CN106351089A - Mechanics-electronics-hydraulics-integrated sleeper replacing machine - Google Patents

Abstract

The invention discloses a mechanics-electronics-hydraulics-integrated sleeper replacing machine. The mechanics-electronics-hydraulics-integrated sleeper replacing machine is composed of a four-nut synchronous assembling-disassembling device, a first sleeper lifting device, a sleeper-transferring and sleeper-push-pull device, a sleeper hoisting transporting device, a power generator, a hydraulic system and control system cabinet and a rail car. The rail car comprises a plurality of castors and two longitudinal beams, the four-nut synchronous assembling-disassembling device, the first sleeper lifting device, the sleeper-transferring and sleeper-push-pull device, the sleeper hoisting transporting device, the power generator and the hydraulic system and control system cabinet are arranged on the two longitudinal beams of the rail car, and the rail car is drawn through an engineering van. According to the mechanics-electronics-hydraulics-integrated sleeper replacing machine, the working devices can be rapidly aligned with the working position; four nuts can be synchronously assembled or disassembled, pre-tightening force of four nuts is coincident accordingly, the fatigue life of bolts is prolonged, and the reliability of connection between sleepers and steel rails is guaranteed; rapid hoisting transporting and placing work of sleepers is achieved; the mechanics-electronics-hydraulics-integrated sleeper replacing machine adapts to sleeper replacement of linear and curved rail sections; the sleeper-transferring and sleeper-push-pull device is an integrated device, the structure is simple and compact, automatic control is achieved, operation is convenient, and the sleeper replacement working efficiency is high.

Description

Mechanical-electrical-hydraulic integration changes sleeper machinery

Technical field

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

Background technology

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

Content of the invention

It is an object of the invention to provide mechanical-electrical-hydraulic integration changes sleeper machinery.

The present invention is by four nut synchronization assembling and disassembling devices, the first rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling Device, electromotor, Hydraulic system and control System cabine and railcar composition.Railcar is provided with multiple castors and two longerons, and four Nut synchronization assembling and disassembling device, the first rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor and hydraulic pressure system System and control system case are arranged on two longerons of railcar, and railcar is drawn by engineering truck, and electromotor is oil pump and control System provides power, is provided with fuel tank, oil pump, hydraulic control system and automatic control system in Hydraulic system and control System cabine；

Described sleeper four nut synchronization assembling and disassembling device is by entablature, the first lowering or hoisting gear and two nut assembling and disassembling devices Composition；

The first described lowering or hoisting gear be by two first series connection parallelogram lindages, the first lifting drive, first Servo-actuated Equipoising support apparatus and first laser displacement transducer composition；

The first described series connection parallelogram lindage is by the first sill, the first fork, the second fork, two the 3rd pendulum Bar, first connecting rod and entablature composition, the first sill is provided with five ears rings and symmetrical two long slot bores, and the first fork sets There is ladder slotted eye, first connecting rod is provided with monaural ring and ears ring；

The first described lifting drive stretches out oil cylinder by double multi-stage expansion shell types pair and two first connecting rods form, The double final stage extension sleeve free end stretching out oil cylinder of double multi-stage expansion shell types is provided with monaural ring；

The first described servo-actuated Equipoising support apparatus are by plate shape entablature, the second series connection parallelogram lindage, the first support Bar, the second strut, slide bar, two slide blocks, two turriform linear Stiffness springs, two the first hex nuts, two the first spiral shells Bolt and two the second bolt compositions, slide bar is provided with fixed disc, is arranged with two light bar segments and two thread segments；Slide block sets There are circular hole and a pair of coaxial threaded blind hole；

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

Stretch out double for double multi-stage expansion shell types oil cylinder and be symmetrically fixed on plate shape entablature, the first fork and the first sill Chain connection, chain connection between the second fork, the 4th fork and three components of the first sill, the first fork ears ring, the 3rd Fork ears ring and first connecting rod monaural ring coaxially penetrate pin hinge and connect, the second fork ears ring, another the 3rd fork Ears ring, first connecting rod ears ring and double multi-stage expansion shell type be double to stretch out oil cylinder monaural ring and coaxially penetrates pin hinge and connect, and two Individual 3rd fork and entablature chain connection, composition the first series connection parallelogram lindage, repeats aforementioned assembly operation, is symmetrical in down Crossbeam and the entablature vertical plane of symmetry assemble another the first series connection parallelogram lindage；

Two turriform linear Stiffness springs are sheathed on respectively two light bar segments of slide bar, then two slide blocks are covered respectively Located at two light bar segments of slide bar, two the first hex nut pretensions respectively, two slide blocks are made to make turriform linear Stiffness respectively Spring suitably compresses, and the 5th fork and sill chain connection make the left side monaural ring of two third connecting rods respectively with the 4th A pair of tapped blind hole of the ears ring of fork, the 6th fork ears ring and slide block is coaxial, two the first bolts pretensions respectively, makes the Chain connection between four forks, the 6th fork and three components of slide block, by the right monaural ring of two third connecting rods respectively with the 5th The ears ring of fork, the 7th fork ears ring are coaxial, and two bearing pins respectively penetrate, and make third connecting rod, the 5th fork and the 7th pendulum Chain connection between three components of bar, the 6th fork and the 7th fork respectively with plate shape entablature chain connection, form second series connection Parallelogram lindage；

Coaxial, two the second bolts by a pair of tapped blind hole of the first strut ears ring, the second strut ears ring and slide block Pretension respectively, makes chain connection between the first strut, the second strut and three components of slide block, and the second strut is with entablature hinge even Connect, form the first servo-actuated Equipoising support apparatus；

First laser displacement transducer is symmetrically fixed on below entablature, forms the first lowering or hoisting gear；

Described nut assembling and disassembling device be by two suspension rods, the first spiral rotary actuator, Shang Gai, circular connecting plate, Second hex nut, internal gear, two power transmission shafts, two gears, housing, two the first thrust bearings, two the second thrust axis Hold, the 3rd hex nut, two yielding couplings and two interior wide-mouth magnetic coupling boxs form, 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 lid is sheathed on the first spiral rotary actuator output shaft circular shaft section, makes lid swing hydraulic pressure with the first spiral The contact of motor ring flange is connected, more circular connecting plate is sheathed on the first spiral rotary actuator output shaft six prism shaft part, Second hex nut pretension, internal gear is coaxially fixed with one with circular connecting plate, and geared sleeve is connected located at power transmission shaft first axle journal, First thrust bearing is sheathed on power transmission shaft second axle journal, and power transmission shaft makes the first thrust bearing and housing connect through housing axis hole Touch, the second thrust bearing is sheathed on power transmission shaft the 3rd axle journal, the 3rd hex nut screws on power transmission shaft thread segment pretension, elasticity connection Axial organ makes power transmission shaft the 4th axle journal coaxially be fixed with one with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, and two The gear teeth flank of tooth of the individual gear gear teeth face with internal gear respectively, upper lid is fixed with one with shell flange disk, two suspension rods One end be symmetrically fixed on housing both sides, form nut assembling and disassembling device, it is solid that the other end of two suspension rods is symmetrically fixed on square tube shape Determine two sides of arm, sill is fixed on two side rail inner faces of railcar, composition sleeper four nut synchronization assembling and disassembling device；

The first described rail-lifting equipment is by cmos imageing sensor, entablature, the second lowering or hoisting gear, puies forward rail assembly group Become；

The second described lowering or hoisting gear and the first lowering or hoisting gear composition, the sill in the second lowering or hoisting gear and first Lower Crossbeam Structure form in lowering or hoisting gear is different, in the first fork and the first lowering or hoisting gear in the second lowering or hoisting gear One swing rod structure form is different, and remaining all component structural form is the same；

Carry out and the first lowering or hoisting gear identical assembly operation, form the second lowering or hoisting gear；Carry out and the first lowering or hoisting gear Identical assembly operation, first laser displacement transducer is fixed on upper horizontal stroke by four the 3rd forks and entablature chain connection Below beam, form the first lowering or hoisting gear；

The described rail assembly that carries is by two suspension rods, suspension bracket, the second spiral rotary actuator, opposed cam, two cunnings Dynamic assembly, two extension springs, I-shaped tubular fixed arm and two carry cylinder of rail composition, and suspension rod is provided with first flange disk and second flange Disk, the second spiral rotary actuator output shaft free end is provided with ring flange, and slide assemblies are by I-shaped tubular travelling arm and rolling Wheel composition, I-shaped tubular travelling arm is provided with semicylindrical opening, two symmetrical monaural rings and tappet, and I-shaped tubular travelling arm tappet is provided with Ears ring, I-shaped tubular fixed arm is provided with two symmetrical semicylindrical openings, carries cylinder of rail cylinder body and is provided with gusset, piston rod certainly Fagging is provided with by end；

By roller and I-shaped tubular travelling arm tappet ears ring chain connection, form slide assemblies, carry cylinder of rail and be fixed on In I-shaped tubular travelling arm semicylindrical opening, opposed cam is coaxially connected with the second spiral rotary actuator output shaft ring flange, Second spiral rotary actuator is symmetrically fixed on suspension bracket lower surface, and suspension bracket is symmetrically fixed on above I-shaped tubular fixed arm, will Two slide assemblies are sheathed thereon from I-shaped tubular fixed arm two ends, make roller and opposed cam contact, the two ends of extension spring are divided It is not connected with two I-shaped tubular travelling arm homonymy monaural rings, make two to carry cylinder of rail and be symmetrical arranged, two suspension rod second flanges Disk is symmetrically fixed on above suspension bracket, and composition carries rail assembly, and two suspension rod first flange disks are symmetrically fixed on entablature side, cmos Imageing sensor is fixed on below sill, forms 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 pendulous device, four the first forks, crawl and swivel block device, four the first hex nuts and four bolts compositions, the first pendulum Bar is provided with six prism hole monaural rings and monaural ring；

Described first crossbeam telescopic component is by the first square tube shape fixed arm, the first square tube shape telescopic arm, second laser Displacement transducer and the second range finding reference plate composition, the first square tube shape fixed arm is provided with blind end, and the first square tube shape telescopic arm sets There is blind end；

The first described retractable driving device is by the first square tube shape fixed arm, two-way ram oil cylinder and the first square tube shape Fixed arm forms, and two-way ram cylinder block is provided with square slider and ring flange, piston rod are provided with ring flange；

First square tube shape fixed arm is sheathed on two-way ram oil cylinder, two-way ram cylinder piston rod ring flange with First square tube shape fixed arm dividing plate is connected, then the first square tube shape fixed arm is sheathed on the first square tube shape fixed arm, makes double cropping It is connected with piston oil-cylinder ring flange and the first square tube shape fixed arm blind end, form the first retractable driving device, two-way ram Oil cylinder and the first square tube shape fixed arm form moving sets, and second laser displacement transducer is symmetrically fixed on the first square tube shape fixed arm Above, the second range finding reference plate is fixed on above the first square tube shape telescopic arm；

The first described pendulous device is by the first casing, the 3rd spiral rotary actuator, partial gear, two fans Shape gear, two multidiameters and embedded cover plate composition, it is spacing that the first casing is provided with two axis holes, the first positive stop lug boss and second Boss, multidiameter is provided with the first axle journal, the second axle journal, the 3rd axle journal, the one or six prism shaft part and the two or six prism shaft part, embeds Formula cover plate is provided with two axis holes, the first positive stop lug boss and the second positive stop lug boss；

By on two sector gears respectively sheathed first diameter of axle being fixed on two multidiameters, two multidiameters are each passed through First casing two axis hole, makes multidiameter second axle journal and the first casing axis hole be formed and rotate pair, will be sheathed for partial gear solid It is connected on the 3rd spiral rotary actuator output shaft, be placed into making in the first casing the gear teeth of partial gear respectively with two The gear teeth of individual sector gear contact along the facewidth, and the 3rd spiral rotary actuator is fixed on the first box bottom, embedded lid Two axis holes of plate are sheathed on two multidiameter the 3rd axle journals respectively, so that embedded cover plate and the first casing is connected, composition the One pendulous device；

Described crawl and swivel block device are by the second casing, the 4th spiral rotary actuator, hydraulic jack, first push away Power bearing, the second thrust bearing, the second hex nut, piston, piston rod, ladder u shape support, 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 symmetrical four screwed hole, the One circular hole portion, fan-shaped hole section, the second circular hole portion, axle sleeve section and the 3rd circular hole portion, the 3rd spiral rotary actuator output shaft is solid Even ring flange, ring flange is provided with spacing sector boss, and fan-shaped hole section is provided with the first confined planes and the second confined planes, and hydraulic jack sets There are ring flange, the first axle journal, the second axle journal and the 3rd axle journal, ring flange is provided with spacing sector boss, piston is provided with axis hole, piston Bar is provided with axle journal and ears ring, and ladder u shape support is provided with flange, axis hole, two slotted eyes, two pin-and-holes, four the first monaural rings With eight the second monaural rings, first connecting rod is provided with ears ring and monaural ring, and second connecting rod is provided with two ears rings, and the second fork sets There are monaural ring, pin-and-hole and ears ring；

Described gripper is made up of ladder u shape support, 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 4th spiral rotary actuator output shaft ring flange sector boss and the spacing fan of hydraulic jack ring flange Shape boss aligns connected, and the first thrust bearing is sheathed on hydraulic jack first axle journal, and hydraulic jack is penetrated the second casing rank Terraced in the hole, makes the 4th spiral rotary actuator output shaft ring flange and hydraulic jack ring flange insert second casing the first circular hole Section, makes the 4th spiral rotary actuator output shaft ring flange spacing sector boss and hydraulic jack ring flange spacing sector boss Insert in fan-shaped hole section, so that two spacing sector boss left surfaces is contacted with fan-shaped hole section first confined planes, make the first thrust axis Bearing enters second casing the second circular hole portion

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

The ears ring of four the 3rd forks is coaxially penetrated pin hinge with four the second monaural rings of ladder u shape support respectively Connect, another ears ring of four the 3rd forks coaxially penetrates pin hinge with four the second monaural rings of pressing plate respectively and is connected, Two helical spring one end are connected with two the first monaural rings of ladder u shape support respectively, and two helical spring other ends divide It is not connected with two the first monaural rings of pressing plate, form gripper, the pulling force of two helical springs, make to be articulated with the second fork Roller is contacted with pressing plate all the time, repeats aforementioned assembly operation, assembles another gripper, composition crawl and swivel block device；

Two the first forks six prism hole monaural ring is sheathed on two multidiameter the one or six prism shaft parts respectively, two One hex nut pretension respectively, more other two the first forks six prism hole monaural ring is sheathed on two multidiameters second respectively Six prism shaft parts, in addition two the first hex nuts respectively pretensions, make one end of four the first forks respectively with two multidiameters Two ends be connected, four the first fork monaural rings are coaxial with four screwed holes of the second casing respectively, and pretensions distinguished by four bolts, make Four the first forks are connected with the second chest hinge respectively, form in-parallel four-bar mechanism；

First casing is fixed on the first square tube shape telescopic arm blind end, composition swivel block and push-and-pull sleeper device；

The refitting by the second rail-lifting equipment, reciprocating motion storage sleeper device and rigid hanger of described sleeper handling apparatus Put composition；

The second described rail-lifting equipment be by second cross beam telescopic component, second cross beam retractable driving device, two second Pendulous device, eight forks, eight hex nuts, two box connecting rods, eight bolts and two flexible shell types put forward cylinder of rail group Become, fork is provided with six prism hole monaural rings and monaural ring, and box connecting rod is arranged with four bolts hole and semicylindrical opening, telescopic Formula carries that cylinder of rail cylinder body is provided with gusset, piston rod free end is provided with fagging；

Described second cross beam telescopic component be by the second square tube shape fixed arm, two the second square tube shape telescopic arms, the 3rd Laser displacement sensor and the 3rd range finding reference plate composition, the second square tube shape telescopic arm is provided with blind end；

The second described retractable driving device is by the second square tube shape fixed arm, the double rod hydraulic jack and two of dual Piston Individual first square tube shape telescopic arm composition, the cylinder body of the double rod hydraulic jack of dual Piston is provided with square flange, piston rod freely End is provided with ring flange；

Two the second square tube shape telescopic arms are sheathed thereon from the double rod hydraulic jack two ends of dual Piston respectively, make the Double rod hydraulic cylinder piston rod ring flanges are connected two square tube shape telescopic arm blind ends with dual Piston, the second square tube shape fixed arm It is sheathed on two the second square tube shape telescopic arms, make the double rod hydraulic jack square flange of dual Piston symmetrically be fixed on second On square tube shape fixed arm endoporus upper surface, form the second retractable driving device, the 3rd laser displacement sensor is symmetrically fixed on the Two square tube shape fixed arm sides, the 3rd range finding reference plate is fixed on the second square tube shape telescopic arm side；

Second pendulous device form with the first pendulous device and version as, carry out and the first pendulous device identical Assembly operation, forms the second pendulous device；

Two forks six prism hole monaural ring is sheathed on two multidiameter the one or six prism shaft parts, two hexagonal spiral shells respectively The other pretension of mother stock, more other two forks six prism hole monaural ring is sheathed on two multidiameter the two or six prism shaft parts respectively, Other two hex nuts pretension respectively, makes one end of four forks be connected with the two ends of two multidiameters respectively, four forks Four screwed holes of monaural ring and box connecting rod are coaxial, four bolts pretensions respectively, make four forks respectively with box connecting rod link Connect, form in-parallel four-bar mechanism；

Two the first casings are respectively fixedly connected with the blind end of two the second square tube shape telescopic arms, make two second to swing dress Put and be symmetrical arranged, two flexible shell types are carried cylinder of rail cylinder body and is respectively fixedly connected with two box connecting rod semicylindrical openings, composition the Two rail-lifting equipments, the second square tube shape fixed arm is symmetrically fixed on two longerons of railcar；

Described reciprocating motion storage sleeper device is made up of reciprocator and storage sleeper case, stores sleeper case It is provided with two rollers and several sleeper storehouse, wherein left side half sleeper storehouse is used for having stored sleeper, and right side half sleeper storehouse is used for Store bad sleeper.

Described reciprocator is by base plate, two series connection parallelogram lindages, reciprocating movement driving devices and the Seven laser displacement sensor compositions；

Described series connection parallelogram lindage is by fixed cross beam, two the first forks, connecting rod, two the second forks and shiftings Crossbeam forms, and connecting rod is provided with two monaural rings, and moving beam is provided with two rollers and a circular hole；

Described reciprocating movement driving device is by hydraulic motor, yielding coupling, monaural ring bearing, screw rod and square spiral shell Female composition, screw rod is provided with the first axle journal and the second axle journal；

By two the first forks respectively with fixed cross beam chain connection, the first fork ears ring, the second fork ears ring and Connecting rod monaural ring coaxially penetrates pin hinge and connects, another the first fork ears ring, another the second fork ears ring and company Another monaural ring of bar coaxially penetrates pin hinge and connects, two the second forks respectively with moving beam chain connection, organize bunchiness Connection parallelogram lindage, repeats aforementioned assembly operation, is symmetrical in fixed cross beam and the vertical plane of symmetry assembling of moving beam is another Individual parallelogram lindage, base plate is fixed on fixed cross beam lower surface, so that two rollers of moving beam is contacted with plate upper surface, Hydraulic motor is symmetrically fixed on fixed cross beam side, and monaural ring bearing is sheathed on screw rod second axle journal, and square nut screws on spiral shell Bar appropriate location, screw rod passes through the circular hole of moving beam, makes square nut be fixed on moving beam side, yielding coupling makes liquid Pressure motor output shaft is connected with screw rod first axle journal, and monaural ring bearing is fixed on base plate, forms reciprocating movement driving device；

Base plate is fixed on fixed cross beam lower surface, make the four rolling of two rollers of moving beam and motorcycle respectively with Plate upper surface contacts, and the 7th laser displacement sensor is symmetrically fixed on motion crossbeam side, forms reciprocator；

Base plate is fixed in track car crossbeam and the second square tube shape fixed arm, storage sleeper case is fixed on moving beam On, so that two rollers of storage sleeper case is contacted 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 8th 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 9th 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 first flange disk, the first extension sleeve, second Extension sleeve and second flange disk, cantilever beam is provided with ring flange；

End plate is symmetrically fixed on the first multi-stage expansion shell type oil cylinder first flange disk, square tube shape telescopic arm is sheathed on first Multi-stage expansion shell type oil cylinder, makes the first multi-stage expansion shell type oil cylinder second flange disk symmetrically be fixed on the closing of square tube shape telescopic arm 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 terraced square tube shape telescopic arm, the first ladder square tube fixed arm ring flange is made to 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 9th 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 Terraced 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 first flange disk, the first order Extension sleeve, second level extension sleeve and second flange disk；

End cap is symmetrically fixed on the second multi-stage expansion shell type oil cylinder first flange disk, the 3rd ladder square tube shape telescopic arm set On the second multi-stage expansion shell type oil cylinder, the second multi-stage expansion shell type oil cylinder second flange disk is made to stretch with the 3rd ladder square tube shape 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, so that end cap is 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 8th laser displacement sensor is symmetrically 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；

One end of two pull bars is symmetrically fixed on below entablature, the other end of two pull bars is symmetrically fixed on sill Above, form rigid hanger；

Described pick-and-place sleeper device is by the 5th spiral rotary actuator, the 3rd yielding coupling and interior wide-mouth nut Composition, the 5th spiral rotary actuator is provided with ring flange and output shaft, and interior wide-mouth nut is provided with axle journal；

5th spiral rotary actuator is penetrated in sill circular hole, the 5th spiral rotary actuator ring flange is fixed on down Above crossbeam, the 3rd yielding coupling makes the 5th spiral rotary actuator output shaft be connected with interior wide-mouth nut axle journal, forms pick-and-place Sleeper device；

Two telescopic cantilever boom devices are symmetrically fixed on two longerons of railcar, telescoping crossbeam device second ladder side Tubular fixed arm is fixed on below two cantilever girder cantilevers, and two ears rings of entablature are stretched 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. it is capable of four nuts synchronously to assemble and disassemble, make four nut pretightning forces consistent, improve the fatigue life of bolt, protect The reliability that card sleeper is connected with rail；

3. can quickly handling and put sleeper work；

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

5. swivel block and push-and-pull sleeper are integrating device, simple and compact for structure, automatically control, easy to operate, change pillow work effect Rate is high.

Brief description

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 close-up schematic view at b in Fig. 2.

Fig. 4 is the sleeper four nut synchronization assembling and disassembling device working condition 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 first servo-actuated Equipoising support apparatus exploded perspective schematic diagram of lifting of the present invention.

Fig. 7 is the nut assembling and disassembling device exploded perspective schematic diagram of the present invention.

Fig. 8 is rail-lifting equipment and swivel block and the push-and-pull sleeper working state of device schematic perspective view of the present invention.

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

Figure 10 is the second servo-actuated Equipoising support apparatus exploded perspective schematic diagram of lifting of the present invention.

Figure 11 be the present invention carry rail assembly schematic perspective view.

Figure 12 is the first crossbeam retractable driving device exploded perspective schematic diagram of the present invention.

Figure 13 is the first pendulous device exploded perspective schematic diagram of the present invention.

Figure 14 is crawl and the swivel block device exploded perspective schematic diagram of the present invention.

Figure 15 is the handling sleeper device off working state schematic perspective view of the present invention.

Figure 16 is close-up schematic view at c in Figure 14.

Figure 17 is the second rail-lifting equipment working condition schematic perspective view of the present invention.

Figure 18 is the second cross beam retractable driving device exploded perspective schematic diagram of the present invention.

Figure 19 is the second pendulous device exploded perspective schematic diagram of the present invention.

Figure 20 is the reciprocator schematic perspective view of the present invention.

Figure 21 is the storage sleeper case schematic perspective view of the present invention.

Figure 22 is the handling sleeper working state of device schematic perspective view of the present invention.

Figure 23 is telescopic cantilever boom device exploded perspective schematic diagram of the present invention.

Figure 24 is the telescoping crossbeam device exploded perspective schematic diagram of the present invention.

Figure 25 is the left view of Figure 14.

Figure 26 is close-up schematic view at d in Figure 24.

Specific embodiment

Refer to shown in Fig. 1 and Fig. 2, the present invention be by four nuts synchronization assembling and disassembling devices 7, the first rail-lifting equipment 8, transition and Push-and-pull sleeper device 9, sleeper handling apparatus 15, electromotor 18, Hydraulic system and control System cabine 19 and railcar 20 form.Rail Road car is provided with multiple castors 201 and two longerons 202, four nut synchronization assembling and disassembling devices 7, the first rail-lifting equipment 8, transition and push-and-pull Sleeper device 9, sleeper handling apparatus 15, electromotor 18 and Hydraulic system and control System cabine 19 are arranged on two of railcar and indulge On beam 202, railcar 20 is drawn by engineering truck, and electromotor 18 is oil pump and control system provides power, Hydraulic system and control It is provided with fuel tank, oil pump, hydraulic control system and automatic control system in System cabine 19；

Refer to shown in Fig. 3 to Fig. 5, described sleeper four nut synchronization assembling and disassembling device 7 is to be lifted by entablature 71, first Device 72 and two nut assembling and disassembling devices 73 form；

The first described lowering or hoisting gear 72 is by two first series connection parallelogram lindages 721, the first lifting drives 723rd, the first servo-actuated Equipoising support apparatus 724 and first laser displacement transducer 725 form；

The first described series connection parallelogram lindage 721 is by the first sill 7211, the first fork 7212, the second fork 7213rd, two the 3rd forks 7214, first connecting rod 7215 and entablature 71 form, and the first sill 7211 is provided with five ears rings 72111 and symmetrical two long slot bores 72112, the first fork 7212 is provided with ladder slotted eye 72121, and first connecting rod 7215 is provided with list Earrings 72151 and ears ring 72152；

The first described lifting drive 723 is to stretch out oil cylinder 7231 and two first companies by double multi-stage expansion shell types are double Bar 7215 forms, and the double final stage extension sleeve free end stretching out oil cylinder 7231 of double multi-stage expansion shell types is provided with monaural ring 72311；

The first described servo-actuated Equipoising support apparatus 724 are by plate shape entablature 7240, second series connection parallelogram lindage 7241st, the first strut 7242, the second strut 7243, slide bar 7245, two turriform linear Stiffness springs of 7244, two slide blocks 7246th, 7247, two the first bolts 7248 of two the first hex nuts and two the second bolts 7249 form, and slide bar 7244 sets There is fixed disc 72441, be arranged with two light bar segments 72442 and two thread segments 72443；Slide block 7245 is provided with circular hole 72451 and a pair of coaxial threaded blind hole 72452；

The second described series connection parallelogram lindage 7241 is by plate shape entablature 7240, sill 7211, the 4th fork 72412nd, the 5th fork 72413, the 6th fork 72414,72415, two second connecting rods 72416 of the 7th fork and two bearing pins 72417 compositions；

Double multi-stage expansion shell types pair are stretched out oil cylinder 7231 be symmetrically fixed on plate shape entablature 7240, the first fork 7212 With the first sill 7211 chain connection, between the second fork 7213, the 4th fork 72312 and 7,211 3 components of the first sill Chain connection, the first fork 7212 ears ring, the 3rd fork 7214 ears ring and first connecting rod monaural ring 72151 coaxially penetrate pin Pivot hinge connects, the second fork 7213 ears ring, another the 3rd fork 7214 ears ring, first connecting rod ears ring 72152 and Double multi-stage expansion shell types are double to stretch out oil cylinder monaural ring 72721 and coaxially penetrates pin hinge and connect, two the 3rd forks 7214 with upper Crossbeam 71 chain connection, composition the first series connection parallelogram lindage 721, repeats aforementioned assembly operation, is symmetrical in sill 7211 Assemble another the first series connection parallelogram lindage 721 with the entablature 71 vertical plane of symmetry；

Two turriform linear Stiffness springs 7246 are sheathed on respectively two light bar segments 72442 of slide bar, then by two Slide block 7245 is sheathed on two light bar segments 72442 of slide bar, two the first hex nut 7247 pretensions respectively respectively, makes two cunnings Block 7245 makes turriform linear Stiffness spring 7246 suitably compress respectively, by the 5th fork 72413 with sill 7211 hinge even Connect, make left side monaural ring ears ring, the 6th fork 7214 pairs with the 4th fork 72412 respectively of two third connecting rods 72416 A pair of tapped blind hole 72452 of earrings and slide block is coaxial, two the first bolts 7248 pretensions respectively, make the 4th fork 72412, the Chain connection between six forks 72414 and 7,245 3 components of slide block, by the right monaural ring of two third connecting rods 72416 respectively with The ears ring of the 5th fork 72413, the 7th fork 72415 ears ring are coaxial, and two bearing pins 72417 respectively penetrate, and make the 3rd even Chain connection between bar 72416, the 5th fork 72413 and 72,415 3 components of the 7th fork, the 6th fork 72414 and the 7th pendulum Bar 72415 respectively with plate shape entablature 7240 chain connection, form second series connection parallelogram lindage 7241；

A pair of tapped blind hole 72452 by the first strut 7242 ears ring, the second strut 7243 ears ring and slide block 7245 Coaxially, two the second bolt 7249 pretensions respectively, make between the first strut 7242, the second strut 7243 and 7,245 3 components of slide block Chain connection, the second strut 7243 and entablature 7230 chain connection, form the first servo-actuated Equipoising support apparatus 724；

First laser displacement transducer 725 is symmetrically fixed on below entablature 71, forms the first lowering or hoisting gear 72；

Refer to shown in Fig. 6, described nut assembling and disassembling device 73 is to swing hydraulic pressure horse by two suspension rods 731, the first spiral Reach 732, upper lid 733, circular connecting plate 734, the second hex nut 735, internal gear 737, two gears of 736, two power transmission shafts 738th, 740, two the second thrust bearings 741 of 739, two the first thrust bearings of housing, 742, two elasticity of the 3rd hex nut Shaft coupling 743 and two interior wide-mouth magnetic coupling boxs 744 form, and the first spiral rotary actuator 732 is provided with ring flange 7321st, its output shaft is provided with circular shaft section 7322 and six prism shaft parts 7323, and upper lid 733 is provided with axis hole 7331, circular connecting plate 734 It is provided with six prism holes 7341, power transmission shaft 737 is provided with the first axle journal 7371, the second axle journal 7372, the 3rd axle journal 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 sets There is axle journal 7441；

Upper lid 733 is sheathed on the first spiral rotary actuator output shaft circular shaft section 7322, makes lid 733 and the first spiral shell Rotation rotary actuator ring flange 7321 contact is connected, more circular connecting plate 734 is sheathed on the first spiral rotary actuator Output shaft six prism shaft part 7323, the second hex nut 735 pretension, internal gear 736 and circular connecting plate 734 are coaxially connected one Body, gear 738 is sheathed on power transmission shaft the first axle journal 7371 and is connected, and the first thrust bearing 740 is sheathed on power transmission shaft second axle journal On 7372, power transmission shaft 737 makes the first thrust bearing 740 contact with housing 739 through housing axis hole 7392, the second thrust bearing 741 are sheathed on power transmission shaft the 3rd axle journal 7373, and the 3rd hex nut 742 screws on power transmission shaft thread segment 7375 pretension, elasticity connection Axial organ 743 makes power transmission shaft the 4th axle journal 7374 coaxially be fixed with one with interior wide-mouth magnetic coupling box axle journal 7441, internal gear 736 Insert in housing 739, the gear teeth flank of tooth gear teeth face with internal gear 736 respectively, upper lid 733 and the shell of two gears 738 Body ring flange 7391 is fixed with one, and one end of two suspension rods 731 is symmetrically fixed on housing 739 both sides, forms nut assembling and disassembling device 73, the other end of two suspension rods 731 is symmetrically fixed on 711 2 sides of square tube shape fixed arm, and sill 7221 is fixed on track On two longeron 202 medial surface of car, composition sleeper four nut synchronization assembling and disassembling device 7；

Refer to shown in Fig. 7 to Figure 10, the first described rail-lifting equipment 8 be by cmos imageing sensor 80, entablature 81, Second lowering or hoisting gear 82, carry rail assembly 83 and form；

The second described lowering or hoisting gear 82 forms the same, sill in the second lowering or hoisting gear 82 with the first lowering or hoisting gear 72 8211 and first sill 7211 versions in lowering or hoisting gear 72 are different, the first fork in the second lowering or hoisting gear 82 8212 and first the first fork 7212 versions in lowering or hoisting gear 72 are different, remaining all component structural form one Sample；

Carry out and the first lowering or hoisting gear 72 identical assembly operation, form the second lowering or hoisting gear 82；Carry out and the first lifting Device 72 identical assembly operation, by four the 3rd forks 7214 and entablature 81 chain connection, by first laser displacement sensing Device 725 is fixed on below entablature 81, forms the first lowering or hoisting gear 82；

The described rail assembly 83 that carries is by two suspension rods 831, suspension bracket 832, the second spiral rotary actuator 833, opposed Cam 835, two extension springs 836 of 834, two slide assemblies, I-shaped tubular fixed arm 837 and two carry cylinder of rail 838 and form, and hang Bar 831 is provided with first flange disk 8311 and second flange disk 8312, and the second spiral rotary actuator 833 output shaft free end sets There is ring flange 8331, slide assemblies 835 are made up of I-shaped tubular travelling arm 8351 and roller 8352, I-shaped tubular travelling arm 8351 are provided with the symmetrical monaural ring 83512 of semicylindrical opening 83511, two and tappet 83513, I-shaped tubular travelling arm tappet 83513 It is provided with ears ring 83514, I-shaped tubular fixed arm 837 is provided with two symmetrical semicylindrical openings 8371, carries on cylinder of rail 838 cylinder body It is provided with gusset 8381, piston rod free end is provided with fagging 8382；

By roller 8352 and I-shaped tubular travelling arm tappet ears ring 83514 chain connection, form slide assemblies 835, carry Cylinder of rail 838 is fixed in I-shaped tubular travelling arm semicylindrical opening 83511, and opposed cam 834 and the second spiral swing hydraulic pressure horse Reach output shaft ring flange 8331 to be coaxially connected, the second spiral rotary actuator 833 is symmetrically fixed on suspension bracket 832 lower surface, hangs Frame 832 is symmetrically fixed on above I-shaped tubular fixed arm 837, by two slide assemblies 835 from I-shaped tubular fixed arm 837 two ends Sheathed so that roller 8352 is contacted with opposed cam 834 thereon, the two ends of extension spring 836 respectively with two I-shaped tubular travelling arms Homonymy monaural ring 83512 is connected, and makes two to carry cylinder of rail 838 and is symmetrical arranged, and two suspension rod 831 second flange disks 8312 are symmetrically solid It is connected in above suspension bracket 832, composition carries rail assembly 83, and two suspension rod 831 first flange disks 8311 are symmetrically fixed on entablature 81 side Face, cmos imageing sensor 80 is fixed on below sill 8211, forms the first rail-lifting equipment 8.

Refer to shown in Fig. 7, Figure 11 to Figure 13, described swivel block and push-and-pull sleeper device 9 are by the flexible group of first crossbeam Part 90, first crossbeam retractable driving device 91,92, four the first forks 93 of the first pendulous device, crawl and swivel block device 94, four Individual first hex nut 96 and four bolts 97 form, and the first fork 93 is provided with six prism hole monaural rings 931 and monaural ring 932；

Described first crossbeam telescopic component 90 be by the first square tube shape fixed arm 901, the first square tube shape telescopic arm 902, Second laser displacement transducer 903 and the second range finding reference plate 904 form, and the first square tube shape fixed arm 901 is provided with blind end 9011, the first square tube shape telescopic arm 902 is provided with blind end 9021；

The first described retractable driving device 91 is by the first square tube shape fixed arm 901, two-way ram oil cylinder 911 and One square tube shape fixed arm 902 forms, and two-way ram oil cylinder 911 cylinder body is provided with square slider 9111 and ring flange 9112, piston Bar is provided with ring flange 9113；

First square tube shape fixed arm 902 is sheathed on two-way ram oil cylinder 911, two-way ram cylinder piston rod method Blue disk 9113 and the first square tube shape fixed arm dividing plate 9021 are connected, then the first square tube shape fixed arm 901 is sheathed on the first square tube On shape fixed arm 902, two-way ram cylinder flange disk 9112 and the first square tube shape fixed arm blind end 9011 is made to be connected, composition First retractable driving device 91, two-way ram oil cylinder 911 and the first square tube shape fixed arm 902 form moving sets, second laser Displacement transducer 903 is symmetrically fixed on above the first square tube shape fixed arm 901, and the second range finding reference plate 904 is fixed on first party Above tubular telescopic arm 902；

The first described pendulous device 92 is by the first casing 921, the 3rd spiral rotary actuator 922, incomplete tooth Wheel 924, two multidiameters 925 of 923, two sector gears and embedded cover plate 926 form, and the first casing 921 is provided with two axles Hole 9211, the first positive stop lug boss 9212 and the second positive stop lug boss 9213, multidiameter 925 is provided with the first axle journal 9251, the second axle journal 9252nd, the 3rd axle journal 9253, the one or six prism shaft part 9254 and the two or six prism shaft part 9255, embedded cover plate 926 is provided with two Individual axis hole 9261, the first positive stop lug boss 9262 and the second positive stop lug boss 9263；

By on two sector gears 924 respectively sheathed first diameter of axle 9251 being fixed on two multidiameters, two multidiameters 925 are each passed through two axis holes 9211 of the first casing, so that multidiameter 925 second axle journal 9252 and the first casing axis hole 9211 is formed Rotate secondary, be fixed on sheathed for partial gear 923 on the 3rd spiral rotary actuator 922 output shaft, be placed into the first case In body 921, the gear teeth of partial gear 923 are made to contact along the facewidth with the gear teeth of two sector gears 924 respectively, the 3rd spiral pendulum Hydrodynamic pressure motor 922 is fixed on the first casing 921 base plate, and two axis holes 9261 of embedded cover plate 926 are sheathed on two respectively On individual multidiameter the 3rd axle journal 9253, so that embedded cover plate 926 and the first casing 921 is connected, form the first pendulous device 92；

Described crawl and swivel block device 94 are by the second casing 941, the 4th spiral rotary actuator 942, hydraulic oil Cylinder 943, the first thrust bearing 944, the second thrust bearing 945, the second hex nut 946, piston 947, piston rod 948, ladder u Shape support 949, first connecting rod 950, second connecting rod 952, two rollers 953 of 951, two the second forks, end cap 954 and two machines Machinery claw 955 device forms, and the second casing 941 is provided with symmetrical four screwed hole 9411, the first circular hole portion 9412, fan-shaped hole section 9413rd, the second circular hole portion 9414, axle sleeve section 9415 and the 3rd circular hole portion 9416, the 3rd spiral rotary actuator 942 output shaft Connected ring flange 9421, ring flange 9421 is provided with spacing sector boss 94211, and fan-shaped hole section 9413 is provided with the first confined planes 94131 and second confined planes 94132, hydraulic jack 943 is provided with ring flange 9431, the first axle journal 9432, the second axle journal 9433 and 3rd axle journal 9434, ring flange 9431 is provided with spacing sector boss 94311, and piston 947 is provided with axis hole 9471, and piston rod 948 sets There are axle journal 9481 and ears ring 9482, ladder u shape support 949 is provided with flange 9491,9492, two slotted eyes of axis hole 9493, two 9494, four the first monaural rings 9495 of pin-and-hole and eight the second monaural rings 9496, first connecting rod 950 is provided with ears ring 9501 and list Earrings 9502, second connecting rod 951 is provided with two ears rings 9511, and the second fork 952 is provided with monaural ring 9521, pin-and-hole 9522 and double Earrings 9523；

Described gripper 955 is by ladder u shape support 9551, two helical springs 9552 of 949, four the 3rd forks Form with pressing plate 9553, the 3rd fork 9551 is provided with two ears rings 95511, pressing plate 9553 is provided with two the first monaural rings 95531 and four the second monaural rings 95532；

By spacing for the 4th spiral rotary actuator output shaft ring flange sector boss 9421 and hydraulic jack ring flange limit 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 the second casing 941 ladder in the hole, makes the 4th spiral rotary actuator output shaft ring flange 9421 and hydraulic jack method Second casing the first circular hole portion 9413 inserted by blue disk 9431, makes the spacing sector of the 4th spiral rotary actuator output shaft ring flange Boss 94211 and hydraulic jack ring flange spacing sector boss 94311 are inserted in fan-shaped hole section 9413, make two spacing sectors convex Platform left surface is contacted with fan-shaped hole section the first confined planes 94131, makes the first thrust bearing 944 insert second casing the second circular hole portion

Second thrust bearing 945 is sheathed on hydraulic jack the 3rd axle journal 9434 so as to insert the 3rd casing the 3rd circle 9416 sections of hole section, piston rod 948 passes through ladder u shape rack shaft hole 9492, and piston axis hole 9471 is sheathed on piston rod axle journal 9481, Second hex nut 946 pretension, piston 947 is inserted in hydraulic jack 943 cylinder barrel, and ladder u shape bracket flange 9491 is penetrated Hydraulic jack 943 cylinder barrel is connected, and makes oil cylinder the second axle journal 9433 and the second 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 shape support pin-and-hole 9494 Coaxially penetrate pin hinge to connect, first connecting rod ears ring 9501 and second connecting rod ears ring 9511 respectively with two the second forks Monaural ring 9521 coaxially penetrates pin hinge and connects；

The ears ring 95511 of four the 3rd forks 9551 is same with four the second monaural rings 9496 of ladder u shape support respectively Axle penetrates pin hinge and connects, another ears rings 95511 of four the 3rd forks 9551 respectively with four the second monaurals of pressing plate Ring 95532 coaxially penetrates pin hinge and connects, and two helical spring 9552 one end are single with two first, ladder u shape support respectively Earrings 9495 is connected, and two helical spring 9552 other ends are connected with two the first monaural rings 95531 of pressing plate respectively, form machine Machinery claw 955, the pulling force of two helical springs 9552, make to be articulated with the roller 953 of the second fork 9523 all the time with pressing plate 9553 Contact, repeats aforementioned assembly operation, assembles another gripper 955, composition crawl and swivel block device 94；

Two the first forks six prism hole monaural ring 931 is sheathed on two multidiameter the one or six prism shaft parts respectively 9254, two the first hex nut 96 pretensions respectively, more other two the first forks, six prism hole monaural ring 931 is sheathed respectively In two multidiameter the two or six prism shaft parts 9254, in addition two the first hex nut 96 pretensions respectively, make four the first forks 93 one end is connected with the two ends of two multidiameters 925 respectively, four the first fork monaural rings 932 respectively with the second casing four Screwed hole 9411 is coaxial, four bolts 97 pretensions respectively, make four the first forks 93 respectively with the second casing 941 chain connection, Form in-parallel four-bar mechanism；

First casing 921 is fixed on the first square tube shape telescopic arm blind end 9021, composition swivel block and push-and-pull sleeper device 9；

Refer to Figure 14 to Figure 25, described sleeper handling apparatus 15 are by the second rail-lifting equipment 150, reciprocating motion storage rail Pillow device 160 and rigid hanger hoisting apparatus 168 form；

The second described rail-lifting equipment 150 be by second cross beam telescopic component 151, second cross beam retractable driving device 152, 154, eight hex nuts of 153, eight forks of two the second pendulous devices, 156, eight bolt 157 and of 155, two box connecting rods Two flexible shell types carry cylinder of rail 158 and form, and fork 154 is provided with six prism hole monaural rings 1541 and monaural ring 1542, and box is even Bar 156 is arranged with four bolts hole 1561 and semicylindrical opening 1562, and flexible shell type carries cylinder of rail 158 cylinder body and is provided with gusset 1581st, piston rod free end is provided with fagging 1582；

Described second cross beam telescopic component 151 is to be stretched by 1511, two the second square tube shapes of the second square tube shape fixed arm Arm 1512, the 3rd laser displacement sensor 1513 and the 3rd range finding reference plate 1514 form, and the second square tube shape telescopic arm 1512 sets There is blind end 15121；

The second described retractable driving device 152 is by the second square tube shape fixed arm 1511, the double rod hydraulic pressure of dual Piston Oil cylinder 1521 and two the first square tube shape telescopic arms 1512 form, the cylinder body side of being provided with of the double rod hydraulic jack 1521 of dual Piston Shape ring flange 15211, piston rod free end are provided with ring flange 15212；

Two the second square tube shape telescopic arms 1512 are sheathed on from double rod hydraulic jack 1521 two ends of dual Piston respectively Thereon, make the double rod hydraulic cylinder piston rod ring flange 15212 of the second square tube shape telescopic arm blind end 15121 and dual Piston solid Even, the second square tube shape fixed arm 1511 is sheathed on two the second square tube shape telescopic arms 1512, makes the double rod hydraulic pressure of dual Piston Oil cylinder square flange 15211 is symmetrically fixed on the second square tube shape fixed arm 1511 endoporus upper surface, and composition second is flexible to be driven Dynamic device 152, the 3rd laser displacement sensor 1513 is symmetrically fixed on the second square tube shape fixed arm 1511 side, the 3rd range finding ginseng It is fixed on the second square tube shape telescopic arm 1512 side according to plate 1514；

Second pendulous device 153 form with the first pendulous device 92 and version as, carry out and the first pendulous device 92 identical assembly operations, form the second pendulous device 153；

Two forks six prism hole monaural ring 1541 is sheathed on two multidiameter the one or six prism shaft parts 9254 respectively, two Individual hex nut 155 pretension respectively, more other two forks six prism hole monaural ring 1541 is sheathed on two multidiameters respectively Two or six prism shaft part 9255, in addition two hex nuts 155 pretension respectively, make one end of four forks 154 respectively with two The two ends of multidiameter 925 are connected, and four screwed holes 1561 of four fork monaural rings 1542 and box connecting rods are coaxial, four bolts 157 respectively pretensions, make four forks 154 respectively with box connecting rod 156 chain connection, form in-parallel four-bar mechanism；

Two the first casings 921 are respectively fixedly connected with the blind end 15121 of two the second square tube shape telescopic arms, make two Two pendulous devices 153 are symmetrical arranged, and two flexible shell types are carried cylinder of rail 158 cylinder body and is respectively fixedly connected with two box connecting rod semicircles In post holes 1562, form the second rail-lifting equipment 150, the second square tube shape fixed arm 1511 is symmetrically fixed on two of railcar and indulges On beam 202；

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 two rollers 1671 and several sleeper storehouse 1672, and wherein left side half sleeper storehouse is used for having stored rail Pillow, right side half sleeper storehouse is used for storing bad sleeper.

Described reciprocator 161 is by 162, two series connection parallelogram lindages 163 of base plate, moves back and forth driving Device 165 and the 7th laser displacement sensor 166 form；

Described series connection parallelogram lindage 163 be by 1631, two the first forks 1632 of fixed cross beam, connecting rod 1633, Two the second forks 1634 and shifting crossbeam 1635 form, and connecting rod 1633 is provided with two monaural rings 16331, and moving beam 1635 is provided with Two rollers 16351 and a circular hole 16352；

Described reciprocating movement driving device 165 is by hydraulic motor 1651, yielding coupling 1652, monaural ring bearing 1653rd, screw rod 1654 and square nut 1655 form, and screw rod 1654 is provided with the first axle journal 16541 and the second axle journal 16542；

By two the first forks 1632 respectively with fixed cross beam 1631 chain connection, the first fork 1632 ears ring, second Fork 1634 ears ring and connecting rod monaural ring 16331 coaxially penetrate pin hinge and connect, another the first fork 1632 ears ring, Another the second fork 1634 ears ring and another monaural ring 16331 of connecting rod coaxially penetrate pin hinge and connect, two second Fork 1634 respectively with moving beam 1635 chain connection, composition series connection parallelogram lindage 163, repeat aforementioned assembly operation, It is symmetrical in fixed cross beam 1631 and the vertical plane of symmetry of moving beam 1635 assembles another parallelogram lindage 163, base plate 162 It is fixed on fixed cross beam 1631 lower surface, make two rollers 16351 and base plate 162 upper surface of moving beam, hydraulic pressure horse Reach 1651 and be symmetrically fixed on fixed cross beam 1631 side, monaural ring bearing 1653 is sheathed on screw rod the second axle journal 16542, square Nut 1655 screws on screw rod 1654 appropriate location, and screw rod passes through the circular hole 16552 of moving beam, so that square nut 1655 is fixed on Moving beam 1635 side, yielding coupling 1652 makes hydraulic motor 1651 output shaft be connected with screw rod the first axle journal 16541, single Earrings bearing 1653 is fixed on base plate 162, forms reciprocating movement driving device 165；

Base plate 162 is fixed on fixed cross beam 1631 lower surface, makes two rollers 16351 of moving beam and the four of motorcycle Individual roller respectively with base plate 162 upper surface, the 7th laser displacement sensor 166 is symmetrically fixed on motion crossbeam 1635 side Face, forms reciprocator 161；

Base plate 162 is fixed on railcar 20 crossbeam and the second square tube shape fixed arm 1511, storage sleeper case 167 is connected On moving beam 1635, two rollers 1671 of storage sleeper case are made to 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 8th laser displacement sensor 173 form；

Described telescopic cantilever boom device 169 is to be stretched by the first ladder square tube shape fixed arm 1691, the first ladder square tube shape Contracting arm 1692, square tube shape telescopic arm 1693, the first multi-stage expansion shell type oil cylinder 1694, cantilever beam 1695, end plate 1696, cantilever 1697 and the 9th 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 There are ring flange 16931 and blind end 16932, the first multi-stage expansion shell type oil cylinder 1694 is provided with first flange disk 16941, first stretches Contracting sleeve 16942, the second extension sleeve 16943 and second flange disk 16944, cantilever beam 1695 is provided with ring flange 16951；

End plate 1696 is symmetrically fixed on the first multi-stage expansion shell type oil cylinder first flange disk 16941, square tube shape telescopic arm 1693 are sheathed on the first multi-stage expansion shell type oil cylinder 1694, make the first multi-stage expansion shell type oil cylinder second flange disk 16944 symmetrical It is 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 Determine arm ring flange 16911 to be connected with end plate 1696, 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 9th 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 the second ladder square tube shape fixed arm 1701, the second ladder square tube shape Arm 1702, the 3rd ladder square tube shape telescopic arm 1703, the second multi-stage expansion shell type oil cylinder 1704, end cap 1705 and 1706 groups of push pedal Become, 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 first flange disk 17041st, first order extension sleeve 17042, second level extension sleeve 17043 and second flange disk 17044；

End cap 1705 is symmetrically fixed on the second multi-stage expansion shell type oil cylinder first flange disk 17041, the 3rd ladder square tube Shape telescopic arm 1703 is sheathed on the second multi-stage expansion shell type oil cylinder 1704, makes the second multi-stage expansion shell type oil cylinder second flange disk 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, end cap 1705 is made to 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, the 8th laser displacement sensor 173 is symmetrically fixed on the second ladder square tube shape fixed arm 1701 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；

One end of two pull bars 1712 is symmetrically fixed on below entablature 1711, the other end of two pull bars 1712 is symmetrical It is fixed on above sill 1713, form rigid hanger 171；

Described pick-and-place sleeper device 172 is by the 5th spiral rotary actuator 1721, the 3rd yielding coupling 1722 Form with interior wide-mouth nut 1723, the 5th 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；

5th spiral rotary actuator 1721 is penetrated in sill circular hole 17131, the 5th spiral rotary actuator flange Disk 17211 is fixed on above sill 1713, the 3rd yielding coupling 1722 make the 5th 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 devices 169 are symmetrically 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.

The work process of the present embodiment and principle are as follows:

1. dismounting nut work: outside second sleeper on the right side of sleeper to be changed, bolt is good with machine oil labelling, and engineering truck draws When vehicle track running is near sleeper to be changed, the image information of cmos imageing sensor collection, automatic by pattern recognition system Identification, makes engineering truck be parked in the cmos imageing sensor position coaxial with machine oil labelling bolt, four interior wide-mouth magnetic plum-blossom sleeves Cylinder is located at directly over four bolts of sleeper to be changed, and oil pump is started working, and it is double multistage that hydraulic oil makes hydraulic oil so that the first lifting is driven The double multi-stage sleeve stretching out oil cylinder two ends of flexible shell type starts to stretch out step by step, promotes two first connecting rod synchronization translations respectively, makes Symmetrically arranged two first series connection parallelogram lindage each two pairs of fork dorsad synchronous hunting up and down, the first lowering or hoisting gear is entrusted Two nut assembling and disassembling devices decline, and by its displacement signal with sill of first laser displacement sensor, to control the One lifting drives double multi-stage expansion shell types pair to stretch out oil cylinder and the work of the first spiral rotary actuator, when interior wide-mouth magnetic Flos Mume Sleeve is sheathed on nut, position shown in Fig. 3, and the first lifting drives the double final stage set stretching out oil cylinder two ends of double multi-stage expansion shell types Cylinder stops stretching out, and hydraulic oil makes two the first spiral rotary actuators start reverse sync rotation, drives two circles to connect Plate is entrusted two internal gears respectively and is rotated backward, and each internal gear is engaged with two gears simultaneously, drives two drive axis, Four interior wide-mouth magnetic coupling box reverse sync are made to rotate, four interior wide-mouth magnetic coupling boxs synchronously screw off four nuts, The magnetic of interior wide-mouth magnetic coupling box makes the nut screwing off stay in interior wide-mouth magnetic coupling box, and two the first spirals swing Hydraulic motor stops rotating backward, and hydraulic oil makes the first lifting drive double multi-stage expansion shell types pair to stretch out the many of oil cylinder two ends simultaneously Level sleeve starts to retract step by step, pulls two first connecting rod synchronization translations respectively, makes symmetrically arranged two first series connection parallel The opposite synchronous hunting of each up and down two pairs of forks of four-bar mechanism, the first lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is risen to figure Position shown in 1, the first lifting drives the double chopped-off head sleeve stretching out oil cylinder two ends of double multi-stage expansion shell types to stop retracting, and dismantles nut End-of-job；

2. pull-out bad sleeper work: engineering truck traction track car moves to left, firm by pattern recognition system automatic identification sleeper The number of rail outer bolt image, makes railcar move to left a sleeper pitch, swivel block and push-and-pull sleeper device are just gone up positioned at bad sleeper Side, directly over the first rail-lifting equipment is located on the right side of bad sleeper between sleeper, hydraulic oil makes first crossbeam telescopic drive two-way ram Cylinder piston rod starts to stretch out, and promotes the first square tube shape telescopic arm to stretch out, the first square tube shape telescopic arm entrusts the first pendulous device Move out with crawl and swivel block device, by its displacement letter with the second range finding reference plate of second laser displacement sensor Number, to control first crossbeam telescopic drive two-way ram oil cylinder, the 3rd spiral rotary actuator and the 4th spiral to swing liquid Pressure motor works, and the first pendulous device and crawl and swivel block device move out to appropriate location, and first crossbeam telescopic drive is double Effect piston oil-cylinder piston rod stops stretching out, and hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, incomplete tooth Wheel and two sector gear engaged transmission, two multidiameters drive four the first fork forward directions to swing, and so that the second casing is entrusted and grab Take and swivel block device makees translation, when two the first forks are contacted with the first positive stop lug boss, the 3rd spiral rotary actuator stops Only rotate forward, the middle position of solenoid directional control valve makes the 3rd spiral rotary actuator pressurize, and hydraulic oil makes two-way ram simultaneously Cylinder piston rod starts to retract, and pulls the first square tube shape telescopic arm to retract, the first square tube shape telescopic arm entrusts the first pendulous device With crawl and swivel block device inward, when two pressing plate inward of gripper are to bad sleeper both sides appropriate location, the One crossbeam telescopic drive two-way ram cylinder piston rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod start to stretch out, pushes away Dynamic first connecting rod and second connecting rod make symmetrically arranged two the second forks swing in opposite directions respectively, are articulated with the second fork ears ring Roller push down pressing plate, roller motion makes pressing plate overcome the pulling force of two cylindrically coiled springs to make translation, two in-parallels four Linkage is positive to be swung, and when two platen clamp sleepers, the middle position of solenoid directional control valve makes hydraulic jack pressurize；

Hydraulic oil makes the second lifting drive the double multi-stage sleeve stretching out oil cylinder two ends of double multi-stage expansion shell types to start to stretch step by step Go out, the second lowering or hoisting gear is entrusted the first rail-lifting equipment and declined, by first laser displacement sensor, it is driven with the second lifting Dynamic double multi-stage expansion shell type pair stretches out the displacement signal of oil cylinder, to control the second lifting to drive the double rod hydraulic jack of dual Piston Work with the second spiral rotary actuator, carry cylinder of rail cylinder body gusset upper surface and rail when the first rail-lifting equipment drops to When lower surface is coplanar, the second lifting drives the double final stage sleeve stretching out oil cylinder two ends of double multi-stage expansion shell types to stop stretching out, high pressure Oil makes the second spiral rotary actuator start to rotate forward, and drives opposed cam to rotate forward, so that two rollers is promoted respectively Translation made by two tappets, makes two I-shaped tubular travelling arms overcome the elastic force of two extension springs to slide in and out, two I-shaped tubulars Travelling arm is entrusted two respectively and is carried cylinder of rail and moves out, and when carrying cylinder of rail cylinder body with rail lower flange contacts side surfaces, carries rail Cylinder block gusset upper surface contacts with below rail, and the second spiral rotary actuator stops rotating forward, and hydraulic oil makes Carry cylinder of rail piston rod to stretch out, after the fagging being fixed on piston rod contacts railway roadbed ballast and is compacted into, with piston rod Constantly stretch out, the cylinder body carrying cylinder of rail is entrusted gusset and moved upwards, makes rail jack-up, the middle position of solenoid directional control valve makes to carry rail oil Cylinder pressurize；

Hydraulic oil makes the 4th spiral rotary actuator start to rotate forward, and makes hydraulic jack entrust positive turn of gripper Dynamic, gripper makes sleeper rotate forward, when the 4th spiral rotary actuator ring flange and the spacing sector of hydraulic jack ring flange When boss is contacted with second casing scallop hole the second confined planes, gripper makes sleeper rotate forward 90 °, and the 4th spiral swings hydraulic pressure Motor stops rotating forward, and hydraulic oil makes first crossbeam telescopic drive two-way ram cylinder piston rod start to stretch out, first party Tubular telescopic arm entrusts the first pendulous device and crawl and swivel block device moves out, and gripper pulls bad sleeper to move out, When bad sleeper moves out to end face thereafter and above rail lower flange trailing flank is coplanar, first crossbeam telescopic drive double acting Piston oil-cylinder piston rod stops stretching out, and hydraulic oil makes the 4th spiral rotary actuator start to rotate backward, and makes hydraulic jack cylinder Body is entrusted gripper and is rotated backward, and gripper makes sleeper rotate backward, when the 4th spiral rotary actuator ring flange and hydraulic pressure When cylinder flange disk spacing sector boss is contacted with second casing scallop hole the first confined planes, gripper makes sleeper rotate backward 90 °, position shown in Fig. 7, the 4th spiral rotary actuator stops rotating backward；

Hydraulic oil makes hydraulic cylinder piston rod start to retract, and pulls first connecting rod and second connecting rod to make respectively symmetrically arranged Two the second fork backswings, under the pulling force effect of two cylindrically coiled springs, make two pressing plates make translation, two parallel connections Parallelogram lindage backswing, when two pressing plates and sleeper side disengage and contact, hydraulic cylinder piston rod stops retracting；

Hydraulic oil makes the 3rd spiral rotary actuator rotate backward, and partial gear engages biography with two sector gears Dynamic, two multidiameters drive four the first fork backswings, and crawl entrusted by the second casing and swivel block device makees translation, when two When first fork is contacted with the second positive stop lug boss, the 3rd spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes 3rd spiral rotary actuator pressurize；

Hydraulic oil makes first crossbeam telescopic drive two-way ram cylinder piston rod start to retract, the first square tube shape telescopic arm Entrust the first pendulous device and crawl and swivel block device inward to position shown in Fig. 1, first crossbeam telescopic drive double acting Piston oil-cylinder piston rod stops retracting；

Hydraulic oil makes to carry cylinder of rail piston rod to start to retract, and its piston rod hauls fagging and moves upwards, and rail falls to former Position, bad sleeper to be changed is pushed down so as to upper surface is parallel with two rail lower surfaces, carries cylinder of rail piston rod and retracts to end Point；

Hydraulic oil makes the second spiral rotary actuator start to rotate backward, and drives opposed cam to rotate backward, two works Word tubular travelling arm slid inward under two tension spring tensions act on, two I-shaped tubular travelling arms are entrusted two respectively and are carried rail oil Cylinder inward, when its gusset and rail disengage and contact, the second spiral rotary actuator stops rotating backward；

Hydraulic oil makes the second lifting drive the double multi-stage sleeve stretching out oil cylinder two ends of double multi-stage expansion shell types to start to contract step by step Return, the second lowering or hoisting gear is entrusted the first rail-lifting equipment and risen, when the first rail-lifting equipment rises to position shown in Fig. 1, the second lifting Drive the double chopped-off head sleeve stretching out oil cylinder two ends of double multi-stage expansion shell types to stop retracting, pull out bad sleeper end-of-job；

3. handling bad sleeper work: engineering truck traction track car moves to left, firm by pattern recognition system automatic identification sleeper The number of rail outer bolt image, makes railcar move to left six sleeper pitches, and the second rail-lifting equipment is located at adjacent on the right side of sleeper to be changed Directly between sleeper, position shown in Figure 14, hydraulic oil makes the double rod hydraulic cylinder piston of second cross beam telescopic drive dual Piston Bar starts to stretch out, and promotes two the second square tube shape telescopic arms being connected with it synchronously to stretch out respectively, and two the second square tube shapes are flexible Arm entrusts two the second pendulous devices respectively and flexible shell type carries cylinder of rail and is outwards synchronized with the movement, and is sensed by the 3rd laser displacement Device measures its displacement signal with the 3rd range finding reference plate, to control the double rod hydraulic oil of second cross beam telescopic drive dual Piston Cylinder and the work of the 3rd spiral rotary actuator, move out to suitable when two the second pendulous devices and flexible shell type carry cylinder of rail Work as position, the double rod hydraulic cylinder piston rod of second cross beam telescopic drive dual Piston stops stretching out, and its piston rod starts to retract, Two the 5th tubular telescopic arms being connected with it are pulled synchronously to retract respectively, two the second square tube shape telescopic arms entrust two respectively Second pendulous device and flexible shell type carry cylinder of rail and are inwardly synchronized with the movement, and the 3rd spiral rotary actuator starts positive turning simultaneously Dynamic, partial gear and two sector gear engaged transmission, two multidiameters drive the positive swings of four forks, box connecting rod support The flexible shell type of band carries cylinder of rail and makees translation, when two forks are contacted with the first positive stop lug boss, the 3rd spiral rotary actuator Stopping rotates forward, and the middle position of solenoid directional control valve makes the 3rd spiral rotary actuator pressurize, when the second pendulous device and flexible When shell type puies forward cylinder of rail inward to flexible shell type and carries cylinder of rail cylinder body with rail lower flange contact outside, flexible shell type carries rail Cylinder block gusset upper surface contacts with below rail, the double rod hydraulic cylinder piston of second cross beam telescopic drive dual Piston Bar stops retracting；

Hydraulic oil makes reciprocating motion drive hydraulic motor to start to rotate forward, and drive screw rotates forward, and makes square nut Pull moving beam to left movement, moving beam entrusts storage sleeper case to left movement, surveys by the 4th laser displacement sensor Measure the displacement signal of itself and fixed cross beam, to control reciprocating motion to drive hydraulic motor work, when storage sleeper case is to left movement To store bad sleeper position in storehouse immediately below pick-and-place sleeper device when, move back and forth drive hydraulic motor stop 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, The 3rd ladder square tube shape telescopic arm is promoted to stretch out, the 3rd ladder square tube shape telescopic arm is entrusted rigid hanger and moved out, when the 3rd Ladder square tube shape telescopic arm extend out to its shoulder with second second shoulder grafting of ladder square tube shape telescopic arm touch when, the first 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 Go 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 8th laser displacement sensor Measure the displacement signal of itself and push pedal, to 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 8th laser displacement sensor Measure the displacement signal of itself and sill, to control the first multi-stage expansion shell type cylinder efficient, when two interior wide-mouth nuts and rail When above pillow, two bolts in inner side are close, hydraulic oil makes two the 5th spiral rotary actuators start to rotate forward, and 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 5th spiral Pressure motor rotates forward to hard-over, position shown in Figure 21, and the 5th 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 the second level extension sleeve that flexible shell type carries cylinder of rail stretch out with first order extension sleeve, and the first order is stretched Contracting sleeve moves to range, and second level extension sleeve starts to stretch out, when the fagging being fixed on second level extension sleeve contacts Railway roadbed ballast after being compacted into, with constantly stretching out of second level extension sleeve, the cylinder body that flexible shell type carries cylinder of rail is entrusted Gusset moves upwards, makes rail jack-up, and the middle position of solenoid directional control valve makes flexible shell type propose cylinder of rail pressurize；

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start to stretch out again, 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 sleeper lower flange appropriate location when, second the 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 Go out, rigid hanger is entrusted pick-and-place sleeper device and risen, when square tube shape telescopic arm ring flange and the flexible arm cylinder of the first ladder square tube shape 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 the flexible arm contact of two ladder square tube shapes, 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 to bad sleeper orlop Or previously put into bad sleeper when, hydraulic oil make two the 5th spiral rotary actuators start reverse sync rotate, make two Interior wide-mouth nut rotates backward, and when bad sleeper is discharged in storehouse, the 5th spiral rotary actuator stops rotating backward, and second The sleeve of multi-stage expansion shell type oil cylinder starts to stretch out step by step, and rigid hanger and pick-and-place sleeper device rise to position shown in Fig. 1, hang Transport the work of bad sleeper to complete；

4. handling is well placed sleeper work: hydraulic oil makes reciprocating motion drive hydraulic motor to start to rotate backward, and drives spiral shell Bar rotates backward, and makes square nut promote moving beam to move right, 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 when, move back and forth drive hydraulic motor stop Only rotate backward；

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 Put rising, pick-and-place sleeper device has been entrusted sleeper and 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, Make the 3rd ladder square tube shape telescopic arm entrust rigid hanger to move out, pick-and-place sleeper device has been entrusted sleeper and moved out to suitable Work 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, and when pick-and-place sleeper device has been entrusted sleeper and dropped to it and contacted 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 been entrusted sleeper inward to appropriate location, so that sleeper is penetrated 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 makes flexible shell type propose the extension sleeve retraction of the cylinder of rail second level, and second level extension sleeve is retracted to stop, Second level extension sleeve starts to retract with first order extension sleeve, and second level extension sleeve hauls fagging and retracts, and rail falls to Original position, sleeper to be finished changing is pushed down so as to upper surface is parallel with two rail lower surfaces, and flexible shell type carries cylinder of rail and stops work Make；

Hydraulic oil makes second cross beam telescopic drive double output shaft hydraulic motor start to rotate forward, and two the second square tube shapes are stretched Contracting arm entrusts two the second pendulous devices respectively and flexible shell type carries cylinder of rail and moves out, when flexible shell type carries cylinder of rail cylinder body Gusset is disengaged with rail lower flange when contacting, and second cross beam telescopic drive double output shaft hydraulic motor stops rotating forward, with When the second spiral rotary actuator start to rotate backward, partial gear and two sector gear engaged transmission, two ladders Axle drives four the first fork backswings, and box connecting rod is entrusted flexible shell type and carried cylinder of rail and makees translation, when two the first forks When contacting with the second positive stop lug boss, the second spiral rotary actuator stops operating, two the second pendulous devices and flexible shell type Carry cylinder of rail and move to position shown in Fig. 1, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize；

Hydraulic oil makes the 5th spiral rotary actuator start to rotate backward, when the 5th spiral rotary actuator reversely turns When moving to hard-over, discharge sleeper, the 5th 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 Go out, the first order sleeve of the second multi-stage expansion shell type oil cylinder stops retracting, handling is well placed sleeper work and completes；

5. advanced sleeper to work: journey car traction track car moves to right, by the firm rail of pattern recognition system automatic identification sleeper The number of outer bolt image, makes railcar move to right six sleeper pitches, swivel block and push-and-pull sleeper device are located above good sleeper, the Directly over one rail-lifting equipment is located on the right side of good sleeper between sleeper, hydraulic oil makes first crossbeam telescopic drive two-way ram oil cylinder live Stopper rod starts to stretch out, and promotes the first square tube shape telescopic arm to stretch out, the first square tube shape telescopic arm entrusts the first tumbler and crawl And swivel block device moves out, when the first square tube shape telescopic arm extend out to stop, first crossbeam telescopic drive two-way ram Cylinder piston rod stops stretching out, and hydraulic oil makes the 3rd spiral rotary actuator rotate forward, and the second casing is entrusted crawl and turned Pillow device makees translation, and when two the first forks are contacted with the first positive stop lug boss, the 3rd spiral rotary actuator stops operating, The middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize；

Hydraulic oil makes first crossbeam telescopic drive two-way ram cylinder piston rod start to retract, when two pressures of gripper During plate inward most intimate friend's sleeper both sides appropriate location, position shown in Fig. 7, first crossbeam telescopic drive two-way ram oil cylinder is lived Stopper rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod start to stretch out, when two platen clamp sleepers, hydraulic cylinder piston Bar stops stretching out, and the middle position of solenoid directional control valve makes hydraulic jack pressurize；

Hydraulic oil makes the second lifting drive the double multi-stage sleeve stretching out oil cylinder two ends of double multi-stage expansion shell types to start to stretch step by step Go out, the second lowering or hoisting gear is entrusted the first rail-lifting equipment and declined, and carries on cylinder of rail cylinder body gusset when the first rail-lifting equipment drops to When surface is coplanar with rail lower surface, the second lifting drives the double final stage sleeve stretching out oil cylinder two ends of double multi-stage expansion shell types to stop Stretch out, hydraulic oil makes the second spiral rotary actuator start to rotate forward, and so that opposed cam is rotated forward, when carrying cylinder of rail cylinder When body and rail lower flange contacts side surfaces, carry cylinder of rail cylinder body gusset upper surface and contact with below rail, the second spiral swings Hydraulic motor stops rotating forward, and hydraulic oil makes to carry cylinder of rail piston rod and stretches out, and makes rail jack-up, the middle position of solenoid directional control valve makes Propose cylinder of rail 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 two-way ram cylinder piston rod start Retract, gripper has promoted sleeper inward, during position, first crossbeam stretches and drives to shown in Fig. 1 to have made sleeper inward Dynamic two-way ram cylinder piston rod stops retracting, and hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, machinery Pawl makes sleeper rotate backward 90 °, and the 3rd spiral rotary actuator stops rotating backward；

Hydraulic oil makes hydraulic cylinder piston rod start to retract, when two pressing plates of gripper and sleeper disengage and contact, hydraulic pressure Cylinder piston rod stops retracting, and hydraulic oil makes the 3rd spiral rotary actuator rotate backward, when two the first forks and second During positive stop lug boss contact, the 3rd spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes the second spiral swing liquid Pressure motor pressurize；

Hydraulic oil makes first crossbeam telescopic drive two-way ram cylinder piston rod start to retract, the first square tube shape telescopic arm Entrust the first pendulous device and crawl and swivel block device inward to position shown in Fig. 1, first crossbeam telescopic drive double acting Piston oil-cylinder piston rod stops retracting；

Hydraulic oil makes to carry cylinder of rail piston rod to start to retract, and rail falls to original position, carries cylinder of rail piston rod and be retracted to Stop, hydraulic oil makes the second spiral rotary actuator start to rotate backward, and drives opposed cam to rotate backward, two I-shaped cylinders Shape travelling arm slid inward under two tension spring tensions act on, two I-shaped tubular travelling arms entrust respectively two carry cylinder of rail to Interior motion, when its gusset and rail disengage and contact, the second spiral rotary actuator stops rotating backward；

Hydraulic oil makes the second lifting drive the double multi-stage sleeve stretching out oil cylinder two ends of double multi-stage expansion shell types to start to contract step by step Return, the second lowering or hoisting gear is entrusted the first rail-lifting equipment and risen to position shown in Fig. 1, the second lifting drives double multi-stage expansion shell types double The chopped-off head sleeve stretching out oil cylinder two ends stops retracting, and has advanced sleeper end-of-job；

6. nut work is installed: engineering truck traction track car moves to right, the image information of cmos imageing sensor collection, pass through The number of pattern recognition system automatic identification sleeper firm rail outer bolt image, makes railcar move to right a sleeper pitch, four are stayed There is wide-mouth magnetic coupling box in nut coaxial with four bolts on sleeper respectively, hydraulic oil makes the double multi-stage expansion of the first lifting The double multi-stage sleeve stretching out oil cylinder two ends of shell type starts to stretch out step by step, and the first lowering or hoisting gear is entrusted under two nut assembling and disassembling devices Fall, when dropping to the nut in interior wide-mouth magnetic coupling box and the pillow threaded bolt contacts that switch tracks, position shown in Fig. 3, first lifts The double final stage sleeve stretching out oil cylinder two ends of double multi-stage expansion shell types stops stretching out, and hydraulic oil makes two the first spirals swing hydraulic pressure horse Reach the positive synchronous axial system of beginning, drive two circular connecting plates to entrust two internal gears respectively and rotate forward, each internal gear is same When engage with two gears, drive two drive axis, make four interior wide-mouth magnetic coupling box forward direction synchronous axial system, four Nut in interior wide-mouth magnetic coupling box synchronously screws in four bolts of sleeper pretension, two the first spiral rotary actuators Stopping rotates forward, and hydraulic oil makes the double multi-stage sleeve stretching out oil cylinder two ends of the double multi-stage expansion shell type of the first lifting start to contract step by step Return, the first lowering or hoisting gear is entrusted two nut assembling and disassembling devices and risen to position shown in Fig. 1, the double multi-stage expansion shell type of the first lifting is double The chopped-off head sleeve stretching out oil cylinder two ends stops retracting, and installs nut work and completes；

In lowering or hoisting gear, symmetrically arranged two first series connection parallelogram lindages, make corresponding entablature begin with sill Parallel eventually, change the corresponding work of pillow to adapt to straight line and curved rail length section；Second series connection parallelogram lindage makes horizontal in plate shape Beam is parallel with sill all the time, makes servo-actuated Equipoising support apparatus adaptation straight line and curved rail length section change the corresponding work of pillow；Past In multiple telecontrol equipment, symmetrically arranged two series connection parallelogram lindages, make moving beam parallel with fixed cross beam all the time, make storage Deposit sleeper case and make translation；Yielding coupling and interior wide-mouth nut can effectively adapt to sleeper bolt position deviation, make interior wide-mouth nut Easily screw on sleeper bolt；Synchronous valve in hydraulic system is it is ensured that the sleeve of two the first multi-stage expansion shell type oil cylinders is synchronously stretched Contracting；Rigid hanger makes sleeper in handling no swing, and improves handling sleeper speed.

Two linear Stiffness amount of spring compression in position shown in Fig. 1, servo-actuated Equipoising support apparatus are minimum, elastic force Less, now 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 act 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 servo-actuated Equipoising support apparatus bear the deadweight of plate shape entablature and stretches with double multi-stage expansion shell types pair Go out the summation of part deadweight of oil cylinder and balance, servo-actuated Equipoising support apparatus lift with lowering or hoisting gear and balance, in position shown in Fig. 3 Put, two linear Stiffness amount of spring compression are maximum, elastic force is maximum, now symmetrically arranged 6th fork and the second strut with Entablature angle is minimum, two springs pass through the power that two slide blocks are respectively acting on the 6th fork and the second fork be less than maximum The vertical component that elastic force, the 6th fork and the second strut act on plate shape entablature power is less, makes servo-actuated Equipoising support apparatus Bear the deadweight of plate shape entablature and the double summation of part deadweight stretching out oil cylinder of double multi-stage expansion shell type and balance, it is to avoid be double multistage The double multi-stage sleeve stretching out oil cylinder of flexible shell type bears moment of flexure.

Claims (1)

1. mechanical-electrical-hydraulic integration change sleeper machine it is characterised in that: be by four nuts synchronization assembling and disassembling devices, the first rail-lifting equipment, Transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor, Hydraulic system and control System cabine and railcar composition；Track Car is provided with multiple castors and two longerons, the synchronous assembling and disassembling devices of four nuts, the first rail-lifting equipment, transition and push-and-pull sleeper device, Sleeper handling apparatus, electromotor and Hydraulic system and control System cabine are arranged on two longerons of railcar, and railcar is by work Journey car draws, and electromotor is that oil pump and control system provide power, be provided with Hydraulic system and control System cabine fuel tank, oil pump, Hydraulic control system and automatic control system；

Described sleeper four nut synchronization assembling and disassembling device is by entablature, the first lowering or hoisting gear and two nut assembling and disassembling device groups Become；

The first described lowering or hoisting gear is by two first series connection parallelogram lindages, the first lifting drive, first servo-actuated Equipoising support apparatus and first laser displacement transducer composition；

Described first series connection parallelogram lindage by the first sill, the first fork, the second fork, two the 3rd forks, the One connecting rod and entablature composition, the first sill is provided with five ears rings and symmetrical two long slot bores, and the first fork is provided with rank Terraced slotted eye, first connecting rod is provided with monaural ring and ears ring；

The first described lifting drive stretches out oil cylinder by double multi-stage expansion shell types pair and two first connecting rods form, double many The double final stage extension sleeve free end stretching out oil cylinder of the flexible shell type of level is provided with monaural ring；

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

The second 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 second connecting rods and two bearing pin compositions；

Stretch out double for double multi-stage expansion shell types oil cylinder and be symmetrically fixed on plate shape entablature, the first fork and the first sill hinge Connect, chain connection between the second fork, the 4th fork and three components of the first sill, the first fork ears ring, the 3rd fork Ears ring and first connecting rod monaural ring coaxially penetrate pin hinge and connect, the second fork ears ring, another the 3rd fork ears Ring, first connecting rod ears ring and double multi-stage expansion shell type be double to stretch out oil cylinder monaural ring and coaxially penetrates pin hinge and connect, two the Three forks and entablature chain connection, composition the first series connection parallelogram lindage, repeats aforementioned assembly operation, is symmetrical in sill Assemble another the first series connection parallelogram lindage with the entablature vertical plane of symmetry；

Two turriform linear Stiffness springs are sheathed on respectively two light bar segments of slide bar, then two slide blocks are sheathed on respectively Two light bar segments of slide bar, two the first hex nut pretensions respectively, make two slide blocks make turriform linear Stiffness spring respectively Suitably compress, by the 5th fork and sill chain connection, make the left side monaural ring of two third connecting rods respectively with the 4th fork Ears ring, the 6th fork ears ring and slide block a pair of tapped blind hole coaxial, two the first bolts pretensions respectively, make 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, form second series connection parallel Four-bar mechanism；

A pair of tapped blind hole of the first strut ears ring, the second strut ears ring and slide block is coaxial, and two the second bolts are respectively Pretension, makes chain connection between the first strut, the second strut and three components of slide block, the second strut and entablature chain connection, group Become the first servo-actuated Equipoising support apparatus；

First laser displacement transducer is symmetrically fixed on below entablature, forms the first lowering or hoisting gear；

Described nut assembling and disassembling device be by two suspension rods, the first spiral rotary actuator, Shang Gai, circular connecting plate, second Hex nut, internal gear, two power transmission shafts, two gears, housing, two the first thrust bearings, two the second thrust bearings, Three hex nuts, two yielding couplings and two interior wide-mouth magnetic coupling box compositions, the first spiral rotary actuator sets There are ring flange, its output shaft to be provided with circular shaft section and six prism shaft parts, be above covered with axis hole, circular connecting plate is provided with six prism holes, 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 axles Hole, interior wide-mouth magnetic coupling box is provided with axle journal；

Upper lid is sheathed on the first spiral rotary actuator output shaft circular shaft section, makes lid and the first spiral rotary actuator Ring flange contact is connected, more circular connecting plate is sheathed on the first spiral rotary actuator output shaft six prism shaft part, and second Hex nut pretension, internal gear is coaxially fixed with one with circular connecting plate, and geared sleeve is connected located at power transmission shaft first axle journal, and first Thrust bearing is sheathed on power transmission shaft second axle journal, and power transmission shaft makes the first thrust bearing contact with housing through housing axis hole, the Two thrust bearings are sheathed on power transmission shaft the 3rd axle journal, and the 3rd hex nut screws on power transmission shaft thread segment pretension, yielding coupling Power transmission shaft the 4th axle journal is made coaxially to be fixed with one with interior wide-mouth magnetic coupling box axle journal, internal gear is inserted in housing, two teeth The gear teeth flank of tooth gear teeth face with internal gear respectively of wheel, upper lid is fixed with one with shell flange disk, and the one of two suspension rods End is symmetrically fixed on housing both sides, forms nut assembling and disassembling device, and the other end of two suspension rods is symmetrically fixed on square tube shape fixed arm Two sides, sill is fixed on two side rail inner faces of railcar, composition sleeper four nut synchronization assembling and disassembling device；

The first described rail-lifting equipment by cmos imageing sensor, entablature, the second lowering or hoisting gear, carry rail assembly and form；

The second described lowering or hoisting gear and the first lowering or hoisting gear composition, the sill in the second lowering or hoisting gear and first lifts Lower Crossbeam Structure form in device is different, the first pendulum in the first fork and the first lowering or hoisting gear in the second lowering or hoisting gear Bar version is different, and remaining all component structural form is the same；

Carry out and the first lowering or hoisting gear identical assembly operation, form the second lowering or hoisting gear；Carry out identical with the first lowering or hoisting gear Assembly operation, first laser displacement transducer is fixed under entablature for four the 3rd forks and entablature chain connection Face, forms the first lowering or hoisting gear；

The described rail assembly that carries is by two suspension rods, suspension bracket, the second spiral rotary actuator, opposed cam, two Slide Groups Part, two extension springs, I-shaped tubular fixed arm and two carry cylinder of rail composition, and suspension rod is provided with first flange disk and second flange disk, Second spiral rotary actuator output shaft free end is provided with ring flange, and slide assemblies are by I-shaped tubular travelling arm and roller group Become, I-shaped tubular travelling arm is provided with semicylindrical opening, two symmetrical monaural rings and tappet, and I-shaped tubular travelling arm tappet is provided with ears Ring, I-shaped tubular fixed arm is provided with two symmetrical semicylindrical openings, carries cylinder of rail cylinder body and is provided with gusset, piston rod free end It is provided with fagging；

By roller and I-shaped tubular travelling arm tappet ears ring chain connection, form slide assemblies, carry cylinder of rail and be fixed on I-shaped In tubular travelling arm semicylindrical opening, opposed cam is coaxially connected with the second spiral rotary actuator output shaft ring flange, and second Spiral rotary actuator is symmetrically fixed on suspension bracket lower surface, and suspension bracket is symmetrically fixed on above I-shaped tubular fixed arm, by two Slide assemblies are sheathed thereon from I-shaped tubular fixed arm two ends, make roller and opposed cam contact, the two ends of extension spring respectively with Two I-shaped tubular travelling arm homonymy monaural rings are connected, and make two to carry cylinder of rail and are symmetrical arranged, two suspension rod second flange disks pair Claim to be fixed on above suspension bracket, composition carries rail assembly, and two suspension rod first flange disks are symmetrically fixed on entablature side, cmos image Sensor is fixed on below sill, forms the first rail-lifting equipment；

Described swivel block and push-and-pull sleeper device are by first crossbeam telescopic component, first crossbeam retractable driving device, the first pendulum Dynamic device, four the first forks, crawl and swivel block device, four the first hex nuts and four bolts compositions, the first fork sets There are six prism hole monaural rings and monaural ring；

Described first crossbeam telescopic component is by the first square tube shape fixed arm, the first square tube shape telescopic arm, second laser displacement Sensor and the second range finding reference plate composition, the first square tube shape fixed arm is provided with blind end, and the first square tube shape telescopic arm is provided with envelope Closed end；

The first described retractable driving device is to be fixed by the first square tube shape fixed arm, two-way ram oil cylinder and the first square tube shape Arm forms, and two-way ram cylinder block is provided with square slider and ring flange, piston rod are provided with ring flange；

First square tube shape fixed arm is sheathed on two-way ram oil cylinder, two-way ram cylinder piston rod ring flange and first Square tube shape fixed arm dividing plate is connected, then the first square tube shape fixed arm is sheathed on the first square tube shape fixed arm, so that double acting is lived Plug cylinder flange disk and the first square tube shape fixed arm blind end are connected, and form the first retractable driving device, two-way ram oil cylinder Form moving sets with the first square tube shape fixed arm, second laser displacement transducer is symmetrically fixed on the first square tube shape fixed arm Face, the second range finding reference plate is fixed on above the first square tube shape telescopic arm；

The first described pendulous device is by the first casing, the 3rd spiral rotary actuator, partial gear, two sectors Wheel, two multidiameters and embedded cover plate composition, the first casing is provided with two axis holes, the first positive stop lug boss and the second limit convex Platform, multidiameter is provided with the first axle journal, the second axle journal, the 3rd axle journal, the one or six prism shaft part and the two or six prism shaft part, embedded Cover plate is provided with two axis holes, the first positive stop lug boss and the second positive stop lug boss；

By on two sector gears respectively sheathed first diameter of axle being fixed on two multidiameters, two multidiameters are each passed through first Two axis holes of casing, make multidiameter second axle journal and the first casing axis hole be formed and rotate pair, are fixed on sheathed for partial gear On 3rd spiral rotary actuator output shaft, it is placed into making in the first casing the gear teeth of partial gear to fan with two respectively The gear teeth of shape gear contact along the facewidth, and the 3rd spiral rotary actuator is fixed on the first box bottom, embedded cover plate Two axis holes are sheathed on two multidiameter the 3rd axle journals respectively, so that embedded cover plate and the first casing is connected, composition first pendulum Dynamic device；

Described crawl and swivel block device are by the second casing, the 4th spiral rotary actuator, hydraulic jack, the first thrust axis Hold, the second thrust bearing, the second hex nut, piston, piston rod, ladder u shape support, first connecting rod, second connecting rod, two Two forks, two rollers, end cap and two mechanical gripper device compositions, the second casing is provided with symmetrical four screwed hole, the first circle Hole section, fan-shaped hole section, the second circular hole portion, axle sleeve section and the 3rd circular hole portion, the 3rd spiral rotary actuator output shaft fixed connection method Blue disk, ring flange is provided with spacing sector boss, and fan-shaped hole section is provided with the first confined planes and the second confined planes, and hydraulic jack is provided with method Blue disk, the first axle journal, the second axle journal and the 3rd axle journal, ring flange is provided with spacing sector boss, and piston is provided with axis hole, and piston rod sets There are axle journal and ears ring, ladder u shape support is provided with flange, axis hole, two slotted eyes, two pin-and-holes, four the first monaural rings and eight Individual second monaural ring, first connecting rod is provided with ears ring and monaural ring, and second connecting rod is provided with two ears rings, and the second fork is provided with list Earrings, pin-and-hole and ears ring；

Described gripper is made up of ladder u shape support, 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；

Will be convex for spacing for the 4th spiral rotary actuator output shaft ring flange sector boss sector spacing with hydraulic jack ring flange Platform aligns connected, and the first thrust bearing is sheathed on hydraulic jack first axle journal, and hydraulic jack is penetrated the second casing shoulder hole Interior, make the 4th spiral rotary actuator output shaft ring flange and hydraulic jack ring flange insert second casing the first circular hole portion, The 4th spiral rotary actuator output shaft ring flange spacing sector boss and hydraulic jack ring flange spacing sector boss is made to put Enter in fan-shaped hole section, so that two spacing sector boss left surfaces is contacted with fan-shaped hole section first confined planes, make the first thrust bearing Insert second casing the second circular hole portion

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

The ears ring of four the 3rd forks is coaxially penetrated respectively pin hinge with four the second monaural rings of ladder u shape support even Connect, another ears ring of four the 3rd forks coaxially penetrates pin hinge with four the second monaural rings of pressing plate respectively and is connected, two Individual helical spring one end is connected with two the first monaural rings of ladder u shape support respectively, and two helical spring other ends are respectively It is connected with two the first monaural rings of pressing plate, form gripper, the pulling force of two helical springs, make to be articulated with the rolling of the second fork Wheel is contacted with pressing plate all the time, repeats aforementioned assembly operation, assembles another gripper, composition crawl and swivel block device；

Two the first forks six prism hole monaural ring is sheathed on two multidiameter the one or six prism shaft parts respectively, two the one or six Angle nut pretension respectively, more other two the first forks six prism hole monaural ring is sheathed on two multidiameter the two or six ribs respectively Axis of a cylinder section, in addition two the first hex nuts respectively pretensions, make one end of four the first forks respectively with two multidiameters two End is connected, and four the first fork monaural rings are coaxial with four screwed holes of the second casing respectively, four bolt pretensions respectively, makes four First fork is connected with the second chest hinge respectively, forms in-parallel four-bar mechanism；

First casing is fixed on the first square tube shape telescopic arm blind end, composition swivel block and push-and-pull sleeper device；

Described sleeper handling apparatus are by the second rail-lifting equipment, reciprocating motion storage sleeper device and rigid hanger hoisting apparatus group Become；

The second described rail-lifting equipment is by second cross beam telescopic component, second cross beam retractable driving device, two the second swings Device, eight forks, eight hex nuts, two box connecting rods, eight bolts and two flexible shell types carry cylinder of rail composition, pendulum Bar is provided with six prism hole monaural rings and monaural ring, and box connecting rod is arranged with four bolts hole and semicylindrical opening, and flexible shell type carries Cylinder of rail cylinder body is provided with gusset, piston rod free end is provided with fagging；

Described second cross beam telescopic component is by the second square tube shape fixed arm, two the second square tube shape telescopic arms, the 3rd laser Displacement transducer and the 3rd range finding reference plate composition, the second square tube shape telescopic arm is provided with blind end；

The second described retractable driving device is by the second square tube shape fixed arm, the double rod hydraulic jack of dual Piston and two the One square tube shape telescopic arm composition, the cylinder body of the double rod hydraulic jack of dual Piston is provided with square flange, piston rod free end sets There is ring flange；

Two the second square tube shape telescopic arms are sheathed thereon from the double rod hydraulic jack two ends of dual Piston respectively, make second party Double rod hydraulic cylinder piston rod ring flanges are connected tubular telescopic arm blind end with dual Piston, and the second square tube shape fixed arm is sheathed On two the second square tube shape telescopic arms, the double rod hydraulic jack square flange of dual Piston is made symmetrically to be fixed on the second square tube On shape fixed arm endoporus upper surface, form the second retractable driving device, the 3rd laser displacement sensor is symmetrically fixed on second party Tubular fixed arm side, the 3rd range finding reference plate is fixed on the second square tube shape telescopic arm side；

Second pendulous device form with the first pendulous device and version as, carry out and first pendulous device identical assembling Operation, forms the second pendulous device；

Two forks six prism hole monaural ring is sheathed on two multidiameter the one or six prism shaft parts respectively, two hex nuts divide Other pretension, more other two forks six prism hole monaural ring is sheathed on two multidiameter the two or six prism shaft parts respectively, in addition Two hex nut pretensions respectively, make one end of four forks be connected with the two ends of two multidiameters respectively, four fork monaurals Four screwed holes of ring and box connecting rod are coaxial, four bolt pretensions respectively, so that four forks is connected with box connecting rod link respectively, Form in-parallel four-bar mechanism；

Two the first casings are respectively fixedly connected with the blind end of two the second square tube shape telescopic arms, make two the second pendulous devices pair Claim setting, two flexible shell types are carried cylinder of rail cylinder body and is respectively fixedly connected with two box connecting rod semicylindrical openings, composition second carries Rail device, the second square tube shape fixed arm is symmetrically fixed on two longerons of railcar；

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

Described reciprocator is to be swashed by base plate, two series connection parallelogram lindages, reciprocating movement driving devices and the 7th Optical displacement sensor forms；

Described series connection parallelogram lindage is by fixed cross beam, two the first forks, connecting rod, two the second forks and to move crossbeam Composition, connecting rod is provided with two monaural rings, and moving beam is provided with two rollers and a circular hole；

Described reciprocating movement driving device is by hydraulic motor, yielding coupling, monaural ring bearing, screw rod and square nut group Become, screw rod is provided with the first axle journal and the second axle journal；

By two the first forks respectively with fixed cross beam chain connection, the first fork ears ring, the second fork ears ring and connecting rod Monaural ring coaxially penetrates pin hinge and connects, and another the first fork ears ring, another the second fork ears ring and connecting rod are another One monaural ring coaxially penetrates pin hinge and connects, two the second forks respectively with moving beam chain connection, composition series connection is flat Row four-bar mechanism, repeats aforementioned assembly operation, and the vertical plane of symmetry being symmetrical in fixed cross beam and moving beam assembles another and puts down Row four-bar mechanism, base plate is fixed on fixed cross beam lower surface, so that two rollers of moving beam is contacted with plate upper surface, hydraulic pressure Motor is symmetrically fixed on fixed cross beam side, and monaural ring bearing is sheathed on screw rod second axle journal, and square nut screws on screw rod and fits Work as position, screw rod passes through the circular hole of moving beam, makes square nut be fixed on moving beam side, yielding coupling makes hydraulic pressure horse Reach output shaft to be connected with screw rod first axle journal, monaural ring bearing is fixed on base plate, forms reciprocating movement driving device；

Base plate is fixed on fixed cross beam lower surface, make the four rolling of two rollers of moving beam and motorcycle respectively with base plate Upper surface, the 7th laser displacement sensor is symmetrically fixed on motion crossbeam side, forms reciprocator；

Base plate is fixed in track car crossbeam and the second square tube shape fixed arm, storage sleeper case is fixed on moving beam, makes Two rollers of storage sleeper case are contacted 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 8th 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 9th 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 first flange disk, the first extension sleeve, second stretch Sleeve and second flange disk, cantilever beam is provided with ring flange；

End plate is symmetrically fixed on the first multi-stage expansion shell type oil cylinder first flange disk, it is multistage that square tube shape telescopic arm is sheathed on first Flexible shell type oil cylinder, makes the first multi-stage expansion shell type oil cylinder second flange disk symmetrically 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, the first ladder square tube fixed arm ring flange is made to 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 9th 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 Disk, 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 first flange disk, the first order is stretched Sleeve, second level extension sleeve and second flange disk；

End cap is symmetrically fixed on the second multi-stage expansion shell type oil cylinder first flange disk, the 3rd ladder square tube shape telescopic arm is sheathed on On second multi-stage expansion shell type oil cylinder, make the second multi-stage expansion shell type oil cylinder second flange disk 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, so that end cap is 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 8th laser displacement sensor is symmetrically 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；

One end of two pull bars is symmetrically fixed on below entablature, the other end of two pull bars is symmetrically fixed on sill Face, forms rigid hanger；

Described pick-and-place sleeper device is by the 5th spiral rotary actuator, the 3rd yielding coupling and interior wide-mouth nut group Become, the 5th spiral rotary actuator is provided with ring flange and output shaft, and interior wide-mouth nut is provided with axle journal；

5th spiral rotary actuator is penetrated in sill circular hole, the 5th spiral rotary actuator ring flange is fixed on sill Above, the 3rd yielding coupling makes the 5th spiral rotary actuator output shaft be connected with interior wide-mouth nut axle journal, forms pick-and-place sleeper Device；

Two telescopic cantilever boom devices are symmetrically fixed on two longerons of railcar, telescoping crossbeam device the second ladder square tube shape Fixed arm is fixed on below two cantilever girder 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.