilever, circular connecting plate 927 is sheathed on the second spiral rotary actuator output shaft six rib Axis of a cylinder section 9212, makes circular connecting plate 927 be fixed on casing cantilever ladder axle sleeve 9242 free end, and the second hex nut 928 revolves Enter the second spiral rotary actuator output shaft thread segment 9211 pretension, make the second spiral rotary actuator 921 output shaft with First casing 924 is connected, and end cap 929 is fixed on the first casing 924, and equi intensity cantilever pin-and-hole 9301 is sheathed on end cap bearing pin On 9291, equi intensity cantilever ring flange 9302 is fixed on above the 6th square tube shape telescopic arm 902, forms the first tumbler 92；

Described crawl and swivel block device 94 are by the second casing the 941, the 3rd spiral rotary actuator 942, hydraulic oil Cylinder the 943, first thrust bearing the 944, second thrust bearing the 945, the 3rd 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 second forks, end cap 954 and two machines Tool pawl 955 device forms, and the second casing 941 is provided with the first circular hole portion 9412, scallop hole section the 9413, second circular hole portion 9414, axle Set section 9415 and the 3rd circular hole portion 9416, the 3rd spiral rotary actuator 942 output shaft fixed connection ring flange 9421, ring flange 9421 are provided with spacing fan-shaped boss 94211, and scallop hole section 9413 is provided with the first confined planes 94131 and the second confined planes 94132, liquid Compressing cylinder 943 is provided with ring flange the 9431, first axle journal the 9432, second axle journal 9433 and the 3rd axle journal 9434, and ring flange 9431 sets Limited location sector boss 94311, piston 947 is provided with axis hole 9471, and piston rod 948 is provided with axle journal 9481 and ears ring 9482, rank Ladder U-bracket 949 is provided with flange 9491,9492, two slotted eyes of axis hole, 9494, four the first monaural rings of 9493, two pin-and-holes 9495 and eight the second monaural rings 9496, first connecting rod 950 is provided with ears ring 9501 and monaural ring 9502, and second connecting rod 951 sets Two ears rings 9511, the second fork 952 are had to be provided with monaural ring 9521, pin-and-hole 9522 and ears ring 9523；

Described gripper 955 is by ladder U-bracket 9551, two helical springs 9552 of 949, four the 3rd forks Forming with pressing plate 9553, the 3rd 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 3rd spiral rotary actuator output shaft ring flange fan-shaped boss 9421 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 3rd 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, makes the 3rd spiral rotary actuator spacing sector of output shaft ring flange Boss 94211 and the spacing fan-shaped boss 94311 of hydraulic jack ring flange are inserted in scallop hole section 9413, make two spacing sectors convex Platform left surface contacts with scallop hole section the first confined planes 94131, makes the first thrust bearing 944 insert second casing the second circular hole portion 9414, make the 3rd spiral rotary actuator 942 be fixed on the second casing 941 base plate, make end cap 954 and the second casing 941 It is 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, 3rd 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 coaxial with four the second monaural rings 9496 of ladder U-bracket respectively Penetrate pin hinge connect, another ears ring 95511 of four the second forks 9551 respectively with four the second monaural rings of pressing plate 95532 coaxially penetrate pin hinge connects, two helical spring 9552 one end respectively with two the first monaurals of ladder U-bracket Ring 9495 is connected, and two helical spring 9552 other ends are connected with two the first monaural rings 95531 of pressing plate respectively, composition machinery Pawl 955, the pulling force of two helical springs 9552, make the roller 953 being articulated with the first fork 9523 connect with pressing plate 9553 all the time Touching, repeat aforementioned assembly operation, assemble another gripper 955, composition captures and swivel block device 94；

First casing 924 is fixed with one by two connecting plates 93 with the second casing 941, composition swivel block and push-and-pull sleeper device 9；

Referring to shown in Figure 44 to Figure 57, described handling sleeper device 15 is by the second rail-lifting equipment 150, reciprocating motion storage Deposit sleeper device 160 and rigid hanger hoisting apparatus 168 forms；

The second described rail-lifting equipment 150 be by second cross beam telescopic component 151, second cross beam retractable driving device 152, Two the second tumblers, 154, two box connectors of 153, four connecting plates 155 and two second carry rail hydraulic jack 156 Composition, box connector 155 is arranged with semicylindrical opening 1551, and second carries rail hydraulic jack 156 cylinder body is provided with gusset 1561, piston rod free end is provided with fagging 1562；

Described second cross beam telescopic component 151 is to be stretched by 1511, two the 7th square tube shapes of the 7th square tube shape fixed arm Arm the 1512, the 7th laser displacement sensor 1513 and the 7th range finding reference plate 1514 form, and the 7th square tube shape telescopic arm 1512 sets Having 15121, two symmetrical grooves 15122 of dividing plate, groove 15122 is provided with bolt hole 15123；

Described second cross beam retractable driving device 152 is the same with the composition of the first lifting drive 122, except aforesaid 7th square tube shape fixed arm 1511 and first party tubular fixed arm 1211 version is different, the 7th square tube shape telescopic arm 1512 Different with first party tubular telescopic arm 1212 version, remaining all component structural form is the same；

Carry out the assembly operation identical with the first lifting drive 122, form second cross beam retractable driving device 152, 7th laser displacement sensor 1513 symmetry is fixed on the 7th square tube shape fixed arm 1511 side, and the 7th range finding reference plate 1514 is solid It is connected in the 7th square tube shape telescopic arm 1512 side；

Second tumbler 153 forms and as version with the first tumbler 92, carries out and the first tumbler 92 identical assembly operations, form the second tumbler 153；

First casing 924 is fixed with one with box connector 155 by two connecting plates 154, carries rail liquid by two second Compressing cylinder 156 is respectively fixedly connected with in two box connecting rod semicylindrical openings 1551, forms the second rail-lifting equipment 150, by the 7th square tube Shape fixed arm 1511 symmetry is fixed on two longerons 202 of railcar；

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 by base plate the 162, the 3rd crossbeam telescopic component 163, reciprocating movement driving device 164, symmetrically arranged two parallelogram lindages 165 and the 8th laser displacement sensor 166 form；

The 3rd described crossbeam telescopic component 163 is to be stretched by eighth tubular fixed arm 1631 and two eighth tubulars Arm 1632 forms, and eighth tubular fixed arm 1631 is provided with two long slot bores 16311 of symmetry, eighth tubular telescopic arm 1632 Being provided with two monaural rings 16321 and two symmetrical grooves 16322, groove 16322 is provided with bolt hole 16323；

Described reciprocating movement driving device 164 is the same with the composition of the first lifting drive 122, except the aforesaid 8th Square tube shape fixed arm 1631 orientation and first party tubular fixed arm 1211 orientation is different, eighth tubular telescopic arm 1632 orientation Different with first party tubular telescopic arm 1212 orientation；Remaining all component structural form is the same；

Described parallelogram lindage 165 is by 1632, two forks 1651 of eighth cylinder telescopic arm and moving beam 1652 Composition, moving beam 1652 is provided with two rollers 16521；

Carry out the assembly operation identical with the first lifting drive 122, form reciprocating movement driving device 164；

By one end of two forks 1651 respectively with eighth tubular telescopic arm 1632 chain connection, two forks 1651 The other end respectively with moving beam 1652 chain connection, form parallelogram lindage 165, repeat aforementioned assembly operation, be symmetrical in The vertical plane of symmetry of eighth tubular fixed arm 1631 and moving beam 1652 assembles another parallelogram lindage 165, base plate 162 are fixed on below eighth tubular fixed arm 1631, make two rollers 16521 of moving beam connect with base plate 162 upper surface Touch, the 8th laser displacement sensor 166 symmetry is fixed on eighth tubular fixed arm 1631 side, form reciprocator 161；

Being fixed on by base plate 162 on railcar 20 crossbeam and the 7th square tube shape fixed arm 1511, storage sleeper case 167 is connected On moving beam 1652, making the roller 1671 of storage sleeper case 167 be contacted over base plate 162, 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 171, two pick-and-place sleeper devices 172 of suspension bracket and the 9th laser displacement sensor 173 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 tenth 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 multi-stage expansion shell type oil cylinder the first ring flange 16941, square tube shape telescopic arm 1693 are sheathed on the first multi-stage expansion shell type oil cylinder 1694, make first multi-stage expansion shell type oil cylinder the second ring flange 16944 symmetrical Being fixed on square tube shape telescopic arm blind end 16932, the first ladder square tube shape telescopic arm 1692 is sheathed on square tube shape telescopic arm 1693 On, the first 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 solid Arms ring flange 16911 is connected with end plate 1696, and cantilever beam ring flange 16951 is fixed on square tube shape telescopic arm blind end 16932 On, cantilever 1697 is fixed on cantilever beam ring flange 16951, and the tenth laser displacement sensor 1698 is fixed on cantilever 1697, Composition 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 and push pedal 1706 groups Becoming, the second ladder square tube shape fixed arm 1701 is provided with ring flange 17011, cylinder shoulder 17012 and long slot bore 17013, the second ladder side Tubular telescopic arm 1702 is provided with 17021, second shoulder 17022 of first shoulder and long slot bore 17023, and the 3rd ladder square tube shape is stretched Arm 1703 is provided with cylinder shoulder 17031 and two monaural rings 17032, and 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 ring flange 17044；

End cap 1705 symmetry is fixed on second multi-stage expansion shell type oil cylinder the first ring flange 17041, the 3rd ladder square tube Shape telescopic arm 1703 is sheathed on the second multi-stage expansion shell type oil cylinder 1704, makes second multi-stage expansion shell type oil cylinder the second ring flange 17044 and the 3rd ladder square tube shape telescopic arm 1703 blind end be connected, the second ladder square tube shape telescopic arm 1702 is sheathed on the 3rd On ladder square tube 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 On 1702, making end cap 1705 be connected with ladder square tube shape fixed arm ring flange 17011, push pedal 1706 is fixed on the 3rd ladder square tube Shape telescopic arm 1703 blind end, is fixed on the second ladder square tube shape fixed arm 1701 by the 9th laser displacement sensor 173 symmetry Side, forms 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 1711 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 4th spiral rotary actuator the 1721, the 3rd yielding coupling 1722 Forming with interior wide-mouth nut 1723, the 4th 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；

4th spiral rotary actuator 1721 is penetrated in sill circular hole 17131, the 4th spiral rotary actuator flange Dish 17211 is fixed on above sill 1713, the 3rd yielding coupling 1722 make the 4th spiral rotary actuator output shaft 17212 with Interior wide-mouth nut axle journal 17231 is connected, and forms pick-and-place sleeper device 172；

Two telescopic cantilever boom device 169 symmetries are fixed on two longerons 202 of railcar, telescoping crossbeam device second Ladder square tube shape fixed arm 1701 is fixed on below two cantilever beam 169 cantilevers, two ears rings 17111 of entablature respectively with Two monaural ring 17032 coaxial bolts of the 3rd ladder square tube shape telescopic arm connect, and form sleeper handling apparatus 15.

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

1. clear stone screening work: outside sleeper to be changed, bolt machine oil labelling is good, and engineering truck traction track car runs to treating When the pillow that switches tracks is neighbouring, the image information that cmos image sensor gathers, automatically identified by pattern recognition system, make engineering truck stop In the position that cmos image sensor is coaxial with machine oil labelling bolt, two ranked first grab mechanisms is positioned at sleeper both sides to be changed sleeper Between, position shown in Fig. 1, oil pump starts working, and hydraulic oil makes the 3rd lifting drive double output shaft hydraulic motor to start to rotate forward, Drive left-handed screw and right handed screw forward synchronous axial system, make left-handed nut and right-handed nut promote respectively and its two be connected First party tubular telescopic arm synchronize stretch out, two square sliders respectively two the first square telescopic arm endoporus upper surface slide, Avoid left-handed screw and right handed screw to bear moment of flexure, make two pairs of forks of symmetrically arranged two parallelogram lindages relative to upper Crossbeam synchronous hunting dorsad, the 3rd lowering or hoisting gear is entrusted two and be ranked first grab mechanisms decline, by the first laser displacement sensor Measure the displacement signal of itself and entablature, control the 3rd lifting and drive double output shaft hydraulic motor and two hydraulic jacks of grab bucket Work, when grab bucket is close to ballast between the sleeper of sleeper both sides to be changed, two hydraulic cylinder piston rods of grabbing bucket start retraction, draw respectively Dynamic two link motions, make symmetrically arranged two bucket bodies relative to arm monaural ring backswing, make grab bucket be flared to maximum and open Degree, two hydraulic cylinder piston rods of grabbing bucket stop retracting, and when bucket tooth contact ballast, the 3rd lifting drives double output shaft hydraulic pressure horse Reaching stopping to rotate forward, position shown in Figure 13, two hydraulic cylinder piston rods of grabbing bucket start to stretch out, and promote two connecting rod fortune respectively Dynamic, make symmetrically arranged two bucket bodies swing in opposite directions relative to arm monaural ring, grab bucket gradually closes, and captures ballast between sleeper, grabs Two hydraulic cylinder piston rods that struggle against stop stretching out, and hydraulic oil makes the 3rd lifting drive double output shaft hydraulic motor to start reverse turning Dynamic, drive left-handed screw and right handed screw reverse sync to rotate, left-handed nut and right-handed nut pull respectively with its be connected two Individual first party tubular telescopic arm synchronizes to retract, and makes two pairs of forks of symmetrically arranged two parallelogram lindages relative to entablature Synchronous hunting in opposite directions, the 3rd lowering or hoisting gear entrusts two and ranked first grab mechanisms and rise to position shown in Figure 14, and two collection crossdrifts are driven Dynamic cylinder piston rod starts synchronization and stretches out, and promotes two the 3rd push-pull bars and two the 4th push-pull bars, makes two collection crossdrifts synchronize Being rocked to position shown in Figure 14, two collection crossdrifts drive cylinder piston rod to stop stretching out, and the second dither motor is started working, Casing start vibration, two hydraulic cylinder piston rods of grab bucket start synchronize retraction, pull two link motions respectively, make grab bucket by Gradually being flared to position shown in Figure 14, two hydraulic cylinder piston rods of grabbing bucket stop retracting, and the ballast in grab bucket rushes down falls two collection In crossdrift, it is slipped to collect in stone storehouse along collection crossdrift, the sandy soil that casing vibration makes in collection stone storehouse in the ballast sieve by flechette-type bottom Hole, is separated in two gradual change isosceles trapezoid skewed slots, and sandy soil slide into two end cap sand discharges along two gradual change isosceles trapezoid skewed slots Tu Zui discharges, and waits that the ballast in grabbing bucket is slipped to collect in stone storehouse completely, and two collection crossdrifts drive cylinder piston rod to start to synchronize contracting Return, pull two the first push-pull bars and two the second push-pull bars, make two collection crossdrift synchronous hunting to position shown in Fig. 1, two Collection crossdrift drives cylinder piston rod to stop retracting, and the second dither motor quits work, and two hydraulic jacks of grab bucket are lived simultaneously Stopper rod starts synchronization and stretches out, and promotes two link motions respectively, makes grab bucket gradually close, and two hydraulic cylinder piston rods of grabbing bucket stop Only stretch out, clear stone screening end-of-job；

2. pillow end lasher makees: engineering truck traction track car moves to left, and is automatically identified sleeper rail by pattern recognition system The number of outer bolt image, makes railcar move to left two sleeper pitches, makes the second grab mechanisms be positioned on the pillow end of sleeper to be changed Side, hydraulic oil makes the second telescopic drive hydraulic motor start to rotate forward, and drives screw rod to rotate forward, and square nut promotes second Square tube shape telescopic arm is entrusted the second grab mechanisms and is moved out, square slider in the second square telescopic arm endoporus upper surface slide, Avoiding screw rod to bear moment of flexure, the second laser displacement sensor measures the displacement signal of itself and the second range finding reference plate, controls the Two telescopic drive hydraulic motors and two hydraulic jack work of grab bucket, hydraulic oil makes the 4th lifting drive double output shaft hydraulic pressure simultaneously Motor starts to rotate forward, and left-handed screw and right handed screw promote first connecting rod and second connecting rod to synchronize translation respectively, make symmetry The the first series connection parallelogram lindage arranged and the most each two pairs of swing link synchronous of the second series connection parallel-crank mechanism are put dorsad Dynamic, the 4th lowering or hoisting gear is entrusted the second grab mechanisms and is declined, and measures it by the 3rd laser displacement sensor and drives with the 4th lifting The displacement signal of dynamic double output shaft hydraulic motor, controls the 4th lifting and drives double output shaft hydraulic motor and two hydraulic pressure of grab bucket Cylinder efficient, when the bucket tooth of grab bucket is close to pillow end railway roadbed ballast, two hydraulic cylinder piston rods of grabbing bucket start to synchronize to retract, point Not pulling two link motions, make grab bucket be flared to maximum opening, two hydraulic cylinder piston rods of grabbing bucket stop retracting, and work as bucket tooth During contact ballast, the 4th lifting drives double output shaft hydraulic motor to stop rotating forward, position shown in Figure 22, two hydraulic pressure of grabbing bucket Cylinder piston rod starts synchronization and stretches out, and promotes two link motions respectively, makes grab bucket gradually close crawl ballast, two liquid of grabbing bucket Oil pressuring cylinder piston bar stops stretching out, and hydraulic oil makes the 4th lifting drive double output shaft hydraulic motor to start to rotate backward simultaneously, left Rotation screw rod and right handed screw pull first connecting rod and second connecting rod to synchronize translation respectively, make symmetrically arranged first series connection parallel four The most each two pairs of swing link synchronous of linkage and the second series connection parallel-crank mechanism swing in opposite directions, and the 4th lowering or hoisting gear entrusts the Two grab mechanisms rise, and hydraulic oil makes the second telescopic drive hydraulic motor start to rotate forward simultaneously, drive screw rod to rotate forward, Square nut promote second party tubular telescopic arm entrust the second grab mechanisms move out superior self-cultivation shoulder above time, the 4th lifting drive Double output shaft hydraulic motor stops rotating backward, and the second telescopic drive hydraulic motor stops rotating forward, two hydraulic oil of grabbing bucket Cylinder piston rod starts to retract, and pulls two link motions respectively, makes grab bucket gradually open, makes the ballast in grab bucket rush down and fall shoulder On, two hydraulic cylinder piston rods of grabbing bucket start synchronization and stretch out, and promote two link motions respectively, make grab bucket gradually close, the Four liftings drive double output shaft hydraulic motor and the second telescopic drive hydraulic motor to start simultaneously at and rotate backward, and second party tubular is stretched Contracting arm is entrusted the second grab mechanisms and is moved to position shown in Fig. 1, and the 4th lifting drives double output shaft hydraulic motor and second to stretch Driving hydraulic motor to stop rotating backward, pillow end lasher makees to terminate；

3. calculus work below rail: engineering truck traction track car moves to left, and is automatically identified sleeper by pattern recognition system The number of rail outer bolt image, makes railcar move to left a sleeper pitch, and sprocket calculus device is positioned at sleeper two siding track to be changed Top between pillow, hydraulic oil makes the 3rd telescopic drive double output shaft hydraulic motor start to rotate forward, and drives left-handed screw and dextrorotation Screw rod synchronous axial system, makes left-handed nut and right-handed nut promote respectively and Tong Bu stretches with its two third party's tubular telescopic arms being connected Going out, make two third party's tubular telescopic arms entrust two sprocket calculus devices respectively and move out, square slider is at third party's cylinder Shape telescopic arm endoporus upper surface slide, it is to avoid left-handed screw and right handed screw bear moment of flexure, the 4th laser displacement sensor is measured Its with the 4th range finding reference plate displacement signal, control the 3rd telescopic drive double output shaft hydraulic motor and the second double output shaft Hydraulic motor works, and when sprocket calculus device moves out to rail top between the sleeper of sleeper both sides to be changed, the 3rd stretches Contracting drives double output shaft hydraulic motor to stop rotating forward, and hydraulic oil makes the 5th lifting drive double output shaft hydraulic motor to open simultaneously Beginning rotates forward, and the 5th lowering or hoisting gear is entrusted two sprocket calculus devices and declined, and measures it by the 3rd laser displacement sensor With the 5th lifting drive double output shaft hydraulic motor displacement signal, control the 5th lifting drive double output shaft hydraulic motor and 3rd double output shaft hydraulic motor work, when sprocket calculus device contact ballast, the 5th lifting drives double output shaft hydraulic pressure horse Reaching stopping to rotate forward, hydraulic oil makes sprocket calculus drive double output shaft hydraulic motor to start to rotate forward, and makes two sprocket wheels same Step rotates, several sprocket component movement of chain wheel drive chain connection one, and the sprocket of sprocket calculus device following chain tooth plate will The ballast of its contact is pushed to outside railway roadbed, and hydraulic oil makes the 3rd telescopic drive double output shaft hydraulic motor start to rotate backward, and makes Left-handed screw and right handed screw synchronous backward rotate, and left-handed nut and right-handed nut pull two third parties being connected with it respectively Tubular telescopic arm synchronizes to retract, and two third party's tubular telescopic arms entrust two sprocket calculus device inward, sprocket respectively Calculus device inward contacts to the sprocket of its front-end chain tooth plate with the ballast below rail, gnaws ballast into chain tooth row successively Between adjacent two the chain tooth plate sprockets of stone device, ballast is pushed into outside railway roadbed successively by chain tooth plate, when sprocket calculus device is inwardly transported Moving to position shown in Figure 27, below rail, calculus terminates, and the 3rd telescopic drive double output shaft hydraulic motor stops rotating backward, chain Tooth row stone drives double output shaft hydraulic motor to stop rotating forward, and the 3rd telescopic drive double output shaft hydraulic motor starts again forward Rotate, make two third party's tubular telescopic arms entrust two sprocket calculus devices and move out, treat that sprocket calculus device is to outward transport Moving inside it sprocket of chain tooth plate when leaving outside rail lower flange, the 3rd telescopic drive double output shaft hydraulic motor is just stopping To rotation, hydraulic oil makes the 5th lifting drive double output shaft hydraulic motor to start to rotate backward simultaneously, and the 5th lowering or hoisting gear is entrusted Sprocket calculus device raises, and hydraulic oil makes the 3rd telescopic drive double output shaft hydraulic motor start to rotate backward, makes two the 3rd Square tube shape telescopic arm entrusts two sprocket calculus device inward respectively, treats that sprocket calculus device moves to position shown in Fig. 1, 3rd telescopic drive double output shaft hydraulic motor and the 5th lifting drive double output shaft hydraulic motor to stop rotating backward；

4. dismounting nut work: engineering truck traction track car moves to left, and is automatically identified sleeper rail by pattern recognition system The number of outer bolt image, makes railcar move to left a sleeper pitch, and four interior wide-mouth magnetic coupling boxs are positioned at sleeper to be changed Directly over four bolts, hydraulic oil makes the 6th lifting drive double output shaft hydraulic motor to start to rotate forward, and drives left-handed screw With right handed screw forward synchronous axial system, left-handed nut and right-handed nut promote two the four directions tubulars being connected with it to stretch respectively Arm synchronizes to stretch out, and square slider is in square telescopic arm endoporus upper surface slide, it is to avoid left-handed screw and right handed screw are born Moment of flexure, makes two pairs of forks of symmetrically arranged two parallelogram lindages relative to sill synchronous hunting dorsad, the 6th lifting Device is entrusted two nut assembling and disassembling devices and is declined, and is measured the displacement signal of itself and sill by the 5th laser displacement sensor, Control the 6th lifting and drive double output shaft hydraulic motor and the work of the first spiral rotary actuator, when interior wide-mouth magnetic Flos Mume Sleeve is sheathed on nut, position shown in Figure 34, and the 6th lifting drives double output shaft hydraulic motor to stop rotating forward, hydraulic oil Make two the first spiral rotary actuators start reverse sync to rotate, drive two circular connecting plates to entrust two internal tooths respectively Wheel rotates backward, and each internal gear engages with two gears simultaneously, drives two drive axis, makes four interior wide-mouth magnetic prunus mume (sieb.) sieb.et zucc.s Flower sleeve reverse sync rotates, and four interior wide-mouth magnetic coupling boxs synchronize to screw off four nuts, interior wide-mouth magnetic coupling box Magnetic make the nut screwed off stay in interior wide-mouth magnetic coupling box, two the first spiral rotary actuators stop reversely turning Dynamic, hydraulic oil makes the 6th lifting drive double output shaft hydraulic motor to start to rotate backward, and makes left-handed screw and right handed screw synchronize Rotate backward, two Tong Bu retractions of four directions tubular telescopic arm that left-handed nut and right-handed nut pull respectively with it is connected, make Two pairs of forks of symmetrically arranged two parallelogram lindages are entrusted relative to sill synchronous hunting in opposite directions, the 6th lowering or hoisting gear Two nut assembling and disassembling devices rise to position shown in Fig. 1, dismantle nut end-of-job；

5. pull-out bad sleeper work: engineering truck traction track car moves to left, and is automatically identified sleeper bar by pattern recognition system The number of rail outer bolt image, makes railcar move to left a sleeper pitch, swivel block and push-and-pull sleeper device and is positioned at bad sleeper and just goes up Side, the first rail-lifting equipment carry directly over rail assembly is positioned on the right side of bad sleeper between sleeper, hydraulic oil makes first crossbeam telescopic drive Hydraulic motor starts to rotate forward, and drives screw rod to rotate forward, and square nut promotes the 6th square tube shape telescopic arm to stretch out, the 6th side Tubular telescopic arm entrusts the first tumbler and crawl and swivel block device moves out, and is measured by the 6th laser displacement sensor Its displacement signal with equi intensity cantilever, controls first crossbeam telescopic drive hydraulic motor, the second spiral swings hydraulic pressure horse Reach and the 3rd spiral rotary actuator work, when the first tumbler and crawl and swivel block device move out to suitable position Putting, first crossbeam telescopic drive hydraulic motor stops rotating forward, and hydraulic oil makes the second spiral rotary actuator start forward Rotating, 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 Capture and swivel block device rotates forward, when the first casing rotates forward to its spacer pin and cantilever hollow multidiameter connecting plate spacing During arc groove end thereof contacts, crawl entrusted by the second casing and swivel block device rotates forward 90 °, and the second spiral rotary actuator stops Only rotating forward, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, and hydraulic oil makes first crossbeam stretch simultaneously Contracting drives hydraulic motor to start to rotate backward, and drives screw rod to rotate backward, and makes square nut pull the 6th square tube shape telescopic arm contracting Returning, the 6th square tube shape telescopic arm entrusts the first tumbler and crawl and swivel block device inward, when two pressures of gripper When plate inward is to bad appropriate location, sleeper both sides, first crossbeam telescopic drive hydraulic motor stops rotating backward, hydraulic oil Make hydraulic cylinder piston rod start to stretch out, make first connecting rod and second connecting rod promote symmetrically arranged two the second fork phases respectively To swing, the roller being articulated with the second fork ears ring pushes down pressing plate, and roller rolls and makes pressing plate overcome two cylindrically coiled springs Pulling force make translation, two in-parallel four-bar mechanism forwards swing, when two platen clamp sleepers, in solenoid directional control valve Position makes hydraulic jack pressurize；

Hydraulic oil makes the 7th lifting drive double output shaft motor to start to rotate forward, and the 7th lowering or hoisting gear is entrusted first and carried rail Device declines, and is measured the displacement signal of itself and entablature by the first laser displacement sensor, controls the 7th lifting and drives double Output shaft hydraulic motor drives the work of double output shaft hydraulic motor with carrying rail assembly, carries rail when the first rail-lifting equipment drops to first When cylinder block gusset upper surface is coplanar with rail lower surface, the 7th lifting drives double output shaft motor to stop rotating forward, Hydraulic oil makes to carry rail assembly and drives double output shaft hydraulic motor to start to rotate forward, and drives left-handed screw and right handed screw forward same Step rotates, and makes the first box type telescopic arm and the second box type telescopic arm synchronize to stretch out, the first box type telescopic arm and the second box type telescopic Arm is entrusted two first respectively and is carried rail hydraulic jack and move out, when first carries rail cylinder body of hydraulic oil cylinder and side, rail lower flange During contact, first carries rail cylinder body of hydraulic oil cylinder gusset upper surface contacts with below rail, carries rail assembly and drives double output shaft horse Reaching stopping to rotate forward, hydraulic oil makes first to carry rail hydraulic cylinder piston rod to start to stretch out, and carries cylinder of rail live when being fixed on first The fagging contact railway roadbed ballast of stopper rod after being compacted into, along with first carries constantly stretching out of rail hydraulic cylinder piston rod, first Carrying the cylinder body of rail hydraulic jack to entrust gusset and move upward, make rail jack-up, first carries rail hydraulic cylinder piston rod stops stretching Going out, the middle position of solenoid directional control valve makes first to propose rail hydraulic jack pressurize；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, and makes hydraulic jack entrust gripper forward and turns Dynamic, gripper makes sleeper rotate forward, when the 3rd 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 3rd spiral swings hydraulic pressure Motor stops rotating forward, and hydraulic oil makes first crossbeam telescopic drive hydraulic motor start to rotate forward, the 6th square tube telescopic arm Entrusting the first tumbler and crawl and swivel block device moves out, gripper pulls bad sleeper to move out, when bad sleeper to Move to outward thereafter end face with above rail lower flange trailing flank is coplanar time, first crossbeam telescopic drive hydraulic motor stop forward Rotating, hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and makes cylinder body of hydraulic oil cylinder entrust gripper and reversely turns Dynamic, gripper makes sleeper rotate backward, when the 3rd 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 first confined planes, gripper makes sleeper rotate backward 90 °, position shown in Figure 37, the Three spiral rotary actuators stop rotating backward；

Hydraulic oil makes hydraulic cylinder piston rod start to retract, and makes first connecting rod and second connecting rod pull respectively symmetrically arranged Two the second fork backswings, under the pulling force effect of two cylindrically coiled springs, the pulling force at two cylindrically coiled springs is made Under with, making two pressing plates make translation, two in-parallel four-bar mechanism backswings, when two pressing plates connect with the disengagement of sleeper side When touching, hydraulic cylinder piston rod stops retracting；

Hydraulic oil makes first crossbeam telescopic drive hydraulic motor start to rotate forward, and the 6th square tube shape telescopic arm entrusts first Tumbler and crawl and swivel block device move out to appropriate location, and first crossbeam telescopic drive hydraulic motor stops forward and turns Dynamic；Hydraulic oil makes the second spiral rotary actuator start to rotate backward, and drives the first casing to rotate backward, and the first casing is entrusted Rotating backward with its second casing being connected, crawl entrusted by the second casing and swivel block device rotates backward, when the first casing is reverse Turn to its spacer pin multidiameter hollow with cantilever connecting plate spacing arc groove other end when contacting, the second casing entrust crawl and Swivel block device rotates backward 90 °, and the second spiral rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes the second spiral shell Rotation rotary actuator pressurize, first crossbeam telescopic drive hydraulic motor starts to rotate backward, and the 6th square tube shape telescopic arm is entrusted First tumbler and crawl and swivel block device inward are to position shown in Fig. 1, and first crossbeam telescopic drive hydraulic motor stops Only rotate backward；

Hydraulic oil make first carry rail hydraulic cylinder piston rod start retract, its piston rod hauls fagging and moves upward, rail Falling to original position, pushed down by bad sleeper so that it is upper surface is parallel with two rail lower surfaces, first proposes the contracting of cylinder of rail piston rod It is back to stop,

Hydraulic oil makes to carry rail assembly and drives double output shaft hydraulic motor to start to rotate backward, and drives left-handed screw and dextrorotation spiral shell Bar reverse sync rotates, and makes the first box type telescopic arm and the second box type telescopic arm synchronize to retract, the first box type telescopic arm and second Box type telescopic arm is entrusted two first respectively and is carried rail hydraulic jack inward, when its gusset contacts with rail disengagement, carries Rail assembly drives double output shaft hydraulic motor to stop rotating backward；

Hydraulic oil makes the 7th lifting drive double output shaft hydraulic motor to start to rotate backward, and the 7th lowering or hoisting gear entrusts first Rail-lifting equipment rises, when the first rail-lifting equipment rises to position shown in Fig. 1, and the 7th lifting drives double output shaft hydraulic motor to stop Rotate backward, pull out bad sleeper end-of-job；

6. handling bad sleeper work: engineering truck traction track car moves to left, and is automatically identified sleeper bar by pattern recognition system The number of rail outer bolt image, makes railcar move to left four sleeper pitches, and the second rail-lifting equipment is positioned at adjacent rail on the right side of bad sleeper Directly between pillow, position shown in Figure 44, hydraulic oil makes second cross beam telescopic drive double output shaft hydraulic motor start to rotate forward, Drive left-handed screw and right handed screw forward synchronous axial system, make left-handed nut and right-handed nut promote respectively and its two be connected 7th square tube shape telescopic arm synchronizes to stretch out, and two flexible arms respectively of the 7th square tube shape are entrusted two the second tumblers and carry rail oil Cylinder is outwards synchronized with the movement, and is measured the displacement signal of itself and the 7th range finding reference plate by the 7th laser displacement sensor, controls Second cross beam telescopic drive double output shaft hydraulic motor and the second spiral swing hydraulic, when two the second tumblers and carry Cylinder of rail moves out to appropriate location, and second cross beam telescopic drive double output shaft hydraulic motor stops rotating forward, hydraulic oil Making the second spiral rotary actuator start to rotate forward, drive the first casing to rotate forward, the first casing is entrusted and is connected with it Second carry rail hydraulic jack and rotate forward, when the first casing rotates forward to its spacer pin and cantilever hollow multidiameter connecting plate During spacing arc groove end thereof contacts, second carries rail hydraulic jack rotates forward 90 °, and the second spiral rotary actuator stops forward Rotating, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, second cross beam telescopic drive double output shaft hydraulic pressure Motor starts to rotate backward, and drives left-handed screw and right handed screw reverse sync to rotate, makes left-handed nut and right-handed nut respectively Promoting retraction Tong Bus with two the 7th square tube shape telescopic arms that it is connected, two the 7th square tube shapes arm respectively that stretches entrusts two the Two tumblers and carry cylinder of rail and be inwardly synchronized with the movement, when the second tumbler and second carries rail hydraulic jack inward to it When cylinder cylinder body and rail lower flange contact outside, second carries rail cylinder body of hydraulic oil cylinder gusset upper surface contacts with below rail, Second cross beam telescopic drive double output shaft hydraulic motor stops rotating backward；

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 synchronous axial system, makes left-handed nut and right-handed nut promote respectively and Tong Bu stretches with its two eighth tubular telescopic arms being connected Go out, make two pairs of forks of symmetrically arranged two parallelogram lindages relative to moving beam synchronous hunting dorsad, two pairs of forks Pulling moving beam to left movement, moving beam entrusts storage sleeper case to left movement, is surveyed by the 8th laser displacement sensor Measure the displacement signal of itself and moving beam, control to move back and forth driving double output shaft hydraulic motor work, when storage 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 double output shaft hydraulic motor to stop Only rotate forward；

Hydraulic oil makes the second level extension sleeve of the second multi-stage expansion shell type oil cylinder start to stretch out with first order extension sleeve, Promoting the 3rd ladder square tube shape telescopic arm to stretch out, the 3rd ladder square tube shape telescopic arm is entrusted rigid hanger and is moved out, when the 3rd 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 Shell type oil cylinder second level extension sleeve starts to stretch out, and promotes the 3rd ladder square tube shape telescopic arm to stretch by first order extension sleeve Going out, the 3rd ladder square tube shape telescopic arm pulls the second ladder square tube shape telescopic arm to stretch out, and is surveyed by the tenth laser displacement sensor Measure the displacement signal of itself and push pedal, control the second multi-stage expansion shell type cylinder efficient, when two interior wide-mouths of pick-and-place sleeper device When above nut and the bad sleeper having been pulled out between sleeper, two bolts in inner side are coaxial, the second multi-stage expansion shell type oil cylinder second level is stretched Contracting sleeve stops stretching out；

Hydraulic oil makes the sleeve of the first multi-stage expansion shell type oil cylinder start to retract step by step, square tube shape telescopic arm and the first ladder Square tube shape telescopic arm starts to retract successively, and rigid hanger is entrusted pick-and-place sleeper device and declined, by the 9th laser displacement sensor Measure the displacement signal of itself and sill, control the first multi-stage expansion shell type cylinder efficient, when two interior wide-mouth nuts and rail Pillow two, inner side bolts above close to time, hydraulic oil makes two the 4th spiral rotary actuators start to rotate forward, makes two Interior wide-mouth nut forward rotates, and when two interior wide-mouth nuts screw on two bolts in inner side above sleeper, swings liquid to the 4th spiral Pressure motor rotates forward to hard-over, position shown in Figure 53, and the 4th spiral rotary actuator stops rotating forward, more than first The first order sleeve of the flexible shell type oil cylinder of level stops retracting；

Hydraulic oil makes second to carry rail hydraulic cylinder piston rod to start to stretch out, carry rail hydraulic cylinder piston rod when being fixed on second Fagging contact railway roadbed ballast and after being compacted into, along with second carries constantly stretching out of rail hydraulic cylinder piston rod, second carries rail The cylinder body of hydraulic jack is entrusted gusset and is moved upward, and makes rail jack-up, and second carries rail hydraulic cylinder piston rod stops stretching out, electricity The middle position of magnetic reversal valve makes second to propose rail hydraulic jack pressurize；

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start again 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, the 3rd ladder square tube shape Telescopic 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 Sleeper move out to end face thereafter leave appropriate location, sleeper lower flange time, the second multi-stage expansion shell type oil cylinder second level stretch Sleeve stops stretching out；

Hydraulic oil makes the first order sleeve of the first multi-stage expansion shell type oil cylinder start to stretch out, and entrusts square tube shape telescopic arm and stretches Going out, rigid hanger is entrusted pick-and-place sleeper device and is risen, when square tube shape telescopic arm ring flange and the first ladder square tube shape telescopic arm cylinder When shoulder grafting touches, the second level sleeve of the second multi-stage expansion shell type oil cylinder starts to stretch out, and square tube shape telescopic arm pulls the first ladder side Tubular telescopic arm stretches out, when pick-and-place sleeper device rises to suitable height, the second level sleeve of the first multi-stage expansion shell type oil cylinder Stopping is stretched 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 4th spiral rotary actuators start reverse sync rotate, make two Interior wide-mouth nut rotates backward, and when bad sleeper is discharged in storehouse, the 4th 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, the The second level sleeve of one multi-stage expansion shell type oil cylinder stops stretching out, and handling bad sleeper has worked；

7. 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 synchronous axial system, make left-handed nut and right-handed nut pull respectively and its two be connected 7th square tube shape telescopic arm synchronizes to retract, and makes two pairs of forks of symmetrically arranged two parallelogram lindages relative to moving beam Synchronous hunting in opposite directions, two pairs of forks promote moving beam to move right, and moving beam is entrusted storage sleeper case and moved right, and works as storage Deposit 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 liquid Pressure motor stops rotating 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 4th 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 4th spiral pendulum Hydrodynamic pressure motor rotates forward to hard-over, and the 4th 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, the second multi-stage expansion shell type oil cylinder second level Extension sleeve stops retracting；

Hydraulic oil make second carry cylinder of rail piston rod start retract, its piston rod hauls fagging and moves upward, rail fall To original position, being pushed down by good sleeper so that it is upper surface is parallel with two rail lower surfaces, second carries cylinder of rail piston rod is retracted to Stop,

Hydraulic oil makes second cross beam telescopic drive double output shaft hydraulic motor start to rotate forward, and makes two the 7th square tube shapes Telescopic arm is entrusted two the second tumblers and second respectively and is carried rail hydraulic jack and move out to appropriate location, and second cross beam is stretched Contracting drives double output shaft hydraulic motor to stop rotating forward, and hydraulic oil makes the second spiral rotary actuator start to rotate backward, Driving the first casing to rotate backward, two the first casings are entrusted respectively and are carried rail hydraulic jack with its two second be connected and reversely turn Dynamic, when the first casing rotates backward and contacts to its spacer pin and the cantilever hollow multidiameter connecting plate spacing arc groove other end, Second carries rail hydraulic jack rotates backward 90 °, and the second spiral rotary actuator stops rotating backward, the middle position of solenoid directional control valve Make the second spiral rotary actuator pressurize；Second cross beam telescopic drive double output shaft hydraulic motor starts to rotate backward, and makes two Individual second tumbler and second carries rail hydraulic jack inward to position shown in Fig. 1, second cross beam telescopic drive dual output Axle hydraulic motor stops rotating backward；

Hydraulic oil makes the 4th spiral rotary actuator start to rotate backward, when the 4th spiral rotary actuator reversely turns When moving to hard-over, discharging sleeper, the 4th 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 the second level sleeve of the first multi-stage expansion shell type oil cylinder stops stretching Going out, the first order sleeve of the second multi-stage expansion shell type oil cylinder stops retracting, and handling is well placed sleeper and has worked；

8. advance sleeper to work: engineering truck traction track car moves to right, automatically identified sleeper bar by pattern recognition system The number of rail outer bolt image, makes railcar move to right four sleeper pitches, swivel block and push-and-pull sleeper device and has been positioned at above sleeper, Directly over first rail-lifting equipment has been positioned on the right side of sleeper between sleeper, hydraulic oil makes first crossbeam telescopic drive hydraulic motor just start To rotation, the 6th square tube shape telescopic arm entrusts the first tumbler and crawl and swivel block device moves out, when the 6th square tube is stretched When contracting arm extend out to stop, first crossbeam telescopic drive hydraulic motor stops rotating forward, and hydraulic oil makes the second spiral swing liquid Pressure motor starts to rotate forward, when the first casing rotates forward to its spacer pin and the cantilever hollow multidiameter spacing circular arc of connecting plate During groove end thereof contacts, crawl entrusted by the second casing and swivel block device rotates forward 90 °, and the second spiral rotary actuator is just stopping To rotation, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize；

Hydraulic oil makes first crossbeam telescopic drive hydraulic motor start to rotate backward, and the 6th square tube shape telescopic arm entrusts first Tumbler and crawl and swivel block device inward, when two presser motions of gripper are to suitable position, sleeper both sides to be finished changing When putting, position shown in Figure 37, first crossbeam telescopic drive hydraulic motor stops rotating backward, and hydraulic oil makes hydraulic cylinder piston rod Stretching out, when two platen clamp sleepers, the middle position of solenoid directional control valve makes hydraulic jack pressurize；

Hydraulic oil makes the 7th lifting drive double output shaft motor to start to rotate forward, and the 7th lowering or hoisting gear is entrusted first and carried rail Device declines, and when the first rail-lifting equipment drops to first, to carry rail cylinder body of hydraulic oil cylinder gusset upper surface coplanar with rail lower surface Time, the 7th lifting drives double output shaft motor to stop rotating forward, and hydraulic oil makes to carry rail assembly and drives double output shaft motor to start Rotate forward, when first carry rail cylinder body of hydraulic oil cylinder contact with rail bottom wing side edge time, first carries rail cylinder body of hydraulic oil cylinder adds Power plate upper surface contacts with below rail, carries rail assembly and drives double output shaft motor to stop rotating forward, and hydraulic oil makes first to carry Rail hydraulic cylinder piston rod starts to stretch out, and makes rail jack-up, and first carries rail hydraulic cylinder piston rod stops stretching out, solenoid directional control valve Middle position make first to propose rail hydraulic jack pressurize；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, and gripper makes sleeper rotate forward 90 °, and the 3rd Spiral rotary actuator stops rotating forward, and hydraulic oil makes first crossbeam telescopic drive hydraulic motor start to rotate backward, machine Tool pawl has promoted sleeper inward, is a good sleeper inward to shown in Fig. 1 during position, first crossbeam telescopic drive hydraulic pressure horse Reaching stopping to rotate backward, hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and gripper makes sleeper rotate backward 90 °, the 3rd spiral rotary actuator stops rotating backward；

Hydraulic oil makes hydraulic cylinder piston rod start to retract, when two pressing plates of gripper contact with sleeper disengagement, and hydraulic pressure Cylinder piston rod stops retracting, and hydraulic oil makes first crossbeam telescopic drive hydraulic motor start to rotate forward, and the 6th square tube shape is stretched Contracting arm entrusts the first tumbler and crawl and swivel block device moves out to appropriate location, first crossbeam telescopic drive hydraulic pressure horse Reach stopping to rotate forward；Hydraulic oil makes the second spiral rotary actuator start to rotate backward, make the first casing rotate backward to When its spacer pin multidiameter hollow with cantilever connecting plate spacing arc groove other end contacts, the second casing entrusts crawl and swivel block dress Putting and rotate backward 90 °, the second spiral rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes the second spiral swing Hydraulic motor pressurize, first crossbeam telescopic drive hydraulic motor starts to rotate backward, and the 6th square tube shape telescopic arm entrusts first turn Dynamic device and crawl and swivel block device inward are to position shown in Fig. 1, and first crossbeam telescopic drive hydraulic motor stops reversely Rotate；

Hydraulic oil make first carry rail hydraulic cylinder piston rod start retract, rail falls to original position, and first carries cylinder of rail Piston rod is retracted to stop, and hydraulic oil makes to carry rail assembly and drives double output shaft hydraulic motor to start to rotate backward, when first carries rail Cylinder body of hydraulic oil cylinder gusset disengages with rail when contacting, and carries rail assembly and drives double output shaft hydraulic motor to stop rotating backward, Hydraulic oil makes the 7th lifting drive double output shaft hydraulic motor to start to rotate backward, and the first rail-lifting equipment entrusted by the 7th lowering or hoisting gear Rising to position shown in Fig. 1, the 7th lifting drives double output shaft hydraulic motor to stop rotating backward, and has advanced sleeper work knot Bundle；

9. nut work is installed: engineering truck traction track car moves to right, and is automatically identified sleeper rail by pattern recognition system The number of outer bolt image, makes railcar move to right a sleeper pitch, and four are left wide-mouth magnetic coupling box difference in nut Coaxial with four bolts on sleeper, hydraulic oil makes the 6th lifting drive double output shaft hydraulic motor to start to rotate forward, and the 6th Lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is declined, the nut in it drops to interior wide-mouth magnetic coupling box with switch tracks Pillow threaded bolt contacts, position shown in Figure 34, the 6th lifting drives double output shaft hydraulic motor to quit work, and hydraulic oil makes two first Spiral rotary actuator starts forward synchronous axial system, drives two circular connecting plates to entrust two internal gear forwards respectively and turns Dynamic, each internal gear engages with two gears simultaneously, drives two drive axis, just makes four interior wide-mouth magnetic coupling boxs To synchronous axial system, nut synchronization screw-in four bolts of sleeper in four interior wide-mouth magnetic coupling boxs pretension, two first Spiral rotary actuator stops rotating forward, and hydraulic oil makes the 6th lifting drive double output shaft hydraulic motor to start reverse turning Dynamic, the 6th lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is risen to position shown in Fig. 1, and the 6th lifting drives double output shaft hydraulic pressure Motor stops rotating backward, and installs nut and has worked；

10. ballast backfilling working: engineering truck traction track car moves to right, automatically identifies sleeper rail by pattern recognition system The number of outer bolt image, makes railcar move to right four sleeper pitches, and engineering truck is parked in cmos image sensor and the pillow that switches tracks The position that outside bolt is coaxial, ballast collection arranging device is positioned at directly over the pillow that switches tracks, and the second dither motor is started working, and two Individual stone removing door driving cylinder piston rod starts synchronization and stretches out, and promotes two the first push-pull bars and two the second push-pull bars, makes two Stone removing door synchronous hunting is to position shown in Figure 15, and the ballast in stone storehouse to be collected rushes down to fall completely and switches tracks between the sleeper of pillow both sides, the Two dither motors quit work, and two stone removing doors drive cylinder piston rod to start to synchronize to retract, and pull two the first push-and-pulls Bar and two the second push-pull bars, make two stone removing door synchronous hunting to position shown in Fig. 1, and ballast backfilling working completes；

11. road shoulders and railway roadbed correction of the flank shape work: engineering truck traction track car moves to right, and is automatically identified rail by pattern recognition system The number of pillow rail outer bolt image, makes railcar move to right two sleeper pitches, and bucket device is positioned on the pillow end of the pillow that switches tracks Side, hydraulic oil makes the first telescopic drive hydraulic motor start to rotate forward, and drives screw rod to rotate forward, and square nut promotes second Square tube shape telescopic arm stretches out, and second party tubular telescopic arm is entrusted bucket device and moved out, and the second laser displacement sensor is measured Its with second range finding reference plate displacement signal, control the first telescopic drive hydraulic motor and bucket hydraulic jack work, with Time hydraulic oil make second lifting drive double output shaft hydraulic motor start to rotate forward, left-handed screw and right handed screw promote respectively First connecting rod and second connecting rod translation, make symmetrically arranged first series connection parallelogram lindage and the second series connection parallelogram machine The most each two pairs of swing link synchronous backswings of structure, the second lowering or hoisting gear is entrusted bucket device and is declined, by the 3rd laser displacement Its displacement signal with double output shaft hydraulic motor of sensor measurement, control the second lifting drive double output shaft hydraulic motor and Bucket hydraulic jack works, and when the bucket tooth of bucket is close to road shoulder ballast, bucket hydraulic cylinder piston rod stretches out promotion connecting rod fortune Dynamic, make bucket forward swing suitable angle, it is simple to combine in bucket by unnecessary ballast during road shoulder correction of the flank shape, when bucket motion superior self-cultivation is takeed on During base angle, the first telescopic drive hydraulic motor and the second lifting drive double output shaft hydraulic motor to stop rotating forward, shown in Fig. 8 Position, hydraulic oil makes the first telescopic drive hydraulic motor start to rotate backward, and drives screw rod to rotate backward, and square nut pulls the Two square tube shape telescopic arms are retracted, and second party tubular telescopic arm entrusts bucket device inward, and the second lifting simultaneously drives lose-lose Shaft hydraulic motor starts to rotate backward, and it is flat that left-handed screw and right handed screw pull first connecting rod and second connecting rod to synchronize respectively Dynamic, the most each two pairs of forks making symmetrically arranged first series connection parallelogram lindage and the second series connection parallel-crank mechanism are same Step swings in opposite directions, and the second lowering or hoisting gear is entrusted bucket device and risen, and the first telescopic drive hydraulic motor and the second lifting drive double Output shaft hydraulic motor is coordinated to rotate backward, and makes the stringcourse that movement locus is isosceles trapezoid road shoulder of bucket bucket tooth, carries out shoulder Correction of the flank shape, when bucket moves to bucket tooth to railway roadbed upper surface, the second lifting drives double output shaft hydraulic motor to stop rotating backward, Road shoulder correction of the flank shape terminates, and the first telescopic drive hydraulic motor continues to rotate backward, and the movement locus of bucket bucket tooth is straight line, digs simultaneously Bucket hydraulic cylinder piston rod is slowly retracted and is pulled link motion, makes the slow backswing of bucket, and the ballast combined in bucket skids off, with Finishing pillow end railway roadbed, when bucket bucket tooth is close to pillow end, bucket hydraulic cylinder piston rod stops retracting, and the second lifting drives lose-lose Shaft hydraulic motor starts to rotate backward, and second party tubular telescopic arm entrusts bucket device when rising to position shown in Fig. 1, and first Telescopic drive hydraulic motor and second lifting drive double output shaft hydraulic motor stop rotate backward, switched tracks Zhen Zhenduan road shoulder and Railway roadbed correction of the flank shape end-of-job；

12. tamping flat quarrel work: engineering truck traction track car moves to right, and is automatically identified sleeper rail by pattern recognition system The number of outer bolt image, makes railcar move to right a sleeper pitch, and two row's vibrating spears are positioned at and switch tracks between the sleeper of pillow both sides, figure Position shown in 3, hydraulic oil makes the first lifting drive double output shaft hydraulic motor to start to rotate forward, and the first lowering or hoisting gear is entrusted and shaken Smash assembly to decline, measured the displacement signal of itself and entablature by the first laser displacement sensor, control the first lifting and drive Double output shaft hydraulic motor and the work of the first dither motor, when vibrating spear free end is close to the stone between the sleeper of pillow both sides that switches tracks During quarrel, the first dither motor is started working, and oscillating plate drives two row's vibrating spear dithers, the first lifting to drive dual output Axle hydraulic motor continues to rotate forward, and makes two row's vibrating spears insert railway roadbed ballast appropriate depth, and the first lifting drives double output shaft Hydraulic motor stops rotating forward, position shown in Fig. 4, and the first dither motor works on to by the pillow both sides sleeper that switches tracks Between ballast tamping shake at ordinary times, the first dither motor quits work, hydraulic oil make first lifting drive double output shaft hydraulic pressure horse Reaching and start to rotate backward, the first lowering or hoisting gear is entrusted the assembly that vibrates and is risen to position shown in Fig. 1, and the first lifting drives double output shaft Hydraulic motor quits work, and oil pump quits work, and switched tracks tamping flat quarrel end-of-job between the sleeper of pillow both sides.

In first lowering or hoisting gear, the 3rd lowering or hoisting gear, the 5th lowering or hoisting gear, the 6th lowering or hoisting gear and jack up unit, symmetry sets Two parallelogram lindages put, the entablature making correspondence is the most parallel with sill, to adapt to straight line and curved rail length section Change the corresponding work of pillow；Symmetrically arranged first series connection parallelogram lindage and the in second lowering or hoisting gear and the 4th lowering or hoisting gear Two series connection parallelogram lindages, make corresponding elevating mechanism entablature the most parallel with sill, to adapt to straight line and curved rail length The corresponding work of pillow is changed in section；3rd series connection parallelogram lindage makes plate shape entablature parallel with sill all the time, makes servo-actuated flat Weighing apparatus support means adapts to straight line and curved rail length section is changed the corresponding of pillow and worked；Reciprocator is put down for symmetrically arranged two Row four-bar mechanism, makes moving beam parallel with eighth tubular fixed arm all the time, makes storage sleeper case make translation；In hydraulic system Synchronous valve, it is ensured that the sleeve synchronization telescope of two the first multi-stage expansion shell type oil cylinders；Rigid hanger makes in handling sleeper without pendulum Dynamic, improve handling sleeper speed；Yielding coupling and interior wide-mouth nut can effectively adapt to sleeper bolt position deviation, make interior wide-mouth Nut easily screws on sleeper bolt.

Two linear Stiffness amount of spring compression in position shown in Fig. 1, servo-actuated Equipoising support apparatus are minimum, elastic force Less, the most symmetrically arranged 6th fork and the second strut are maximum with entablature angle, and two springs are divided by two slide blocks The power on the 6th fork and the second strut that do not acts on is more than its more small power, and the 6th fork and the second strut act on plate shape The vertical component of entablature power is big, makes the deadweight of servo-actuated Equipoising support apparatus receiving plate shape entablature, double output shaft hydraulic motor certainly The summation of the part deadweight of weight, two the first yielding coupling deadweights, two monaural ring bearing deadweights and two screw rods of left-right rotary And balance, servo-actuated Equipoising support apparatus balances with lowering or hoisting gear lifting, in position shown in Fig. 8, and two linear Stiffness springs Decrement is maximum, and elastic force is maximum, and the most symmetrically arranged 6th fork and the second strut are minimum with entablature angle, two bullets The power that spring is respectively acting on the 6th fork and the second fork by two slide blocks is less than maximum flexibility power, the 6th fork and second The vertical component that strut acts on plate shape entablature power is less, make servo-actuated Equipoising support apparatus receiving plate shape entablature deadweight, double The deadweight of output shaft hydraulic motor, two yielding coupling deadweights, two monaural ring bearing deadweights and the portion of two screw rods of left-right rotary The summation of deadweight is divided to balance, it is to avoid two screw rods of left-right rotary bear moment of flexure.

Claims (1)

1. the railway maintenance mechanical-electrical-hydraulic integration machinery changing sleeper, it is characterised in that: it is by tamping flat quarrel device, road shoulder And railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, pillow end clear stone device, sprocket calculus device, four nuts synchronize Assembling and disassembling device, the first rail-lifting equipment, transition and push-and-pull sleeper device, handling sleeper device, electromotor, Hydraulic system and control system System case and railcar composition；Railcar is provided with multiple castor and two longerons, tamping flat quarrel device, road shoulder and railway roadbed correction of the flank shape dress Put, clear stone device of grabbing bucket, ballast collection arranging device, pillow end clear stone device, sprocket calculus device, four nuts synchronize assembling and disassembling devices, the One rail-lifting equipment, transition and push-and-pull sleeper device, handling sleeper device, electromotor and Hydraulic system and control System cabine are arranged on On two longerons of railcar, railcar is drawn by engineering truck, and electromotor provides power, hydraulic system for oil pump and control system And in control system case, it is provided with fuel tank, oil pump, hydraulic control system and automatic control system；

Described tamping flat quarrel device is made up of entablature, the first lowering or hoisting gear and the assembly that vibrates, and entablature is provided with two companies Fishplate bar, connecting plate is provided with several bolt hole；

The first described lowering or hoisting gear is by sill assembly, the first lifting drive, symmetrically arranged two parallel four-bars Mechanism and the first laser displacement sensor composition；

Described sill assembly is made up of first party tubular fixed arm and two first party tubular telescopic arms, first party tubular Fixed arm is provided with two long slot bores of symmetry, and first party tubular telescopic arm is provided with two monaural rings and two symmetrical grooves, recessed Groove is provided with bolt hole；

The first described lifting drive is by first party tubular fixed arm, double output shaft hydraulic motor, two elastic shaft couplings Device, two monaural ring bearings, left-handed screw, left-handed square nut, right handed screw, dextrorotation square nut, two first party tubulars Telescopic arm, two square sliders, four the first bolts and two first hex nuts 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 symmetrical 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；

Described parallelogram lindage is made up of first party tubular telescopic arm, two forks and entablature；

Being sheathed on right handed screw the second axle journal by monaural ring bearing, dextrorotation square nut screws on right handed screw appropriate location, side Shape slide block set is located on right handed screw the 3rd axle journal, the first hex nut pretension, and yielding coupling makes double output shaft hydraulic motor Right side output shaft is coaxially connected with right handed screw the first axle journal, and first party tubular telescopic arm is sheathed on it from right handed screw right-hand member On, make first party tubular telescopic arm groove bolt hole coaxial with dextrorotation square nut tapped blind hole, two the first bolts revolve respectively Enter the tapped blind hole pretension of dextrorotation square nut, repeat aforementioned assembly operation, by monaural ring bearing, 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 assemble Integrally, first party tubular fixed arm is sheathed on two first party tubular telescopic arms, makes double output shaft hydraulic motor symmetry solid Being connected in first party tubular fixed arm endoporus upper surface, two monaural ring bearings are fixed on table on first party tubular fixed arm endoporus Face, forms the first lifting drive, and square slider forms moving sets with first party tubular telescopic arm；

By one end of two forks respectively with first party tubular telescopic arm chain connection, the other end of two forks respectively with upper horizontal stroke Beam chain connection, forms parallelogram lindage, repeats aforementioned assembly operation, is symmetrical in entablature and first party tubular fixed arm The vertical plane of symmetry assembles another parallelogram lindage, the first laser displacement sensor symmetry is fixed on first party tubular and fixes Above arm, form the first lowering or hoisting gear；

The described assembly that vibrates be by entablature, several first elastic connecting component, oscillating plate, eight vibrating spears, eight second Hex nut and the first dither motor composition, the first elastic connecting component is by bolt, two helical springs, pad and the Three hex nut compositions, oscillating plate is provided with several bolt hole and eight circular holes；

By bolt through entablature connecting plate bolt hole, helical spring is sheathed on bolt, then passes through oscillating plate bolt hole, Being sheathed on bolt by another helical spring, pad is sheathed on bolt again, hex nut pretension, and oscillating plate is real with entablature Existing elasticity connects；Vibrating spear passes oscillating plate circular hole, and the second hex nut pretension, the first dither motor symmetry is fixed on shakes Above dynamic plate, first party tubular fixed arm symmetry is fixed on two longerons of railcar, composition tamping flat quarrel device；

Described road shoulder and railway roadbed modification device are by the first entablature assembly, the first retractable driving device, the second lowering or hoisting gear Form with bucket device；

The first described entablature assembly is to be passed by second party tubular fixed arm, second party tubular telescopic arm, the second laser displacement Sensor and the second range finding reference plate composition, second party tubular fixed arm is provided with four ears rings, and second party tubular telescopic arm is provided with Two symmetrical grooves, groove is provided with bolt hole；

The first described retractable driving device is by second party tubular fixed arm, hydraulic motor, the first yielding coupling, the first list Earrings bearing, screw rod, square nut, square slider, the first hex nut, two the first bolts and second party tubular telescopic arm group Becoming, 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；

Being sheathed on the second axle journal of screw rod by first monaural ring bearing, the first yielding coupling is by the first axle journal of screw rod and liquid The output shaft fixed connection of pressure motor, square nut screws on screw rod appropriate location, and square slider is sheathed on screw rod the 3rd axle journal, and first Hex nut pretension, second party tubular telescopic arm is sheathed thereon from screw rod left end, makes two tapped blind holes of square nut and Two two bolts hole of square tube shape telescopic arm are coaxial, and two the first tools for bolts ' pretensions, second party tubular fixed arm is from hydraulic motor right-hand member Sheathed and hydraulic motor is fixed on second party tubular fixed arm endoporus upper surface thereon, forms the first retractable driving device, Square slider forms moving sets with second party tubular telescopic arm, the second laser displacement sensor is fixed on second party tubular and fixes Above arm, the second range finding reference plate is fixed on above second party tubular telescopic arm；

The second described lowering or hoisting gear is by the first series connection parallelogram lindage, the second series connection parallelogram lindage, the second lifting Driving means, servo-actuated Equipoising support apparatus and the 3rd laser displacement sensor composition；

Described first series connection parallelogram lindage be by sill, the first fork, the second fork, two the 3rd forks, first Connecting rod and four the second bolt compositions, first connecting rod is provided with two pairs of coaxial threaded blind holes and left handed threaded hole,

As the second described series connection parallelogram lindage and the first series connection parallelogram lindage composition, it is right that second connecting rod is provided with two Coaxial tapped blind hole and right-handed thread hole, except aforesaid second connecting rod and first connecting rod version are different, remaining owns Component structural form is the same；

The second described lifting drive be by double output shaft hydraulic motor, two the second yielding couplings, left-handed screw, One connecting rod, right handed screw, second connecting rod and two the second monaural ring bearing compositions, right handed screw is provided with the first axle journal and the second axle Neck, left-handed screw is the same with right handed screw version；

Described servo-actuated Equipoising support apparatus is by plate shape entablature, the 3rd series connection parallelogram lindage, the first strut, the second support Bar, slide bar, two slide blocks, two turriform linear Stiffness springs, two the second hex nuts, two the 3rd bolts and two Four bolt compositions, slide bar is provided with fixed disc, is arranged with two light bar segment and two thread segments；Slide block is provided with circular hole and To coaxial threaded blind hole；

The 3rd described series connection parallelogram lindage is by plate shape entablature, sill, the 4th fork, the 5th fork, the 6th pendulum Bar, the 7th fork, two third connecting rods and two bearing pin compositions；

By the first fork and sill chain connection, chain connection between the second fork, the 4th fork and three components of sill, the One fork ears ring and the 3rd fork ears ring are coaxial with a pair of first connecting rod left side tapped blind hole, and two the second bolts are the most pre- Tightly, make chain connection between the first fork, the 3rd fork and three components of first connecting rod, the second fork ears ring and another the 3rd On the right of fork ears ring and first connecting rod, a pair tapped blind hole is coaxial, two the second bolts pretensions respectively, make the second fork, another Chain connection between individual 3rd fork and three components of first connecting rod, two the 3rd forks respectively with second party tubular fixed arm hinge Connect, composition the first series connection parallelogram lindage, repeat aforementioned assembly operation, be symmetrical in sill and second party tubular fixed arm The vertical plane of symmetry assemble second series connection parallelogram lindage；

Being sheathed on the second axle journal of right handed screw by second monaural ring bearing, the second yielding coupling is by the first of right handed screw The right-hand member output shaft fixed connection of axle journal and double output shaft hydraulic motor, then another the second monaural ring bearing is sheathed on left-handed screw The second axle journal on, another second yielding coupling is by the first axle journal of left-handed screw and the left end of double output shaft hydraulic motor Output shaft fixed connection, makes left-handed screw and first connecting rod left handed threaded hole axial contact, makes right handed screw and second connecting rod dextrorotation spiral shell Pit axial contact, rotates the output shaft of double output shaft hydraulic motor, makes left-handed screw screw in first connecting rod left handed threaded hole, During right handed screw screws in second connecting rod right-handed thread hole simultaneously, form the second lifting drive；

Two turriform linear Stiffness springs are sheathed on respectively two light bar segment of slide bar, then two slide blocks are sheathed on respectively Two light bar segment of slide bar, two the second hex nut pretensions respectively, two slide blocks make turriform linear Stiffness spring fit respectively Work as compression, by the 5th fork and sill chain connection, make the left side monaural ring of two third connecting rods respectively with the 4th fork A pair tapped blind hole of ears ring, the 6th fork ears ring and slide block is coaxial, two the 3rd bolt pretensions respectively, makes the 4th pendulum Chain connection between bar, the 6th fork and three components of slide block, by the right monaural ring of two third connecting rods respectively with the 5th fork Ears ring, the 7th fork ears ring coaxial, two bearing pins respectively penetrate, and make third connecting rod, the 5th fork and the 7th fork three Chain connection between individual component, the 6th fork and the 7th fork respectively with plate shape entablature chain connection, composition the 3rd series connection parallel Four-bar mechanism；

A pair tapped blind hole of the first strut ears ring, the second strut ears ring and slide block is coaxial, and two the 4th bolts are respectively Pretension, makes chain connection between the first strut, the second strut and three components of slide block, and the second strut is with plate shape entablature hinge even Connect, form servo-actuated Equipoising support apparatus；

Double output shaft hydraulic motor symmetry is fixed on plate shape entablature, two the second monaural ring bearings are fixed in plate shape On crossbeam, the 3rd laser displacement sensor symmetry is fixed on below second party tubular fixed arm, forms the second lowering or hoisting gear；

Described bucket device is made up of the first bucket assembly, arm and U-shaped suspension rod, and arm is provided with monaural ring, the first ears Ring, the second ears ring and ring flange；

The first described bucket assembly is made up of hydraulic jack, strut, connecting rod and bucket body, the piston rod free end of hydraulic jack Be provided with monaural ring, cylinder body is provided with monaural ring；Strut is provided with ears ring and monaural ring；Connecting rod is provided with monaural ring and ears ring, Bucket body is provided with the first ears ring and the second ears ring；

With arm the second ears ring, cylinder body of hydraulic oil cylinder monaural ring is coaxially penetrated pin hinge be connected, strut monaural ring and arm First ears ring coaxially penetrates pin hinge and connects, and bucket body the second ears ring and arm monaural ring coaxially penetrate pin hinge even Connecing, connecting rod monaural ring coaxially penetrates pin hinge with bucket body the first ears ring and is connected, connecting rod ears ring, strut ears ring and hydraulic pressure Cylinder piston rod monocycle coaxially penetrates pin hinge and connects, and forms the first bucket assembly, and U-shaped suspension rod is solid with arm ring flange Even, form bucket device, U-shaped suspension rod is fixed on second party tubular telescopic arm, composition road shoulder and railway roadbed modification device；

Described grab bucket clear stone device is made up of entablature, two the 3rd lowering or hoisting gears and eight the first grab mechanisms, upper horizontal stroke Beam is provided with two longerons and two cantilever longitudinal beams；

The 3rd described lowering or hoisting gear and the composition of the first lowering or hoisting gear and version are the same, carry out and the first lowering or hoisting gear phase Same assembly operation, forms the 3rd lowering or hoisting gear；

The first described grab mechanisms is made up of two the second bucket assemblies and arm, arm be arranged with two monaural rings, Two the first ears rings, 2 second ears ring and ring flanges；

Second bucket assembly and the first bucket assembly form and version is the same；

With two the second ears rings of arm, two cylinder body of hydraulic oil cylinder monaural rings are coaxially penetrated pin hinge respectively be connected, two Strut monaural ring coaxially penetrates pin hinge with two the first ears rings of arm respectively and is connected, and two bucket body the second ears rings are respectively Coaxially penetrating pin hinge with two monaural rings of arm to be connected, two connecting rod monaural rings are same with two bucket body the first ears rings respectively Axle penetrates pin hinge and connects, and connecting rod ears ring, strut ears ring and hydraulic cylinder piston rod monocycle coaxially penetrate pin hinge Connect, form the first grab mechanisms, eight arm ring flanges are respectively symmetrically and are fixed on two longerons of entablature and two cantilevers On longeron, the composition clear stone device of grab bucket；

Described ballast collection arranging device is by cmos image sensor, casing, two stone removing doors, two collection crossdrift, two calculus Door drive, two collection crossdrift driving means, crossbeam, several second elastic connecting component, the second dither motors and two Individual end cap forms, and crossbeam is provided with several bolt hole, and end cap is provided with sand discharge Tu Zui；

Described casing be provided with base plate, flechette-type bottom, two the first Ji Shicang, the second Ji Shicang, two square cylindrical, two gradually Become isosceles trapezoid skewed slot, four first convex stupefied and two second convex stupefied, base plate is provided with several bolt hole, and flechette-type bottom is provided with number Individual sieve aperture, the first Ji Shicang is provided with two symmetrical calculus mouths and two Ji Shikou, the second Ji Shicang are provided with two symmetrical rows Shi Kou and two Ji Shikou, the first convex stupefied top and bottom are provided with two ears rings of symmetry, and the second convex stupefied top and bottom are provided with symmetry Two ears rings, stone removing door is provided with two the first monaural rings and four the second monaural rings, collection crossdrift be provided with two the first monaural rings, Four the second monaural rings and six spill plates；

Described stone removing door driving means is driven oil cylinder, the first push-pull bar and the second push-pull bar to form by stone removing door, and first pushes away Pull bar is provided with the first ears ring and the second ears ring, and the second push-pull bar is provided with the first ears ring and the second ears ring；

Described collection crossdrift driving means is driven oil cylinder, the 3rd push-pull bar and the 4th push-pull bar to form by collection crossdrift, and the 3rd pushes away Pull bar is provided with the first ears ring and the second ears ring, and the 4th push-pull bar is provided with the first ears ring and the second ears ring；

The second described elastic connecting component and the first Flexible Connector form and version is the same；

By two drive hydraulic cylinder piston rod monaural rings respectively with first push-pull bar the first ears ring and the second push-pull bar first Ears ring coaxially penetrates pin hinge and connects, and forms stone removing door driving means；

By two drive hydraulic cylinder piston rod monaural rings respectively with the 3rd push-pull bar the first ears ring and the 4th push-pull bar first Ears ring coaxially penetrates pin hinge and connects, composition collection crossdrift driving means；

By the four of stone removing door the second monaural rings respectively with the ears ring of two the first convex stupefied lower surfaces, second convex stupefied below two Individual ears ring coaxially penetrates pin hinge and connects, four the second monaural rings of collection crossdrift respectively with two the first convex stupefied above double Earrings, two ears rings of the second convex stupefied upper surface coaxially penetrate pin hinge and connect；

Two driving hydraulic jacks are respectively fixedly connected with on the medial wall of two square cylindrical, two first push-pull bar the second ears Ring is co-axially inserted pin hinge with two the first monaural rings of stone removing door respectively and is connected, and two second push-pull bar the second ears rings are respectively Be co-axially inserted pin hinge with two the first monaural rings of another stone removing door to be connected, by two driving hydraulic jacks be respectively fixedly connected with in On the lateral wall of two square cylindrical, two the 3rd push-pull bar the second ears rings are coaxial with collection two the first monaural rings of crossdrift respectively Insertion pin hinge connects, and two the 4th push-pull bar the second ears rings are coaxial with two the first monaural rings of another stone removing door respectively Insertion pin hinge connects, and two end caps are respectively fixedly connected with on casing；

By bolt through sill bolt hole, helical spring is sheathed on bolt, then passes through box bottom bolt hole, then will Another helical spring is sheathed on bolt, and pad is sheathed on bolt, hex nut pretension, and casing and crossbeam realize elasticity even Connect；Second dither motor symmetry is fixed on box bottom, and crossbeam symmetry is fixed on two longerons of railcar, CMOS Imageing sensor is fixed on below crossbeam, forms ballast collection arranging device；

Described pillow end clear stone device is by the second entablature assembly, the second retractable driving device, the 4th lowering or hoisting gear, second grabs Bucket device and U-shaped bar composition；

The second described entablature assembly and the first entablature assembly form and version is the same, carries out and the first entablature group The assembly operation that part is identical, forms the second entablature assembly；

The second described retractable driving device is the same with the first retractable driving device composition and version, carries out stretching with first The assembly operation that driving means is identical, forms two retractable driving device；

The 4th described lowering or hoisting gear and the second lowering or hoisting gear form and version is the same, carries out identical with the second lowering or hoisting gear Assembly operation, form the 4th lowering or hoisting gear；

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

Arm ring flange is connected with U-shaped bar, then U-shaped bar is fixed on second party tubular telescopic arm, composition pillow end clear stone dress Put；

Described sprocket calculus device is by the 3rd entablature assembly, the 3rd retractable driving device, the 5th lowering or hoisting gear and two Sprocket calculus device forms；

Described upper 3rd transverse beam assembly is by third party's tubular fixed arm, two third party's tubular telescopic arms, the 4th laser positions Displacement sensor and the 4th range finding reference plate composition, third party's tubular fixed arm is provided with four ears rings, third party's tubular telescopic arm Being provided with two grooves of symmetry, groove is provided with bolt hole；

The 3rd described retractable driving device is the same with the composition of the first lifting drive, except aforesaid third party's tubular is fixed Arm and first party tubular fixed arm version is different, third party's tubular telescopic arm and first party tubular telescopic arm structure form Different, remaining all component structural form is the same；

Carrying out the assembly operation identical with the first lifting drive, form the 3rd retractable driving device, the 4th laser displacement passes Sensor symmetry is fixed on above third party's shape fixed arm, and the 4th range finding reference plate is fixed on above third party's tubular telescopic arm；

The 5th described lowering or hoisting gear and the second lowering or hoisting gear form and version is the same, carries out identical with the second lowering or hoisting gear Assembly operation, form the 5th lowering or hoisting gear；

Described sprocket calculus assembly is by double output shaft hydraulic motor, two yielding couplings, two sprocket calculus parts, U Shape bar, eight C-shaped-rod and suspension bracket composition, U-shaped bar is provided with two circular flange dishes and square flange, and C-shaped-rod is provided with the first method Blue dish and the second ring flange, suspension bracket is provided with two the first ring flanges and eight the second ring flanges；

Described sprocket calculus parts are by square beam, sprocket wheel, sprocket wheel wheel shaft, inducer, inducer wheel shaft, four load-bearing Wheel, four BOGEY WHEEL wheel shafts, several chain tooth assembly sum bearing pins form, square beam be provided with the first ears ring, second pair Earrings and four the 3rd ears rings；

By square beam the first ears ring and sprocket coaxiality, penetrate sprocket wheel wheel shaft chain connection, square beam the second ears ring with Inducer is coaxial, penetrates inducer wheel shaft chain connection, and square beam the 3rd ears ring is coaxial with BOGEY WHEEL, penetrates BOGEY WHEEL wheel Pivot hinge connects, and makes square beam, sprocket wheel, inducer and four BOGEY WHEELs be assembled into one；

Described chain tooth assembly is made up of sleeve and chain link；

Described chain link is made up of two bolts, two nuts, chain tooth plate, the first carrier bar and the second carrier bar, and chain tooth plate is provided with Two bolts hole and several equal strength sprocket, the first carrier bar is provided with the first monaural ring, the second monaural ring and the 3rd monaural ring, and second Carrier bar is provided with the first monaural ring, the second monaural ring and the 3rd monaural ring；

By coaxial to sprocket crab bolt hole and first carrier bar the second monaural ring, penetrate bolt, nut pretension, another bolt of chain tooth plate Hole and second carrier bar the second monaural ring are coaxial, penetrate bolt, nut pretension, form chain link, by the first carrier bar of the first chain link the One monaural ring, second chain link the first carrier bar the 3rd monaural ring, sleeve, the second chain link the second carrier bar the 3rd monaural ring and the first chain link Second carrier bar the first monaural ring coaxially penetrates pin hinge and connects, and repeats aforementioned operation, until by hinged for several chain links one, will The square beam, sprocket wheel, inducer and four BOGEY WHEELs that are assembled into one are placed on it, by single for the first carrier bar first of last chain link Earrings, first chain link the first carrier bar the 3rd monaural ring, sleeve, first chain link the second carrier bar the 3rd monaural ring and last chain link second Carrier bar the first monaural ring coaxially penetrates pin hinge and connects, and makes all chain tooth assembly chain connection annular integrative-structures, forms chain Tooth row Plumbum preparatium part,

Double output shaft hydraulic motor double output shaft, two yielding couplings and two sprocket wheel wheel shafts are connected, U-shaped bar square flange Dish is fixed on double output shaft hydraulic motor, and eight C-shaped-rod the second ring flanges are respectively symmetrically and are fixed on two square beams, hang Eight the second ring flanges of frame are connected with eight C-shaped-rod the first ring flanges respectively, two circular flange dishes of U-shaped bar and suspension bracket two the One ring flange is respectively fixedly connected with on third party's tubular telescopic arm, forms sprocket calculus device；

It is by the 4th entablature assembly, the 6th lowering or hoisting gear and two nut mounting or dismounting that described sleeper four nut synchronizes assembling and disassembling device Device forms；

The 4th described entablature assembly is made up of four directions tubular fixed arm and two four directions tubular telescopic arms, four directions Tubular fixed arm is provided with two long slot bores of symmetry, and it is recessed with symmetrical two that four directions tubular telescopic arm is provided with two monaural rings Groove, groove is provided with bolt hole；

The 4th described entablature assembly and sill assembly composition is the same, except aforesaid tubular fixed arm orientation, four directions and the One square tube shape fixed arm orientation is different, tubular telescopic arm orientation, four directions and first party tubular telescopic arm orientation different, its Remaining all component structural forms are the same；

The 6th described lowering or hoisting gear is to be swashed by the 6th lifting drive, symmetrically arranged two parallelogram lindages and the 5th Optical displacement sensor forms；

The 6th described lifting drive and the composition of the first lifting drive and version are the same；

Described parallelogram lindage is made up of sill, two forks and four directions tubular telescopic arm, and sill is provided with four Individual ears ring and two symmetrical long slot bores；

Carry out the assembly operation identical with the first lifting drive, form the 6th lifting drive；

By one end of two forks respectively with the four directions tubular telescopic arm chain connection, the other end of two forks respectively with lower horizontal stroke Beam chain connection, forms parallelogram lindage, and the vertical plane of symmetry being symmetrical in four directions tubular fixed arm and sill assembles another One parallelogram lindage, is fixed on the 5th laser displacement sensor symmetry below the tubular fixed arm of four directions, forms the 6th Lowering or hoisting gear；

Described nut assembling and disassembling device be by two suspension rods, the first spiral rotary actuator, upper cover, circular connecting plate, first Hex nut, internal gear, two power transmission shafts, two gears, housing, two the first thrust bearings, two the second thrust bearings, two The interior wide-mouth magnetic coupling box of individual second hex nut, two yielding couplings and two forms, and the first spiral swings hydraulic pressure horse Reach be provided with ring flange, its output shaft is provided with circular shaft section and six prism shaft parts, is above covered with axis hole, circular connecting plate is provided with six prisms Hole, power transmission shaft is provided with the first axle journal, the second axle journal, the 3rd axle journal, the 4th axle journal and thread segment, and housing is provided with ring flange and two Axis hole, interior wide-mouth magnetic coupling box is provided with axle journal；

Upper cover is sheathed on the first spiral rotary actuator output shaft circular shaft section, makes upper cover and the first spiral rotary actuator Ring flange is connected, then circle connecting plate is sheathed on the first spiral rotary actuator six prism shaft part, and the first hex nut is pre- Tightly, internal gear is coaxially connected with circular connecting plate, and geared sleeve is located at power transmission shaft the first axle journal and is connected, and the first thrust bearing is sheathed on On power transmission shaft the second axle journal, power transmission shaft makes the first thrust bearing contact with housing through housing axis hole, and the second thrust bearing is sheathed On power transmission shaft the 3rd axle journal, the second hex nut screws on power transmission shaft thread segment pretension, and yielding coupling makes power transmission shaft the 4th axle Neck is coaxially connected with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, the gear teeth flank of tooth of two gears respectively with The gear teeth face of internal gear, upper cover is connected with shell flange dish, and one end symmetry of two suspension rods is fixed on housing both sides, group Becoming nut assembling and disassembling device, the other end symmetry of two suspension rods is fixed on two sides of the 4th fixed arm, and sill is fixed on track On two side rail inner faces of car, composition sleeper four nut synchronizes assembling and disassembling device；

The first described rail-lifting equipment is by entablature, the 7th lowering or hoisting gear and carries rail assembly and forms,

The 7th described lowering or hoisting gear and the first lowering or hoisting gear form and version is the same, carries out identical with the first lowering or hoisting gear Assembly operation, form the 7th lowering or hoisting gear；

The described rail assembly that carries is by two suspension rods, the 5th square tube shape fixed arm, double output shaft hydraulic motor, two elastic shaft couplings Device, two monaural ring bearings, left-handed screw, the first box type telescopic arm, right handed screw, the second box type telescopic arm and two first carry Rail hydraulic jack forms, and suspension rod is provided with the first ring flange and the second ring flange, the 5th square tube shape fixed arm be provided with two symmetrical Semicylindrical opening, left-handed screw is provided with the first axle journal and the second axle journal, and the second right handed screw is the same with left-handed screw version, the One box type telescopic arm is provided with semicylindrical opening and left-handed motion thread hole, and the second box type telescopic arm is provided with semicylindrical opening and clockwise drive Screwed hole, first carries that rail cylinder body of hydraulic oil cylinder is provided with gusset, piston rod free end is provided with fagging；

Monaural ring bearing is sheathed on left-handed screw the second axle journal, left-handed screw precession the first box type telescopic arm left-handed transmission spiral shell Pit appropriate location, yielding coupling makes output shaft and left-handed screw the first axle journal on the left of double output shaft hydraulic motor coaxially solid Even, repeat aforementioned assembly operation, by another monaural ring bearing, right handed screw, the second box type telescopic arm, yielding coupling and double Output shaft hydraulic motor is assembled into one, and the 5th square tube shape fixed arm is sheathed on the first box type telescopic arm and the second box type telescopic arm On, make double output shaft hydraulic motor symmetry be fixed on the 5th square tube shape fixed arm endoporus upper surface, two monaural ring bearings are connected Above the 5th square tube shape fixed arm endoporus, two first carry rail hydraulic jack and are respectively fixedly connected with in the first box type telescopic arm semicolumn In hole and in the second box type telescopic arm semicylindrical opening, make two first to carry rail hydraulic jack and be symmetrical arranged, two suspension rod the second methods Blue dish symmetry is fixed on above the 5th square tube shape fixed arm, and composition carries rail assembly, and two suspension rod the first ring flange symmetries are fixed on Two sides of entablature, form the first rail-lifting equipment；

Described swivel block and push-and-pull sleeper device be by first crossbeam telescopic component, first crossbeam retractable driving device, first turn Dynamic device, two connecting plates and crawl and swivel block device composition；

Described first crossbeam telescopic component is by the 6th square tube shape fixed arm, the 6th square tube shape telescopic arm, the 6th laser displacement Sensor forms, and the 6th square tube shape fixed arm is provided with blind end, and the 6th square tube shape telescopic arm is provided with dividing plate and two symmetrical grooves, Groove is provided with bolt hole；

Described first crossbeam retractable driving device is as the first retractable driving device composition, except aforementioned 6th square tube shape is fixed Arm and second party tubular fixed arm version is different, the 6th square tube shape telescopic arm and second party tubular telescopic arm structure form Different, remaining all component structural form is the same；

Carry out the assembly operation identical with the first retractable driving device, form first crossbeam retractable driving device, the 6th laser position Displacement sensor symmetry is fixed on above the 6th square tube shape fixed arm；

The first described tumbler is by the 6th square tube shape telescopic arm, the second spiral rotary actuator, the hollow ladder of cantilever Axle, the first thrust bearing, the first casing, the second thrust bearing, the first hex nut, circular connecting plate, the second hex nut, end Lid and equi intensity cantilever form, and the second 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 spacer pin and cantilever ladder axle sleeve, 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 axis holes, and equi intensity cantilever is provided with pin shaft hole and ring flange；

Second spiral rotary actuator is fixed on the 6th square tube shape telescopic arm dividing plate front end base plate, hollow cantilever multidiameter It is sheathed on the second spiral rotary actuator, makes cantilever hollow multidiameter connecting plate be fixed on the 6th square tube shape telescopic arm end Face, the first thrust bearing is sheathed on cantilever hollow multidiameter the 3rd axle journal, and the first casing cantilever ladder axle sleeve is sheathed on hollow On cantilever multidiameter, the first thrust bearing is made to insert the first casing cantilever ladder axle sleeve the 3rd axle sleeve section, cantilever ladder axle sleeve Two axle sleeve sections are sheathed on hollow multidiameter the second axle journal, and the second thrust bearing is sheathed on cantilever hollow multidiameter the first axle journal On, insert cantilever ladder axle sleeve the first axle sleeve section, the first hex nut screws in cantilever hollow multidiameter thread segment pretension, makes first Casing and cantilever hollow multidiameter chain connection, circular connecting plate is sheathed on the second spiral rotary actuator output shaft six prism Shaft part, makes circular connecting plate be fixed on casing cantilever ladder axle sleeve free end, and the second hex nut screws in the second spiral and swings liquid Pressure motor output shaft thread segment pretension, makes the second spiral rotary actuator output shaft and the first casing be connected, and end cap is fixed on On first casing, equi intensity cantilever pin-and-hole is sheathed on end cap bearing pin, and equi intensity cantilever ring flange is fixed on the 6th square tube Above shape telescopic arm, form the first tumbler；

Described crawl and swivel block device are by the second casing, the 3rd spiral rotary actuator, hydraulic jack, the first thrust axis Hold, the second thrust bearing, the 3rd hex nut, piston, piston rod, ladder U-bracket, first connecting rod, second connecting rod, two Two forks, two rollers, end cap and two mechanical gripper device compositions, the second casing be provided with the first circular hole portion, scallop hole section, second Circular hole portion, axle sleeve section and the 3rd circular hole portion, the 3rd spiral rotary actuator output shaft fixed connection ring flange, ring flange is provided with spacing Fan-shaped boss, scallop hole section is provided with the first confined planes and the second confined planes, hydraulic jack be provided with ring flange, the first axle journal, 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 is provided with axle journal and ears ring, rank Ladder U-bracket is provided with flange, axis hole, two slotted eyes, two pin-and-holes, four the first monaural rings and eight the second monaural rings, and first Connecting rod is provided with ears ring and monaural ring, and second connecting rod is provided with two ears rings, and the second fork is provided with monaural ring, pin-and-hole and ears Ring；

Described gripper is made up of ladder U-bracket, four the 3rd forks, two helical springs and pressing plate, the 3rd 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 3rd 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 3rd spiral rotary actuator output shaft ring flange and hydraulic jack ring flange insert second casing the first circular hole portion, The spacing fan-shaped boss of the 3rd spiral rotary actuator output shaft ring flange and the spacing fan-shaped boss of hydraulic jack ring flange is made to put Enter in scallop hole section, make two spacing fan-shaped boss left surfaces contact with scallop hole section the first confined planes, make the first thrust bearing Insert second casing the second circular hole portion, make the 3rd spiral rotary actuator be fixed on the second box bottom, make end cap and Two casings are 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 3rd 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 coaxially penetrates pin hinge with four the second monaural rings of ladder U-bracket respectively and is connected, 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 circles Cylindrical spring one end is connected with two the first monaural rings of ladder U-bracket respectively, two helical spring other ends respectively with pressure Two the first monaural rings of plate are connected, and form gripper, the pulling force of two helical springs, make the roller being articulated with the first fork begin Contacting with pressing plate eventually, repeat aforementioned assembly operation, assemble another gripper, composition captures and swivel block device；

First casing and the second casing are fixed with one by two connecting plates, composition swivel block and push-and-pull sleeper device；

Described handling sleeper device is by the second rail-lifting equipment, moves back and forth storage sleeper device and rigid hanger hoisting apparatus Composition；

The second described rail-lifting equipment is by second cross beam telescopic component, second cross beam retractable driving device, two the second rotations Device, four connecting plates, two box connectors and two second carry rail hydraulic jack composition, and box connector is arranged with half Cylindrical hole, second carries that rail cylinder body of hydraulic oil cylinder is provided with gusset, piston rod free end is provided with fagging；

Described second cross beam telescopic component is by the 7th square tube shape fixed arm, two the 7th square tube shape telescopic arms, the 7th laser Displacement transducer and the 7th range finding reference plate composition, the 7th square tube shape telescopic arm is provided with dividing plate, two symmetrical grooves, and groove is provided with Bolt hole；

Described second cross beam retractable driving device is the same with the composition of the first lifting drive, except aforesaid 7th square tube shape Fixed arm and first party tubular fixed arm version is different, the 7th square tube shape telescopic arm and first party tubular telescopic arm structure Form is different, and remaining all component structural form is the same；

Carry out the assembly operation identical with the first lifting drive, form second cross beam retractable driving device, the 7th laser position Displacement sensor symmetry is fixed on the 7th square tube shape fixed arm side, and the 7th range finding reference plate is fixed on the 7th square tube shape telescopic arm side Face；

Second tumbler and the first tumbler form and version is the same, carries out the assembling identical with the first tumbler Operation, forms the second tumbler 153；

First casing is fixed with one with box connector by two connecting plates, carries rail hydraulic jack by two second and be respectively fixedly connected with In two box connecting rod semicylindrical openings, form the second rail-lifting equipment, the 7th square tube shape fixed arm symmetry is fixed on railcar Two longerons on；

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 be by base plate, the 3rd crossbeam telescopic component, reciprocating movement driving device, symmetrically arranged two Individual parallelogram lindage and the 8th laser displacement sensor composition；

The 3rd described crossbeam telescopic component is made up of eighth tubular fixed arm and two eighth tubular telescopic arms, and the 8th Square tube shape fixed arm is provided with two long slot bores of symmetry, and it is recessed with symmetrical two that eighth tubular telescopic arm is provided with two monaural rings Groove, groove is provided with bolt hole；

As the composition of described reciprocating movement driving device and the first lifting drive, except aforesaid eighth tubular is fixed Arm orientation and first party tubular fixed arm orientation is different, eighth tubular telescopic arm orientation and first party tubular telescopic arm orientation Different；Remaining all component structural form is the same；

Described parallelogram lindage is made up of eighth cylinder telescopic arm, two forks and moving beam, and moving beam is provided with two Individual roller；

Carry out the assembly operation identical with the first lifting drive, form reciprocating movement driving device；

By one end of two forks respectively with eighth tubular telescopic arm chain connection, the other end of two forks respectively with movement Crossbeam chain connection, forms parallelogram lindage, repeats aforementioned assembly operation, is symmetrical in eighth tubular fixed arm and mobile horizontal stroke The vertical plane of symmetry of beam assembles another parallelogram lindage, and base plate is fixed on below eighth tubular fixed arm, makes mobile horizontal stroke Two rollers of beam contact with plate upper surface, and the 8th laser displacement sensor symmetry is fixed on eighth tubular fixed arm side Face, forms reciprocator；

Being fixed on by base plate on railcar crossbeam and the 7th square tube shape fixed arm, storage sleeper case is fixed on moving beam, makes The roller of storage sleeper case contacts with substrate, and composition moves back and forth storage sleeper device；

Described rigid hanger hoisting apparatus be by two telescopic cantilever boom devices, telescoping crossbeam device, rigid hanger, two grab Put sleeper device and the 9th laser displacement sensor composition；

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 tenth 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 is fixed on first multi-stage expansion shell type oil cylinder the first ring flange, and it is multistage that square tube shape telescopic arm is sheathed on first Flexible shell type oil cylinder, makes first multi-stage expansion shell type oil cylinder the second ring flange symmetry be fixed on square tube shape telescopic arm blind end, the One 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 On shape telescopic 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 and stretches On arm blind end, cantilever is fixed on cantilever beam ring flange, and the tenth laser displacement sensor is fixed on cantilever, and composition is flexible outstanding Arm boom device；

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 and push pedal composition, the second ladder square tube shape fixed arm is provided with flange Dish, cylinder shoulder and long slot bore, the second ladder square tube shape telescopic arm is provided with first shoulder, second shoulder and long slot bore, the 3rd ladder side Tubular 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 first ring flange, the first order is stretched Sleeve, second level extension sleeve and the second ring flange；

End cap symmetry is fixed on second multi-stage expansion shell type oil cylinder the first ring flange, and the 3rd ladder square tube shape telescopic arm is sheathed on On second multi-stage expansion shell type oil cylinder, make second multi-stage expansion shell type oil cylinder the second ring flange and the 3rd ladder square tube shape telescopic arm Blind end is connected, and 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 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, push pedal It is fixed on the 3rd ladder square tube shape telescopic arm blind end, the 9th laser displacement sensor symmetry is fixed on the second ladder square tube shape Fixed 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, 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 4th spiral rotary actuator, yielding coupling and interior wide-mouth nut, the Four 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 4th spiral rotary actuator, the 4th spiral rotary actuator ring flange is fixed on sill Above, the 3rd yielding coupling makes the 4th 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 are fixed on two longerons of railcar, telescoping crossbeam device the second ladder square tube shape Fixed arm is fixed on below two cantilever beam cantilevers, two ears rings of entablature respectively with the 3rd ladder square tube shape telescopic arm Two monaural ring coaxial bolts connect, and form sleeper handling apparatus.