CN106436505A - Mechanical-electrical-hydraulic integration equipment for sleeper replacement - Google Patents

Abstract

The invention discloses mechanical-electrical-hydraulic integration equipment for sleeper replacement. The mechanical-electrical-hydraulic integration equipment for sleeper replacement is composed of a rail lifting device, a retracking and sleeper push-pull device, a sleeper hoisting and transporting device, an electric generator, a hydraulic system and control system box and a rail car. The rail car is provided with a plurality of casters and two longitudinal beams. The rail lifting device, the retracking and sleeper push-pull device, the sleeper hoisting and transporting device, the electric generator and the hydraulic system and control system box are arranged on the two longitudinal beams of the rail car. The rail car is pulled by an engineering car. The electric generator provides power for an oil pump and control systems. An oil tank, the oil pump, the hydraulic control system and the automatic control system are arranged inside the hydraulic system and control system box. According to the mechanical-electrical-hydraulic integration equipment for sleeper replacement, a working device can be automatically and rapidly aligned with the working position; the mechanical-electrical-hydraulic integration equipment for sleeper replacement can adapt to corresponding work of sleeper replacement on linear and curved rail sections; and the retracking and sleeper push-pull device is integrated, structure is simple, automatic control is achieved, operation is convenient, and sleeper replacement work efficiency is high.

Description

A kind of replacing sleeper mechanical-electrical-hydraulic integration equipment

Technical field

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

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 (be commonly called as in effective train passage gap：Skylight) in complete work.

Content of the invention

It is an object of the invention to provide a kind of change sleeper mechanical-electrical-hydraulic integration equipment.

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

Described rail-lifting equipment is by cmos image sensor, the first telescopic component, the first retractable driving device, four companies Fishplate bar, two the first tumblers, two box connectors and two carry cylinder of rail composition, and box connector is provided with semicolumn Hole, carries that cylinder of rail cylinder body is provided with gusset, piston rod free end is provided with fagging；

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

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

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

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

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

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

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

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

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

The second described tumbler and the first tumbler composition and version the same, carry out and the first tumbler Identical assembly operation, forms the second tumbler；

Described crawl and swivel block device are by the second casing, the second spiral rotary actuator, hydraulic jack, first push away Power bearing, the second thrust bearing, the second hex nut, piston, piston rod, ladder U-bracket, first connecting rod, second connecting rod, two Individual first fork, two rollers, end cap and two mechanical gripper device compositions, the second casing be provided with 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 second 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-bracket is provided with flange, axis hole, two slotted eyes, two pin-and-holes, four the first monaural rings With eight the second monaural rings, first connecting rod is provided with ears ring and monaural ring, and second connecting rod is provided with two ears rings, and the first fork sets There are monaural ring, pin-and-hole and ears ring；

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

By spacing for the second spiral rotary actuator output shaft ring flange 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 second spiral rotary actuator output shaft ring flange and hydraulic jack ring flange insert second casing the first circular hole Section, spacing sector boss left surface is contacted with fan-shaped hole section first confined planes, and the first thrust bearing inserts second casing the second circle Hole section, makes the second spiral rotary actuator be fixed on the second box bottom, so that end cap and the second casing is connected；

Second thrust bearing is sheathed on so as to insert the second casing the 3rd circular hole portion section on hydraulic jack the 3rd axle journal, Piston rod passes through ladder U-bracket axis 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-bracket flange is penetrated hydraulic jack cylinder barrel and is connected, make oil cylinder second axle journal and the first 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-bracket 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 first fork monaural rings respectively Axle penetrates pin hinge and connects；

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

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

Described sleeper handling apparatus are by reciprocating motion storage sleeper device, rigid hanger hoisting apparatus and cmos image Sensor forms；

Described reciprocating motion storage sleeper device is made up of reciprocator and storage sleeper case, stores sleeper case It is provided with roller 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 be by base plate, transverse beam assembly, reciprocating movement driving device, symmetrically arranged two put down Row four-bar mechanism and the 3rd laser displacement sensor composition；

Described transverse beam assembly is made up of third party's tubular fixed arm and two third party's tubular telescopic arms, third party's cylinder Shape fixed arm is provided with symmetrical two long slot bore, and third party's tubular telescopic arm is provided with two monaural rings and symmetrical two grooves, Groove is provided with bolt hole；

As the composition of described reciprocating movement driving device and the first retractable driving device, except aforementioned third party's tubular is solid Determine arm and the first square tube shape fixed arm version is different, third party's tubular telescopic arm and the first square tube shape telescopic arm structure shape Formula is different, and remaining all component structural form is the same；

Described parallelogram lindage is third party's tubular telescopic arm, two forks and moving beam composition, moving beam It is provided with two rollers；

Carry out and the first retractable driving device identical assembly operation, form reciprocating movement driving device device；

By two fork one end respectively with third party's tubular telescopic arm chain connection, the other end of two forks respectively with shifting Dynamic crossbeam chain connection, forms parallelogram lindage, repeats aforementioned assembly operation, be symmetrical in third party's tubular fixed arm and movement The vertical plane of symmetry of crossbeam assembles another parallelogram lindage, and base plate is fixed on third party's tubular fixed arm lower surface, makes shifting Two rollers of dynamic crossbeam are contacted with plate upper surface, and the 3rd laser displacement sensor is fixed on third party's tubular fixed arm side Face, forms reciprocator；

Base plate is fixed on track car crossbeam, the first square tube shape fixed arm and the second square tube shape fixed arm, stores sleeper Case is fixed on moving beam, so that the roller of storage sleeper case is 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 and Two pick-and-place sleeper device compositions；

Described telescopic cantilever boom device is by the first ladder square tube shape fixed arm, the first ladder square tube shape telescopic arm, side Tubular telescopic arm, the first multi-stage expansion shell type oil cylinder, cantilever beam, end plate, cantilever and the 4th laser displacement sensor composition, first Ladder square tube shape fixed arm is provided with ring flange and cylinder shoulder, and the first ladder square tube shape telescopic arm is provided with ring flange and cylinder shoulder, square tube shape Telescopic arm is provided with ring flange and blind end, the first multi-stage expansion shell type oil cylinder be provided with 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 flexible 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 flexible shell type oil cylinder second flange disk symmetrically be fixed on square tube shape telescopic arm blind end, the first rank Terraced square tube shape telescopic arm is sheathed on square tube shape telescopic arm, and the first ladder square tube shape fixed arm is sheathed on the first ladder square tube shape and stretches On contracting arm, 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 telescopic arm envelope On closed end, cantilever is fixed on cantilever beam ring flange, and the 4th laser displacement sensor is fixed on cantilever, forms telescopic cantilever beam Device；

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

End cap is symmetrically fixed on the second flexible 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 flexible shell type oil cylinder second flange disk and the closing of the 3rd ladder square tube shape telescopic arm End is connected, and the second ladder square tube shape telescopic arm is sheathed on the 3rd ladder square tube shape telescopic arm, then the second ladder square tube shape is solid Determine arm to be 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 connected In the 3rd ladder square tube shape telescopic arm blind end, the 5th laser displacement sensor is symmetrically fixed on the second ladder square tube shape and fixes Arm side, forms telescoping crossbeam device,

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

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 3rd spiral rotary actuator, yielding coupling and interior wide-mouth nut group Become, the 3rd spiral rotary actuator is provided with ring flange and output shaft, and interior wide-mouth nut is provided with axle journal；

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

Two telescopic cantilever boom devices are symmetrically fixed on two longerons of railcar, the second ladder square tube shape fixed arm is solid It is connected in below two cantilever girder cantilevers, two ears rings, two monaurals with the 3rd ladder square tube shape telescopic arm respectively of entablature Ring coaxial bolts connect, and cmos image sensor is fixed on outside railcar longeron, form sleeper handling apparatus.

The invention has the beneficial effects as follows：

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

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

3. swivel block and push-and-pull sleeper are integrating device, and structure is simple, automatically control, easy to operate, changes pillow high working efficiency.

Brief description

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

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

Fig. 3 is that off working state schematic perspective view cut open by the rail-lifting equipment side wall of the present invention.

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

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

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

Fig. 7 is the swivel block of the present invention and working condition schematic perspective view cut open by push-and-pull sleeper device side wall

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

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

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

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

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

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

Figure 14 is the reciprocating movement driving device exploded perspective schematic diagram of the present invention.

Figure 15 is the storage sleeper case schematic perspective view of the present invention.

Figure 16 is the telescopic cantilever boom device exploded perspective schematic diagram of the present invention.

Figure 17 is the telescoping crossbeam device exploded perspective schematic diagram of the present invention.

Figure 18 is the left view of Fig. 1.

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

Specific embodiment

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

Refer to shown in Fig. 2 to Fig. 6, described rail-lifting equipment 8 is by cmos image sensor 80, the first telescopic component 81st, 82, four connecting plates of the first retractable driving device, 84, two box connectors 85 of 83, two the first tumblers and two Carry cylinder of rail 86 to form, box connector 85 is provided with semicylindrical opening 851, carry cylinder of rail 86 cylinder body and be provided with gusset 861, piston rod Free end is provided with fagging 862；

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

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

Monaural ring bearing 823 is sheathed on the second axle journal 8262 of right handed screw, and yielding coupling 822 is by right handed screw First axle journal 8261 and the right-hand member output shaft fixed connection of double output shaft hydraulic motor 821, dextrorotation square nut 827 screws on right handed screw 826 appropriate locations, square slider 828 is sheathed on right handed screw the 3rd axle journal 8263, the first hex nut 830 pretension, and first Square tube shape telescopic arm 812 is sheathed thereon from right handed screw 826 right-hand member, makes the first square tube shape telescopic arm groove bolt hole 81221 Coaxial with dextrorotation square nut tapped blind hole 8271, two bolts 829 screw in pretension respectively, repeat aforementioned operation, by monaural ring Support 823, left-handed screw 824, left-handed square nut 825, square slider 828, the first hex nut 830, yielding coupling 822nd, double output shaft hydraulic motor 821 and the first square tube shape telescopic arm 812 are assembled into one, by 811 sets of the first square tube shape fixed arm On two the first square tube shape telescopic arms 812, double output shaft hydraulic motor 821 is made symmetrically to be fixed on the first square tube shape fixed arm 811 endoporus upper surfaces, two monaural ring bearings 823 are fixed on the first square tube shape fixed arm 811 endoporus upper surface, and composition is flexible to be driven Dynamic device 82, square slider 828 and the first square tube shape telescopic arm 812 form moving sets, and first laser displacement transducer 813 is symmetrical It is fixed on the first square tube shape fixed arm 811 side, the first range finding reference plate 814 is fixed on the first square tube shape telescopic arm 812 side；

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

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

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

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

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

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

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

Described crawl and swivel block device 94 are by the second casing 941, the second 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 first 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 second 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-bracket 949 is provided with flange 9491,9492, two slotted eyes of axis hole 9493, two 9494, four the first monaural rings 9495 of pin-and-hole and eight the second monaural rings 9496, first connecting rod 950 is provided with ears ring 9501 and list Earrings 9502, second connecting rod 951 is provided with two ears rings 9511, and the first fork 952 is provided with monaural ring 9521, pin-and-hole 9522 and double Earrings 9523；

Described gripper 955 is by ladder U-bracket 9551, two helical springs 9552 of 949, four the second forks Form with pressing plate 9553, the second 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 second spiral rotary actuator output shaft ring flange sector boss 94211 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 second 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, and spacing sector boss 94211 left surface is spacing with fan-shaped hole section first Face 94131 contacts, and the first thrust bearing 944 inserts second casing the second circular hole portion 9414, makes the second spiral rotary actuator 942 are fixed on the second casing 941 base plate, so that end cap 954 and the second casing 941 is connected；

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

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

First casing 844 is fixed with one by two connecting plates 93 with the second casing 941, forms swivel block and push-and-pull sleeper device 9, the second square tube shape fixed arm 901 is symmetrically fixed on two longerons 202 of railcar；

Refer to shown in Figure 11 to Figure 19, described sleeper handling apparatus 16 be by move back and forth storage sleeper device 160, Rigid hanger hoisting apparatus 168 and cmos image sensor 175 form；

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

Described reciprocator 161 is by base plate 162, transverse beam assembly 163, reciprocating movement driving device 164, symmetrical Two parallelogram lindages 165 of setting and the 3rd laser displacement sensor 166 form；

Described transverse beam assembly 163 is by third party's tubular fixed arm 1631 and 1632 groups of two third party's tubular telescopic arms Become, third party's tubular fixed arm 1631 is provided with symmetrical two long slot bore 16311, and third party's tubular telescopic arm 1632 is provided with two Monaural ring 16321 and symmetrical two grooves 16322, groove 16322 is provided with bolt hole 16323；

Described reciprocating movement driving device 164 is the same with the composition of the first retractable driving device 82, except aforementioned third party Tubular fixed arm 1631 and the first square tube shape fixed arm 811 version is different, third party's tubular telescopic arm 1632 and first Square tube shape telescopic arm 812 version is different, and remaining all component structural form is the same；

Described parallelogram lindage 165 is 1632, two forks 1651 and moving beams of third party's tubular telescopic arm 1652 compositions, moving beam 1652 is provided with two rollers 16521；

Carry out and the first retractable driving device 82 identical assembly operation, form reciprocating movement driving device 164 device；

By two fork 1651 one end respectively with third party's tubular telescopic arm 1632 chain connection, two forks 1651 another One end respectively with moving beam 1652 chain connection, form parallelogram lindage 165, repeat aforementioned assembly operation, be symmetrical in the The vertical plane of symmetry of three square tube shape fixed arms 1631 and moving beam 1652 assembles another parallelogram lindage 165, base plate 162 It is fixed on third party's tubular fixed arm 1631 lower surface, so that two rollers 16522 of moving beam and base plate 162 upper surface is connect Touch, the 3rd laser displacement sensor 166 is fixed on third party's tubular fixed arm 1631 side, form reciprocator 161；

Base plate 162 is fixed on railcar 20 crossbeam, the first square tube shape fixed arm 811 and the second square tube shape fixed arm 901 On, storage sleeper case 167 is fixed on moving beam 1652, so that the roller 1671 of storage sleeper case and base plate 162 is contacted over, Composition moves back and forth storage sleeper device 160；

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

Described telescopic cantilever boom device 169 is to be stretched by 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 4th laser displacement sensor 1698 form, the first ladder square tube shape fixed arm 1691 is provided with ring flange 16911 and cylinder Shoulder 16912, the first ladder square tube shape telescopic arm 1692 is provided with ring flange 16921 and cylinder shoulder 16922, and square tube shape telescopic arm 1693 sets 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 flexible shell type oil cylinder first flange disk 16941, square tube shape telescopic arm 1693 It is sheathed on the first multi-stage expansion shell type oil cylinder 1694, make the first flexible shell type oil cylinder second flange disk 16944 symmetrically side of being fixed on Tubular telescopic arm blind end 16932, the first ladder square tube shape telescopic arm 1692 is sheathed on square tube shape telescopic arm 1693, the first rank Terraced square tube shape fixed arm 1691 is sheathed on the first ladder square tube shape telescopic arm 1692, makes the first ladder square tube fixed arm ring flange 16911 are connected with end plate 1696, and cantilever beam ring flange 16951 is fixed on square tube shape telescopic arm blind end 16932, cantilever 1697 It is fixed on cantilever beam ring flange 16951, the 4th laser displacement sensor 1698 is fixed on cantilever 1697, form 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, push pedal 1706 and 5th laser displacement sensor 1707 forms, and the second ladder square tube shape fixed arm 1701 is provided with ring flange 17011, cylinder shoulder 17012 With oblong aperture 17013, the second ladder square tube shape telescopic arm 1702 is provided with 17021, second shoulder 17022 and oblong aperture of first shoulder 17023, the 3rd ladder square tube shape telescopic arm 1703 is provided with cylinder shoulder 17031 and two monaural rings 17032, the second multi-stage expansion shell type Oil cylinder 1704 is provided with first flange disk 17041, first order extension sleeve 17042, second level extension sleeve 17043 and second flange Disk 17044；

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

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

One end of two pull bars 1712 is symmetrically fixed on below entablature 1713, 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 3rd spiral rotary actuator 1721, yielding coupling 1722 and interior Wide-mouth nut 1723 forms, and the 3rd spiral rotary actuator 1721 is provided with ring flange 17211 and output shaft 17212, interior wide-mouth Nut 1723 is provided with axle journal 17231；

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

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

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

1. pull-out bad sleeper work：Using manually or mechanically having cleared up ballast between the sleeper of bad sleeper both sides, bad sleeper is left Outside the sleeper rail of side second, bolt is marked with machine oil, when engineering truck traction track car runs near sleeper to be changed, CMOS The image information of imageing sensor collection, by pattern recognition system automatic identification, and makes engineering truck be parked in cmos image sensing Device and machine oil mark the coaxial position of bolt, swivel block and push-and-pull sleeper device to be located at directly over bad sleeper, and rail-lifting equipment is located at bad On the left of sleeper between sleeper directly over, position shown in Fig. 1, oil pump is started working, and hydraulic oil makes hydraulic motor start to rotate forward, drive Dynamic screw rod rotates forward, and makes square nut promote the second square tube shape telescopic arm to stretch out, the second square tube shape telescopic arm entrusts second turn Dynamic device and crawl and swivel block device move out, by second laser displacement sensor its with the second range finding reference plate Displacement signal, to control hydraulic motor, the first spiral rotary actuator and the second spiral rotary actuator to work, second turn Dynamic device and crawl and swivel block device move out to correct position, and hydraulic motor stops rotating forward, and it starts to rotate backward, Drive screw rotates backward, and makes square nut pull the second square tube shape telescopic arm to retract, the second square tube shape telescopic arm entrusts second Tumbler and crawl and swivel block device inward, simultaneously hydraulic oil make the first spiral rotary actuator start positive turning Dynamic, drive the first casing to rotate forward, the first casing is entrusted the second casing being connected with it and rotated forward, and the second casing is entrusted and grabbed Take and swivel block device rotates forward, when the first casing rotates forward to its spacer pin and the spacing circle of cantilever hollow multidiameter connecting plate During arc groove end thereof contacts, crawl entrusted by the second casing and swivel block device rotates forward 90⁰, the first spiral rotary actuator stopping Rotate forward, the middle position of solenoid directional control valve makes the first spiral rotary actuator pressurize, when two pressing plates of gripper are inwardly transported When moving to bad sleeper both sides appropriate location, hydraulic motor stops rotating backward, and hydraulic oil makes hydraulic cylinder piston rod stretch out, and promotes First connecting rod and second connecting rod motion, make two symmetrically arranged 3rd forks swing in opposite directions, are articulated with the 3rd fork ears ring Roller push down pressing plate, roller rolls 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 first telescopic drive double output shaft hydraulic motor start to rotate forward, and drives left-handed screw and dextrorotation spiral shell Bar forward direction synchronous axial system, makes left-handed square nut and dextrorotation square nut promote two the first square tube shapes being connected with it to stretch respectively Contracting arm synchronously stretches out, and by its displacement signal with the first range finding reference plate of first laser displacement sensor, to control the One telescopic drive double output shaft hydraulic motor and the work of the first spiral rotary actuator, two the first square tube shape telescopic arms are respectively Entrust two the first tumblers and carry cylinder of rail and move out to appropriate location, the first telescopic drive double output shaft hydraulic motor Stopping rotates forward, and it starts to rotate backward, and drives left-handed screw and right handed screw reverse sync to rotate, makes left-handed square nut Two the first square tube shape telescopic arms being connected with it are pulled synchronously to retract respectively with dextrorotation square nut, two the first square tube shapes are stretched Contracting arm is entrusted two the first tumblers respectively and is carried cylinder of rail inward, and hydraulic oil makes the first spiral swing hydraulic pressure horse simultaneously Reach and start to rotate forward, drive the first casing to rotate forward, the first casing is entrusted the cylinder of rail that carries being connected with it and rotated forward, when When first casing rotates forward to its spacer pin and cantilever hollow multidiameter connecting plate spacing arc groove end thereof contacts, carry cylinder of rail Rotate forward 90 °, the first spiral rotary actuator stops rotating forward, the middle position of solenoid directional control valve makes the first spiral swing liquid Pressure motor pressurize, when carrying cylinder of rail inward to its cylinder body and rail lower flange contacts side surfaces, its gusset upper surface with Contact below rail, the first telescopic drive double output shaft hydraulic motor stops rotating backward；

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

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

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

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

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

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

Hydraulic oil makes reciprocating motion drive double output shaft hydraulic motor to start to rotate forward, and drives left-handed screw and dextrorotation spiral shell Bar forward direction synchronous axial system, left-handed square nut and dextrorotation square nut promote two third party's tubulars being connected with it to stretch respectively Arm synchronously stretches out, two pairs of forks making symmetrically arranged two parallelogram lindages with respect to moving beam dorsad synchronous hunting, Two pairs of forks pull moving beam to left movement, and moving beam entrusts storage sleeper case to left movement, by the 3rd laser displacement Sensor measures the displacement signal of itself and moving beam, to control reciprocating motion to drive the work of double output shaft hydraulic motor, to work as storage Deposit sleeper case to the left move to storage bad sleeper position in storehouse immediately below pick-and-place sleeper device when, move back and forth drive double output shaft liquid Pressure motor stops rotating forward；

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

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

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

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

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

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start to retract, and pulls the 3rd ladder square tube shape Telescopic arm is retracted, and the 3rd ladder square tube shape telescopic arm entrusts rigid hanger and pick-and-place sleeper device inward, when push pedal and the During 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 3rd spiral rotary actuators start reverse sync rotate, make two Interior wide-mouth nut rotates backward, and when bad sleeper is discharged in storehouse, the 3rd spiral rotary actuator stops rotating backward, and first The sleeve of multi-stage expansion shell type oil cylinder starts to stretch out step by step, and rigid hanger and pick-and-place sleeper device rise to position shown in Fig. 1, hang Transport the work of bad sleeper to complete；

3. handling is well placed sleeper work：Hydraulic oil makes reciprocating motion drive double output shaft hydraulic motor to start reversely to turn Dynamic, drive left-handed screw and right handed screw reverse sync to rotate, left-handed square nut and dextrorotation square nut promote and it respectively Two connected third party's tubular telescopic arms are synchronously retracted, and make two pairs of forks of symmetrically arranged two parallelogram lindages relatively In the opposite synchronous hunting of moving beam, two pairs of forks promote moving beams to move right, moving beam entrust storage sleeper case to Right motion, when store sleeper case move right to stored sleeper position in storehouse immediately below pick-and-place sleeper device when, move back and forth drive Dynamic double output shaft hydraulic motor stops rotating backward；

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

Hydraulic oil makes the sleeve of the first multi-stage expansion shell type oil cylinder start to stretch out step by step, and rigid hanger entrusts pick-and-place sleeper dress 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, position shown in Figure 12, the second multi-stage expansion set Formula oil cylinder second level extension sleeve stops retracting；

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

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

4. advanced sleeper to 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 located above good sleeper, Directly over rail-lifting equipment is located on the right side of good sleeper between sleeper, hydraulic oil makes hydraulic motor start to rotate forward, and makes the second rotation dress Put and capture and swivel block device moves out, when the second square tube shape telescopic arm extend out to stop, hydraulic motor stops positive turning It is dynamic,

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

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

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

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

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

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

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 first telescopic drive double output shaft hydraulic motor start to rotate forward, and makes two the first tumblers and carries Cylinder of rail moves out to appropriate location, and the first telescopic drive double output shaft hydraulic motor stops rotating forward, and hydraulic oil makes the One spiral rotary actuator starts to rotate backward, and makes to carry cylinder of rail when rotating backward 90 °, the first spiral rotary actuator stops Only rotate backward, the middle position of solenoid directional control valve makes the first spiral rotary actuator pressurize；First telescopic drive double output shaft liquid Pressure motor starts to rotate backward, and makes two the first tumblers and carries cylinder of rail inward to position shown in Fig. 1, first stretches Double output shaft hydraulic motor is driven to stop rotating backward, oil pump quits work, and has advanced sleeper end-of-job, tractor traction rail Road car leaves.

Yielding coupling and interior wide-mouth nut can effectively adapt to sleeper bolt position deviation, so that interior wide-mouth nut is easily screwed on Sleeper bolt；Symmetrically arranged two parallelogram lindages of reciprocator, make in moving beam reciprocating movement all the time Parallel with fixed cross beam；Synchronous valve in hydraulic system is it is ensured that the sleeve synchronization telescope of two the first multi-stage expansion shell type oil cylinders； Rigid hanger makes sleeper in handling no swing, and improves handling sleeper speed.

Claims (1)

1. a kind of change sleeper mechanical-electrical-hydraulic integration equipment it is characterised in that：It is to be filled by rail-lifting equipment, transition and push-and-pull sleeper Put, sleeper handling apparatus, generator, Hydraulic system and control System cabine and railcar form；Railcar be provided with multiple castors and Two longerons, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, generator and Hydraulic system and control system Case is arranged on two longerons of railcar, and railcar is drawn by engineering truck, and generator is oil pump and control system provides power, It is provided with fuel tank, oil pump, hydraulic control system and automatic control system in Hydraulic system and control System cabine；

Described rail-lifting equipment is by cmos image sensor, the first telescopic component, the first retractable driving device, four connections Plate, two the first tumblers, two box connectors and two carry cylinder of rail composition, and box connector is provided with semicylindrical opening, Carry that cylinder of rail cylinder body is provided with gusset, piston rod free end is provided with fagging；

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

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

Monaural ring bearing is sheathed on the second axle journal of right handed screw, and yielding coupling is by the first axle journal of right handed screw and lose-lose The right-hand member output shaft fixed connection of shaft hydraulic motor, dextrorotation square nut screws on right handed screw appropriate location, and square slider is sheathed on On right handed screw the 3rd axle journal, the first hex nut pretension, the first square tube shape telescopic arm is sheathed thereon from right handed screw right-hand member, Make that the first square tube shape telescopic arm groove bolt hole is coaxial with dextrorotation square nut tapped blind hole, two bolts screw in pretension respectively, Repeat aforementioned operation, by the support of monaural ring, left-handed screw, left-handed square nut, square slider, the first hex nut, elasticity connection Axial organ, double output shaft hydraulic motor and the first square tube shape telescopic arm are assembled into one, and the first square tube shape fixed arm is sheathed on two On first square tube shape telescopic arm, double output shaft hydraulic motor is made symmetrically to be fixed on the first square tube shape fixed arm endoporus upper surface, two Individual monaural ring bearing is fixed on the first square tube shape fixed arm endoporus upper surface, forms retractable driving device, square slider and first Square tube shape telescopic arm forms moving sets, and first laser displacement transducer is symmetrically fixed on the first square tube shape fixed arm side, and first Range finding reference plate is fixed on the first square tube shape telescopic arm side；

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

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

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

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

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

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

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

Described crawl and swivel block device are by the second casing, the second spiral rotary actuator, hydraulic jack, the first thrust axis Hold, the second thrust bearing, the second hex nut, piston, piston rod, ladder U-bracket, first connecting rod, second connecting rod, two One fork, two rollers, end cap and two mechanical gripper device compositions, the second casing is provided with 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 second 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-bracket is provided with flange, axis hole, two slotted eyes, two pin-and-holes, four the first monaural rings and eight Individual second monaural ring, first connecting rod is provided with ears ring and monaural ring, and second connecting rod is provided with two ears rings, and the first fork is provided with list Earrings, pin-and-hole and ears ring；

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

Will be convex for spacing for the second 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 second spiral rotary actuator output shaft ring flange and hydraulic jack ring flange insert second casing the first circular hole portion, Spacing sector boss left surface is contacted with fan-shaped hole section first confined planes, and the first thrust bearing inserts second casing the second circular hole Section, makes the second spiral rotary actuator be fixed on the second box bottom, so that end cap and the second casing is connected；

Second thrust bearing is sheathed on hydraulic jack the 3rd axle journal so as to insert the second casing the 3rd circular hole portion section, piston Bar passes through ladder U-bracket axis 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-bracket flange is penetrated hydraulic jack cylinder barrel and is connected, make oil cylinder second axle journal and the first 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-bracket 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 first fork monaural rings respectively Enter pin hinge to connect；

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

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

Described sleeper handling apparatus are by reciprocating motion storage sleeper device, rigid hanger hoisting apparatus and cmos image sensing Device forms；

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

Described reciprocator be by base plate, transverse beam assembly, reciprocating movement driving device, symmetrically arranged two parallel four Linkage and the 3rd laser displacement sensor composition；

Described transverse beam assembly is made up of third party's tubular fixed arm and two third party's tubular telescopic arms, and third party's tubular is solid Determine arm and be provided with symmetrical two long slot bore, third party's tubular telescopic arm is provided with two monaural rings and symmetrical two grooves, groove It is provided with bolt hole；

As the composition of described reciprocating movement driving device and the first retractable driving device, except aforementioned third party's tubular fixed arm , third party tubular telescopic arm different with the first square tube shape fixed arm version and the first square tube shape telescopic arm structure form are not Equally, remaining all component structural form is the same；

Described parallelogram lindage is third party's tubular telescopic arm, two forks and moving beam composition, and moving beam is provided with Two rollers；

Carry out and the first retractable driving device identical assembly operation, form reciprocating movement driving device device；

By two fork one end respectively with third party's tubular telescopic arm chain connection, the other end of two forks is horizontal with mobile respectively Beam chain connection, forms parallelogram lindage, repeats aforementioned assembly operation, be symmetrical in third party's tubular fixed arm and moving beam The vertical plane of symmetry assemble another parallelogram lindage, base plate is fixed on third party's tubular fixed arm lower surface, makes mobile horizontal stroke Two rollers of beam are contacted with plate upper surface, and the 3rd laser displacement sensor is fixed on third party's tubular fixed arm side, group Become reciprocator；

Base plate is fixed on track car crossbeam, the first square tube shape fixed arm and the second square tube shape fixed arm, storage sleeper case is solid It is connected on moving beam, so that the roller of storage sleeper case is contacted with substrate, composition moves back and forth storage sleeper device；

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

Described telescopic cantilever boom device is by the first ladder square tube shape fixed arm, the first ladder square tube shape telescopic arm, square tube shape Telescopic arm, the first multi-stage expansion shell type oil cylinder, cantilever beam, end plate, cantilever and the 4th laser displacement sensor composition, the first ladder Square tube shape fixed arm is provided with ring flange and cylinder shoulder, and the first ladder square tube shape telescopic arm is provided with ring flange and cylinder shoulder, and square tube shape is stretched Arm is provided with ring flange and blind end, the first multi-stage expansion shell type oil cylinder be provided with 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 flexible shell type oil cylinder first flange disk, square tube shape telescopic arm is sheathed on the first multi-stage expansion Shell type oil cylinder, makes the first flexible shell type oil cylinder second flange disk symmetrically be fixed on square tube shape telescopic arm blind end, the first ladder side Tubular telescopic arm is sheathed on square tube shape telescopic arm, and the first ladder square tube shape fixed arm is sheathed on the first ladder square tube shape telescopic arm On, so that the first ladder square tube fixed arm ring flange is connected with end plate, cantilever beam ring flange is fixed on square tube shape telescopic arm blind end On, cantilever is fixed on cantilever beam ring flange, and the 4th laser displacement sensor is fixed on cantilever, composition telescopic cantilever beam dress Put；

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

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

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

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

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

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