CN106522044A - Sleeper replacement machine with parallel four-bar mechanism - Google Patents

Abstract

The invention discloses a sleeper replacement machine with a parallel four-bar mechanism. The sleeper replacement machine is composed of a tamping and ballast leveling device, a rail shoulder and rail bed modification device, a grab bucket stone-removal device, a ballast concentrated discharging device, a sleeper end stone-removal device, a chain gear stone discharging device, a four-nut synchronous assembly and disassembly device, a rail lifting device, a rail switching and sleeper sliding device, a sleeper hoisting device, an electric generator, a hydraulic system and control system cabinet and a rail vehicle. The sleeper replacement machine can quickly make a working device be aligned with the working position, automatically discharge ballast between sleepers, on the outer side of the sleeper ends and on a rail bed below steel rails, automatically separate sandy soil from the ballast, automatically make the ballast backfill the portion between new sleepers on the two sides and be tamped and leveled, and automatically modify the shape of a rail shoulder and the rail bed; four nuts are assembled and disassembled synchronously, the fatigue life of bolts is prolonged, and connection reliability of the sleepers and the steel rails is ensured; and the rail switching and sleeper sliding device is an integrated device, and is compact in structure and suitable for various operations for sleeper replacement of linear and curved rail sections, and efficiency of sleeper replacement work is high.

Description

Replacing sleeper machine with in-parallel four-bar mechanism

Technical field

The present invention relates to a kind of railway maintenance machinery, more particularly to the replacing sleeper machine with in-parallel four-bar mechanism.

Background technology

Railroad sleeper during prolonged use, due to natural subsidence and vibration due to, under the sleeper of railway local Heavy, needs are conserved, and indivedual sleepers are damaged, and need to change in time, during sleeper replacement, using manually rockfilling clearly Quarrel, wastes time and energy, inefficiency, it is impossible to (be commonly called as in effective train passage gap：Skylight) in complete work.

The content of the invention

It is an object of the invention to provide having the replacing sleeper machine of in-parallel four-bar mechanism.

The present invention be by the flat quarrel device of tamping, road shoulder and railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, The clear stone device in pillow end, chain tooth row stone device, four nuts synchronization assembling and disassembling device, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper Handling apparatus, generator, Hydraulic system and control System cabine and railcar composition.Railcar is provided with multiple castors and two vertical Beam, the flat quarrel device of tamping, road shoulder and railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, the clear stone device in pillow end, chain Tooth row stone device, four nuts synchronization assembling and disassembling device, the first rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, send out Motor and Hydraulic system and control System cabine are arranged on two longerons of railcar, and railcar is drawn by engineering truck, generator Be that oil pump and control system provide power, be provided with Hydraulic system and control System cabine fuel tank, oil pump, hydraulic control system and from Autocontrol system；

The flat quarrel device of described tamping is made up of entablature, the first lowering or hoisting gear and the component that vibrates, and entablature is provided with two Connecting plate, connecting plate are provided with several bolts hole；

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

Described sill component is made up of the first square tube shape fixed arm and two the first square tube shape telescopic arms, first party Tubular fixed arm is provided with symmetrical two long slot bore, and the first square tube shape telescopic arm is provided with blind end and two monaural rings；

The first described lifting drive is by the first square tube shape fixed arm, the double rod hydraulic jacks and two of dual Piston Individual first square tube shape telescopic arm composition, the cylinder body of the double rod hydraulic jacks of dual Piston are provided with square flange, piston rod freedom End is provided with ring flange；

Described parallelogram lindage is made up of the first square tube shape telescopic arm, two forks and entablature；

Two the first square tube shape telescopic arms are arranged thereon from the double rod hydraulic jack two ends of dual Piston respectively, the is made One square tube shape telescopic arm blind end is connected with the double rod hydraulic cylinder piston rod ring flanges of dual Piston, the first square tube shape fixed arm It is sheathed on two the first square tube shape telescopic arms, makes the double rod hydraulic jack square flanges of dual Piston symmetrically be fixed on first On square tube shape fixed arm endoporus upper surface, the first lifting drive is constituted；

By one end of two forks respectively with the first square tube shape telescopic arm chain connection, the other end of two forks respectively with Entablature chain connection, constitutes parallelogram lindage, is symmetrical in the vertical plane of symmetry group of entablature and the first square tube shape fixed arm Another parallelogram lindage is filled, first laser displacement transducer is symmetrically fixed on above the first square tube shape fixed arm, constituted First lowering or hoisting gear；

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

Bolt is passed through into entablature connecting plate bolt hole, helical spring is sheathed on bolt, oscillating plate spiral shell is then passed through Keyhole, then another helical spring is sheathed on bolt, pad is sheathed on bolt, hex nut pretension, oscillating plate with it is upper Crossbeam realizes elastic connection；Vibrating spear passes through oscillating plate circular hole, and the first hex nut pretension, the first dither motor are symmetrically solid It is connected in above oscillating plate, the first square tube shape fixed arm is symmetrically fixed on two longerons of railcar, the flat quarrel device of composition tamping；

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

The first described entablature component is by the second square tube shape fixed arm, the second square tube shape telescopic arm, second laser position Displacement sensor and the second range finding reference plate composition, the second square tube shape fixed arm are provided with blind end and four ears rings, the second square tube Shape telescopic arm is provided with blind end；

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

Second square tube shape telescopic arm is sheathed on two-way ram oil cylinder, make the second square tube shape telescopic arm blind end with it is double Effect piston oil-cylinder piston rod ring flange is connected, then the second square tube shape fixed arm is sheathed on the second square tube shape telescopic arm, and Two-way ram cylinder flange disk is symmetrically fixed on into the second square tube shape fixed arm blind end, the first retractable driving device is constituted, Two-way ram oil cylinder and the second square tube shape telescopic arm form moving sets, and second laser displacement transducer is symmetrically fixed on second Above square tube shape fixed arm, the second range finding reference plate is fixed on above the second square telescopic arm；

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

Described first series connection parallelogram lindage by sill, the first fork, the second fork, two the 3rd forks, the One connecting rod and the second square tube shape fixed arm composition, first connecting rod are provided with monaural ring and ears ring；

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

Described servo-actuated Equipoising support apparatus be by plate shape entablature, the second series connection parallelogram lindage, the first strut, the Two struts, slide bar, two slide blocks, two turriform linear Stiffness springs, two hex nuts, two the second bolts and two Three bolts are constituted, and slide bar is provided with fixed disc, is arranged with two light bar segments and two thread segments；Slide block is provided with circular hole and one To coaxial threaded blind hole；

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

By the first fork and sill chain connection, between the second fork, three components of the 4th fork and sill, hinge connects Connect, the first fork ears ring, the 3rd fork ears ring and first connecting rod monaural ring coaxially penetrate pin hinge connection, the second fork Ears ring, another the 3rd fork ears ring, first connecting rod ears ring and double multi-stage expansion shell types be double, and to stretch out oil cylinder monaural ring same Axle penetrates pin hinge connection, two the 3rd forks and the second square tube shape fixed arm chain connection, the first series connection parallel four of composition Linkage, the aforementioned assembly operation of repetition, be symmetrical in sill and the second square tube shape fixed arm vertical plane of symmetry assemble another the One series connection parallelogram lindage；

Two turriform linear Stiffness springs are sheathed on into two light bar segments of slide bar respectively, then two slide blocks are covered respectively Located at two light bar segments of slide bar, two hex nuts are distinguished pretension, make two slide blocks make turriform linear Stiffness spring respectively It is appropriate to compress, by the 5th fork and sill chain connection, make the left side monaural ring of two second connecting rods respectively with the 4th fork Ears ring, the 6th fork ears ring and slide block a pair of tapped blind holes it is coaxial, two the first bolts distinguish pretensions, make the 4th pendulum Chain connection between bar, three components of the 6th fork and slide block, by the right monaural ring of two second connecting rods respectively with the 5th fork Ears ring, the 7th fork ears ring it is coaxial, two bearing pins are respectively penetrated, and make second connecting rod, the 5th fork and the 7th fork three Chain connection between individual component, the 6th fork and the 7th fork chain connection between three components of plate shape entablature respectively, composition the Two series connection parallelogram lindages；

Coaxial, two the second bolts by a pair of tapped blind holes of the first strut ears ring, the second strut ears ring and slide block Pretension, makes chain connection between the first strut, three components of the second strut and slide block, the 6th fork, the 7th fork and second respectively Strut and plate shape entablature chain connection, the servo-actuated Equipoising support apparatus of composition；

Double multi-stage expansion shell types pair are stretched out oil cylinder to be symmetrically fixed on plate shape entablature, by four the 3rd forks and second Square tube shape fixed arm chain connection, the 3rd laser displacement sensor is symmetrically fixed on below the second square tube shape fixed arm, composition Second lowering or hoisting gear；

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

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

Cylinder body of hydraulic oil cylinder monaural ring is coaxially penetrated pin hinge with arm the second ears ring to be connected, strut monaural ring with Arm the first ears ring coaxially penetrates pin hinge connection, and bucket body the second ears ring coaxially penetrates pin hinge with arm monaural ring Connection, connecting rod monaural ring coaxially penetrate pin hinge with bucket body the first ears ring and are connected, connecting rod ears ring, strut ears ring and liquid Force feed cylinder piston rod is monocyclic coaxially to penetrate pin hinge connection, constitutes the first bucket component, and U-shaped suspension rod is solid with arm ring flange Even, bucket device is constituted, U-shaped suspension rod is fixed on the second square tube shape telescopic arm, constitute road shoulder and railway roadbed modification device；

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

The composition and version of the 3rd described lowering or hoisting gear and the first lowering or hoisting gear is the same, carries out and the first lifting dress Identical assembly operation is put, the 3rd lowering or hoisting gear is constituted；

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

Second bucket component and the first bucket component are constituted and version is the same；

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

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

Described casing be provided with base plate, flechette-type bottom, two the first Ji Shicang, the second Ji Shicang, two square tube shape holes, two Individual gradual change isosceles trapezoid groove, four first it is convex stupefied and two it is second convex stupefied, base plate is provided with several bolts hole, and flechette-type bottom is provided with Several sieve apertures, the first Ji Shicang are provided with Pai Shikou and two Ji Shikou of symmetrical two, and the second Ji Shicang is provided with symmetrical two Pai Shikou and two Ji Shikou, the first convex stupefied top and bottom are provided with symmetrical two ears ring, and the second convex stupefied top and bottom are provided with symmetrically Two ears rings, stone removing door is provided with two the first monaural rings and four the second monaural rings, and collection crossdrift is provided with two the first monaurals Ring, four the second monaural rings and six spill plates；

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

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

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

Stone removing door is driven into cylinder piston rod monaural ring, first pull bar the first ears ring, second the first ears of pull bar Ring coaxially penetrates pin hinge connection, constitutes stone removing door driving means；

Collection crossdrift is driven into cylinder piston rod monaural ring, the 3rd pull bar the first ears ring, the 4th the first ears of pull bar Ring coaxially penetrates pin hinge connection, composition collection crossdrift driving means；

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

Stone removing door driving oil cylinder is respectively fixedly connected with the madial wall in two square tube shape holes, two the first pull bars second pair Earrings is co-axially inserted pin hinge with two the first monaural rings of stone removing door respectively and is connected, two second the second ears of pull bar rings point Be not co-axially inserted pin hinge with two the first monaural rings of another stone removing door to be connected, will collect crossdrift drive oil cylinder be respectively fixedly connected with On the lateral wall in two square tube shape holes, two the 3rd the second ears of pull bar rings are coaxial with collection two the first monaural rings of crossdrift respectively Insertion pin hinge connection, two the 4th the second ears of pull bar rings are coaxial with two the first monaural rings of another stone removing door respectively Insertion pin hinge connection, two end caps are respectively fixedly connected with casing；

Bolt is passed through into sill bolt hole, helical spring is sheathed on bolt, box bottom bolt hole is then passed through, Again another helical spring is sheathed on bolt, pad is sheathed on bolt, hex nut pretension, casing realizes bullet with crossbeam Property connection；Second dither motor is symmetrically connected on box bottom, and crossbeam is symmetrically fixed on two longerons of railcar, Cmos image sensor is fixed on below crossbeam, constitutes ballast collection arranging device；

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

The second described entablature component and the first entablature component composition and version are the same, carry out with first on it is horizontal Beam assembly identical assembly operation, constitutes the second entablature component；

The second described retractable driving device and the first retractable driving device constitute and version as, carry out and first Retractable driving device identical assembly operation, constitutes the second retractable driving device；

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

The second described grab mechanisms and the first grab mechanisms are constituted and version is the same, carry out and the first grab mechanisms Identical is assembled, and constitutes the second grab mechanisms；

Arm ring flange is connected with U-shaped bar, then U-shaped bar is fixed on the second square tube shape telescopic arm, composition pillow end is clear Stone device；

Described chain tooth row stone device is by the 3rd entablature component, the 5th lowering or hoisting gear of the 3rd retractable driving device and chain Tooth row stone component is constituted；

The 3rd described entablature component is swashed by third party's tubular fixed arm, two third party's tubular telescopic arms, four Optical displacement sensor and the 4th range finding reference plate composition, third party's tubular fixed arm are provided with four ears rings, and third party's tubular is stretched Contracting arm is provided with blind end；

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

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

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

Described chain tooth row stone component is by double output shaft hydraulic motor, two yielding couplings, two chain tooth row stone portions Part, U-shaped bar, eight C-shaped-rods and suspension bracket composition, U-shaped bar are provided with two circular flange disks and square flange, and C-shaped-rod is provided with the One ring flange and second flange disk, suspension bracket are provided with two first flange disks and eight second flange disks；

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

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

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

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

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

Double output shaft hydraulic motor double output shaft, two yielding couplings and two sprocket wheel wheel shafts are connected, U-shaped bar is square Ring flange is fixed on the 3rd double output shaft hydraulic motor, eight C-shaped-rod second flange disks be respectively symmetrically be fixed on two it is square On crossbeam, eight second flange disks of suspension bracket respectively with eight C-shaped-rod first flange disks be connected, two circular flange disks of U-shaped bar and Two first flange disks of suspension bracket are respectively fixedly connected with third party's tubular telescopic arm, constitute chain tooth row stone device；

Described four nut of sleeper synchronization assembling and disassembling device is by the 4th entablature component, the 6th lowering or hoisting gear and two nuts Assembling and disassembling device is constituted；

The 4th described entablature component is made up of the 5th square tube shape fixed arm and two the 5th square tube shape telescopic arms, the Five square tube shape fixed arms are provided with symmetrical two long slot bore, and the 5th square tube shape telescopic arm is provided with two monaural rings and symmetrical two Groove, groove are provided with bolt hole；

As the 4th described entablature component is constituted with sill component, except aforesaid 5th square tube shape fixed arm orientation , fiveth square tube shape telescopic arm orientation different with the first square tube shape fixed arm orientation and the first square tube shape telescopic arm orientation differ Sample, remaining all component structural form are the same；

The 6th described lowering or hoisting gear is by the 6th lifting drive, symmetrically arranged two parallelogram lindages and Six laser displacement sensors are constituted；

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

Described parallelogram lindage is made up of sill, two forks and the 5th square tube shape telescopic arm, and sill sets There are four ears rings and two symmetrical long slot bores；

Carry out and the first lifting drive identical assembly operation, constitute the 6th lifting drive；

By one end of two forks respectively with the 5th square tube shape telescopic arm chain connection, the other end of two forks respectively with Sill chain connection, constitutes parallelogram lindage, is symmetrical in the vertical plane of symmetry of the 5th square tube shape fixed arm and sill Another parallelogram lindage is assembled, the 6th laser displacement sensor is symmetrically fixed on below the 5th square tube shape fixed arm, group Into the 6th lowering or hoisting gear；

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

Upper lid is sheathed on into the first spiral rotary actuator output shaft circular shaft section, makes lid hydraulic pressure be swung with the first spiral Motor ring flange is connected, then circular connecting plate is sheathed on six prism shaft part of the first spiral rotary actuator output shaft, and first Hex nut pretension, internal gear are coaxially connected with circular connecting plate, and geared sleeve is connected located at the first axle journal of power transmission shaft, the first thrust On the second axle journal of power transmission shaft, power transmission shaft makes the first thrust bearing contact with housing through housing axis hole to bearing holder (housing, cover), and second pushes away On the 3rd axle journal of power transmission shaft, the second hex nut screws on power transmission shaft thread segment pretension to power bearing holder (housing, cover), and yielding coupling makes biography The 4th axle journal of moving axis is coaxially connected with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, the gear teeth of two gears Flank of tooth gear teeth face respectively with internal gear, upper lid are connected with shell flange disk, and one end of two suspension rods is symmetrically fixed on Housing both sides, constitute nut assembling and disassembling device, and the other end of two suspension rods is symmetrically fixed on two sides of the 4th square tube shape fixed arm, Sill is fixed on two side rail inner faces of railcar, composition sleeper four nuts synchronization assembling and disassembling device；

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

Described first crossbeam telescopic component be by the 5th square tube shape fixed arm, two the 5th square tube shape telescopic arms, the 6th Laser displacement sensor and the 6th range finding reference plate composition, the 5th square tube shape telescopic arm are provided with blind end；

Described first crossbeam retractable driving device as the composition of the first lifting drive, except aforesaid 5th side Tubular fixed arm and the first square tube shape fixed arm version is different, the 5th square tube shape telescopic arm and the first square tube shape telescopic arm Version is different, and remaining all component structural form is the same；

Carry out and the first lifting drive identical assembly operation, constitute first crossbeam retractable driving device；6th swashs Optical displacement sensor is symmetrically fixed on the 5th square tube shape fixed arm side, and the 6th range finding reference plate is fixed on the 5th square tube shape and stretches Arm side；

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

Two sector gears are arranged respectively and are fixed on first diameter of axle of two multidiameters, two multidiameters are each passed through Two axis holes of casing, are made the second axle journal of multidiameter be formed with casing axis hole and rotate secondary, partial gear is arranged and is fixed on second On spiral rotary actuator output shaft, be placed into making in the first casing the gear teeth of partial gear respectively with two sectors The gear teeth of wheel are contacted along the facewidth, and the second spiral rotary actuator is fixed on the first box bottom, two of embedded cover plate Axis hole is sheathed on two the 3rd axle journals of multidiameter respectively, makes embedded cover plate and the first casing be connected, and composition first swings dress Put；

Two forks, six prism hole monaural ring is sheathed on into two the one or six prism shaft parts of multidiameter respectively, two the one or six Angle nut difference pretension, then six prism hole monaural ring of other two forks is sheathed on into two the two or six prism axles of multidiameter respectively Section, two the first hex nuts difference pretensions, make one end of four forks be connected with the two ends of two multidiameters respectively in addition, and four Four screwed holes of individual fork monaural ring and box connecting rod are coaxial, four the first tools for bolts ' pretension, four forks is connected with box respectively Bar chain connection, forms parallelogram lindage in parallel；

Two the first casings are respectively fixedly connected with the blind end of two the 5th square tube shape telescopic arms, make two first to swing dress Put and be symmetrical arranged, two flexible shell types are carried into cylinder of rail cylinder body and is respectively fixedly connected with two box connecting rod semicylindrical openings, make two Flexible shell type carries cylinder of rail and is symmetrical arranged, and constitutes rail-lifting equipment, the 5th square tube shape fixed arm is symmetrically fixed on the two of railcar On individual longeron；

Described swivel block and push-and-pull sleeper device be by second cross beam telescopic component, second cross beam retractable driving device, Two pendulous devices, four the first forks, crawls and swivel block devices, four the first hex nuts and four bolt compositions, the first pendulum Bar is provided with six prism hole monaural rings and monaural ring；

Described second cross beam telescopic component is by the 6th square tube shape fixed arm, the 6th square tube shape telescopic arm, the 7th laser Displacement transducer and the 7th range finding reference plate composition, the 6th square tube shape telescopic arm are provided with blind end；

Described second cross beam retractable driving device and the first retractable driving device composition, except aforementioned 6th square tube shape Fixed arm and the second square tube shape fixed arm version are different, and remaining all component structural form is the same；

Carry out and the first retractable driving device identical assembly operation, constitute second cross beam retractable driving device, the 7th swashs Optical displacement sensor is symmetrically fixed on the 6th square tube shape fixed arm side, and the 7th range finding reference plate is fixed on the 6th square tube shape and stretches Arm side；

The second described pendulous device and the first pendulous device are constituted and version is the same, carries out and the first pendulous device Identical assembly operation, constitutes the second pendulous device；

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

Described gripper is made up of ladder U-bracket, four the 3rd forks, two helical springs and pressing plates, the Three forks are provided with two ears rings, and pressing plate is provided with two the first monaural rings and four the second monaural rings；

By the 3rd spiral rotary actuator output shaft ring flange spacing fan-shaped boss and the spacing fan of hydraulic jack ring flange Shape boss aligns connected, and the first thrust bearing is sheathed on the first axle journal of hydraulic jack, and hydraulic jack is penetrated the second casing rank In terraced hole, the 3rd spiral rotary actuator output shaft ring flange and hydraulic jack ring flange is made to insert second the first circular hole of casing Section, makes the spacing fan-shaped boss of the 3rd spiral rotary actuator output shaft ring flange and the spacing fan-shaped boss of hydraulic jack ring flange Insert in fan-shaped hole section, two spacing fan-shaped boss left surfaces is contacted with fan-shaped the first confined planes of hole section, make the first thrust axis Bearing enters second the second circular hole portion of casing, the 3rd spiral rotary actuator is fixed on the second box bottom, make end cap with Second casing is connected；

Second thrust bearing is sheathed on the 3rd axle journal of oil cylinder so as to insert the 3rd circular hole portion section of the second casing, piston Bar passes through ladder U-bracket axis hole, piston shaft hole sleeve to be located at piston rod axle journal, and piston is inserted hydraulic jack cylinder by nut pretension In cylinder, ladder U-bracket flange is penetrated into hydraulic jack cylinder barrel and is connected, make the second axle journal of oil cylinder and the second housing bushing section hinge Piston rod ears ring, second connecting rod ears ring and first connecting rod monaural ring are coaxially penetrated pin hinge connection, the second pendulum by connection Bar ears ring coaxially penetrates pin hinge with roller and is connected, and the second fork pin-and-hole coaxially penetrates bearing pin with ladder U-bracket pin-and-hole Chain connection, first connecting rod ears ring and second connecting rod ears ring coaxially penetrate pin hinge company respectively with the first fork monaural ring Connect；

The ears ring of four the 3rd forks is coaxially penetrated into pin hinge with four the second monaural rings of ladder U-bracket respectively Connection, another ears ring of four the 3rd forks coaxially penetrate pin hinge with four the second monaural rings of pressing plate respectively and are connected, Two helical spring one end are connected with two the first monaural rings of ladder U-bracket respectively, two helical spring other ends point It is not connected with two the first monaural rings of pressing plate, constitutes gripper, the pulling force of two helical springs makes to be articulated with the second fork Roller is contacted with pressing plate all the time, the aforementioned assembly operation of repetition, assembles another gripper, composition crawl and swivel block device；

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

First casing is fixed on into the 6th square tube shape telescopic arm blind end, composition swivel block and push-and-pull sleeper device；

Described sleeper handling apparatus are made up of reciprocating motion storage sleeper device and rigid hanger hoisting apparatus；

Described reciprocating motion storage sleeper device is made up of reciprocator and storage sleeper case, stores sleeper case Roller and several sleeper storehouses are provided with, wherein left side half sleeper storehouse is used to store sleeper, right side half sleeper storehouse is used to store Bad sleeper.

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

The 3rd described crossbeam telescopic component is made up of the 7th square tube shape fixed arm and two the 7th square tube shape telescopic arms, 7th square tube shape fixed arm is provided with symmetrical two long slot bore, and the 7th square tube shape telescopic arm is provided with blind end and two monaural rings；

As the composition of described reciprocating movement driving device and the first lifting drive, except aforesaid 7th square tube shape Fixed arm orientation and the first square tube shape fixed arm orientation is different, the 7th square tube shape telescopic arm orientation and the first square tube shape telescopic arm Orientation is different；Remaining all component structural form is the same；

Described parallelogram lindage is made up of the 7th square tube shape telescopic arm, two forks and moving beam, moving beam It is provided with two rollers；

Carry out and the first lifting drive identical assembly operation, constitute reciprocating movement driving device；

By one end of two forks respectively with the 7th square tube shape telescopic arm chain connection, the other end of two forks respectively with Moving beam chain connection, constitutes parallelogram lindage, and the aforementioned assembly operation of repetition is symmetrical in the 7th square tube shape fixed arm and shifting The vertical plane of symmetry of dynamic crossbeam assembles another parallelogram lindage, and base plate is fixed on below the 7th square tube shape fixed arm, makes shifting Two rollers of dynamic crossbeam are contacted with plate upper surface, the 8th laser displacement sensor is symmetrically fixed on the 7th square tube shape and is fixed Arm side, constitutes reciprocator；

Base plate is fixed on track car crossbeam, the 5th square tube shape fixed arm and the 6th square tube shape fixed arm, sleeper is stored Case is fixed on moving beam, 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, two Individual pick-and-place sleeper device and the 9th laser displacement sensor composition；

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

End plate is symmetrically fixed on the first multi-stage expansion shell type oil cylinder first flange disk, square tube shape telescopic arm is sheathed on first Multi-stage expansion shell type oil cylinder, makes the first multi-stage expansion shell type oil cylinder second flange disk symmetrically be fixed on the closing of square tube shape telescopic arm End, the first ladder square tube shape telescopic arm are sheathed on square tube shape telescopic arm, and the first ladder square tube shape fixed arm is sheathed on the first rank On terraced square tube shape telescopic arm, the first ladder square tube fixed arm ring flange is made to be connected with end plate, cantilever beam ring flange is fixed on square tube On shape telescopic arm blind end, cantilever is fixed on cantilever beam ring flange, and the tenth laser displacement sensor is fixed on cantilever, composition Telescopic cantilever boom device；

Described telescoping crossbeam device be by the second ladder square tube shape fixed arm, the second ladder square tube shape telescopic arm, the 3rd Ladder square tube shape telescopic arm, the second multi-stage expansion shell type oil cylinder, end cap and push pedal composition, the second ladder square tube shape fixed arm are provided with Ring flange, cylinder shoulder and long slot bore, the second ladder square tube shape telescopic arm are provided with first shoulder, second shoulder and long slot bore, the 3rd rank Terraced square tube shape telescopic arm is provided with a shoulder and two monaural rings, and the second multi-stage expansion shell type oil cylinder is provided with first flange disk, the first order Extension sleeve, second level extension sleeve and second flange disk；

End cap is symmetrically fixed on the second multi-stage expansion shell type oil cylinder first flange disk, the 3rd ladder square tube shape telescopic arm set On the second multi-stage expansion shell type oil cylinder, the second multi-stage expansion shell type oil cylinder second flange disk is made to stretch with the 3rd ladder square tube shape Contracting arm blind end is connected, and the second ladder square tube shape telescopic arm is sheathed on the 3rd ladder square tube shape telescopic arm, then by the second ladder Square tube shape fixed arm is sheathed on the second ladder square tube shape telescopic arm, makes end cap be connected with ladder square tube shape fixed arm ring flange, Push pedal is fixed on the 3rd ladder square tube shape telescopic arm blind end, and the 9th laser displacement sensor is symmetrically fixed on the second ladder side Tubular fixed arm side, constitutes 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, constitute rigid hanger；

Described pick-and-place sleeper device is by the 4th spiral rotary actuator, yielding coupling and interior wide-mouth nut group Into the 4th spiral rotary actuator is provided with ring flange and output shaft, and interior wide-mouth nut is provided with axle journal；

4th spiral rotary actuator is penetrated in sill circular hole, the 4th spiral rotary actuator ring flange is fixed on down Above crossbeam, the 3rd yielding coupling makes the 4th spiral rotary actuator output shaft be connected with interior wide-mouth nut axle journal, constitutes pick-and-place Sleeper device；

Two telescopic cantilever boom devices are symmetrically fixed on two longerons of railcar, the second ladder side of telescoping crossbeam device Tubular fixed arm is fixed on below two cantilever girder cantilevers, and two ears rings of entablature are flexible with the 3rd ladder square tube shape respectively Two monaural ring coaxial bolts connections of arm, constitute sleeper handling apparatus.

The invention has the beneficial effects as follows：

1. equipment can be directed at into operating position quickly；

2. the ballast between sleeper quickly can be discharged, while removing automatically the sandy soil in rock ballast；

3. railway roadbed ballast on the outside of pillow end quickly can be removed；

4. railway roadbed ballast below rail quickly can be removed；

5. can realize that four nuts are synchronously assembled and disassembled, make four nut pretightning forces consistent, improve the fatigue life of bolt, protect The reliability that card sleeper is connected with rail；

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

7. can quickly handling and put sleeper work；

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

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

10. can be backfilling into the ballast for being switched tracks between pillow quickly tamping shake it is flat；

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

12. can realize automatically controlling, easy to operate, change pillow high working efficiency.

Description of the drawings

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

Fig. 2 is the front view of Fig. 1.

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

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

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

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

Fig. 7 is enlarged diagram at A in Fig. 6.

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

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

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

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

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

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

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

Figure 15 is that the clear stone device of grab bucket of the present invention arranges stone working condition schematic perspective view.

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

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

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

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

Figure 20 is ballast collection arranging device row's stone working condition schematic perspective view of the present invention.

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

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

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

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

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

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

Figure 27 is the chain tooth row stone working state of device schematic perspective view of the present invention.

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

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

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

Figure 31 is the chain tooth row stone device schematic perspective view of the present invention.

Figure 32 is the chain tooth row stone component exploded perspective schematic diagram of the present invention.

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

Figure 34 is four nut of the sleeper synchronization assembling and disassembling device working condition schematic perspective view of the present invention.

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

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

Figure 37 is that rail-lifting equipment, swivel block and the push-and-pull sleeper device of the present invention and handling sleeper device off working state are three-dimensional Schematic diagram.

Figure 38 is close-up schematic view at C in Figure 37.

Figure 39 is the rail-lifting equipment working condition schematic perspective view of the present invention.

Figure 40 is the first crossbeam retractable driving device exploded perspective schematic diagram of the present invention.

Figure 41 is the first pendulous device exploded perspective schematic diagram of the present invention.

Figure 42 is the second cross beam retractable driving device exploded perspective schematic diagram of the present invention.

Figure 43 is the second pendulous device exploded perspective schematic diagram of the present invention.

Figure 44 is the crawl of the present invention and swivel block device exploded perspective schematic diagram.

Figure 45 is the reciprocator schematic perspective view of the present invention.

Figure 46 is the reciprocating movement driving device exploded perspective schematic diagram of the present invention.

Figure 47 is the storage sleeper case schematic perspective view of the present invention.

Figure 48 is the rail-lifting equipment and swivel block of the present invention and push-and-pull sleeper working state of device schematic perspective view

Figure 49 is the handling sleeper working state of device schematic perspective view of the present invention.

Figure 50 is the telescopic cantilever boom device exploded perspective schematic diagram of the present invention.

Figure 51 is the telescoping crossbeam device exploded perspective schematic diagram of the present invention.

Figure 52 is the left view of Figure 37.

Figure 53 is close-up schematic view at D in Figure 52.

Specific embodiment

Fig. 1 and Fig. 2 is referred to, the present invention is by the flat quarrel device 1 of tamping, road shoulder and railway roadbed modification device 2, clear stone dress of grabbing bucket Put 3, ballast collection arranging device 4, the clear stone device 5 in pillow end, chain tooth row stone device 6, four nuts synchronization assembling and disassembling device 7, 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 Composition.Railcar is provided with multiple castors 201 and two longerons 202, and tamping is put down quarrel device 1, road shoulder and railway roadbed modification device 2, grabbed Struggle against clear stone device 3, ballast collection arranging device 4, the clear stone device 5 in pillow end, chain tooth row stone device 6, four nuts synchronization assembling and disassembling device 7, the One rail-lifting equipment 8, transition and push-and-pull sleeper device 9, sleeper handling apparatus 16, railcar 20, generator 18 and hydraulic system and Control system case 19 is arranged on two longerons 202 of railcar, railcar 20 by engineering truck draw, generator 18 be oil pump and Control system provides power, is provided with fuel tank, oil pump, hydraulic control system and automatically controls in Hydraulic system and control System cabine 19 System；

Fig. 3 to Fig. 7 is referred to, the flat quarrel device 1 of described tamping is by entablature 11, the first lowering or hoisting gear 12 and the component that vibrates 13 compositions, entablature 11 are provided with two connecting plates 111, and connecting plate is provided with several bolts hole 1111；

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

Described sill component 121 is by the first square tube shape fixed arm 1211 and two the first square tube shape telescopic arms 1212 Composition, the first square tube shape fixed arm 1211 are provided with symmetrical two long slot bore 12111, and the first square tube shape telescopic arm 1212 is provided with envelope Closed end 12121 and two monaural rings 12122；

The first described lifting drive 122 is by the double rod hydraulic pressure of the first square tube shape fixed arm 1211, dual Piston Oil cylinder 1221 and two the first square tube shape telescopic arms 1212 are constituted, the cylinder body side of being provided with of dual Piston pair rod hydraulic jack 1221 Shape ring flange 12211, piston rod free end is provided with ring flange 12212；

Described parallelogram lindage 123 is by 11 groups of 1212, two forks 1231 of the first square tube shape telescopic arm and entablature Into；

Two the first square tube shape telescopic arms 1212 are sheathed on from double 1221 two ends of rod hydraulic jack of dual Piston respectively Thereon, make the first square tube shape telescopic arm blind end 12121 solid with the double rod hydraulic cylinder piston rod ring flanges 12212 of dual Piston Even, the first square tube shape fixed arm 1211 is sheathed on two the first square tube shape telescopic arms 1212, makes the double rod hydraulic pressure of dual Piston Oil cylinder square flange 12211 is symmetrically fixed on 1211 endoporus upper surface of the first square tube shape fixed arm, and the first lifting of composition is driven Dynamic device 122；

By one end of two forks 1231 respectively with 1212 chain connection of the first square tube shape telescopic arm, two forks 1231 The other end respectively with 11 chain connection of entablature, constitute parallelogram lindage 123, be symmetrical in entablature 11 and the first square tube shape solid The vertical plane of symmetry for determining arm 1211 assembles another parallelogram lindage 123, is connected first laser displacement transducer 125 symmetrical Above the first square tube shape fixed arm 1211, the first lowering or hoisting gear 12 is constituted；

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

Bolt 1311 is passed through into entablature connecting plate bolt hole 1111, helical spring 1312 is sheathed on bolt 1311, Oscillating plate bolt hole 1321 is then passed through, then another helical spring 1312 is sheathed on bolt 1311, pad 1313 is arranged On bolt 1311,1313 pretension of hex nut, oscillating plate 132 realize elastic connection with entablature 11；Vibrating spear 133 is passed through and is shaken Dynamic plate circular hole 1322,134 pretension of the first hex nut, the first dither motor 135 are symmetrically fixed on above oscillating plate, and first Square tube shape fixed arm 1211 is symmetrically fixed on two longerons 202 of railcar, the flat quarrel device 1 of composition tamping；

Fig. 8 to Figure 12 is referred to, described road shoulder and railway roadbed modification device 2 are stretched by the first entablature component 21, first Contracting driving means 22, the second lowering or hoisting gear 23 and bucket device 24 are constituted；

The first described entablature component 21 be by the second square tube shape fixed arm 211, the second square tube shape telescopic arm 212, Dual-laser displacement transducer 213 and the second range finding reference plate 214 are constituted, and the second square tube shape fixed arm 211 is provided with blind end 2111 With four ears rings 2112, the second square tube shape telescopic arm 212 is provided with blind end 2121；

The first described retractable driving device 22 is by the second square tube shape fixed arm 211, two-way ram oil cylinder 221 and Two square tube shape telescopic arms 212 are constituted, and 221 cylinder body of two-way ram oil cylinder is provided with square slider 2211 and ring flange 2212, piston Bar free end is provided with ring flange 2213；

Second square tube shape telescopic arm 212 is sheathed on two-way ram oil cylinder 221, closes the second square tube shape telescopic arm End 2121 is connected with two-way ram cylinder piston rod ring flange 2213, then the second square tube shape fixed arm 211 is sheathed on second On square tube shape telescopic arm 212, and two-way ram cylinder flange disk 2212 is symmetrically fixed on into the closing of the second square tube shape fixed arm End 2111, constitutes the first retractable driving device 22, and two-way ram oil cylinder 221 and the second square tube shape telescopic arm 212 form movement Pair, second laser displacement transducer 213 is symmetrically fixed on above the second square tube shape fixed arm 211, the second range finding reference plate 214 It is fixed on above the second square telescopic arm 212；

The second described lowering or hoisting gear 23 is by two first series connection parallelogram lindages 231, the second lifting drives 233rd, Equipoising support apparatus 234 are servo-actuated and the 3rd laser displacement sensor 235 is constituted；

Described first series connection parallelogram lindage 231 by sill 2311, the first fork 2312, the second fork 2313, Two the 3rd forks 2314, first connecting rod 2315 and the second square tube shape fixed arms 211 are constituted, and first connecting rod 2315 is provided with monaural ring 23151 and ears ring 23152；

The second described lifting drive 233 is to stretch out oil cylinder 2331 and two first companies by double multi-stage expansion shell types are double Bar 2315 is constituted, and the double two final stage extension sleeve free ends for stretching out oil cylinder 2331 of double multi-stage expansion shell types are provided with monaural ring 23311；

Described servo-actuated Equipoising support apparatus 234 be by plate shape entablature 2340, second series connection parallelogram lindage 2341, First strut 2342, the second strut 2343, the turriform linear Stiffness spring 2346, two of slide block 2345, two of slide bar 2344, two 2347, two the second bolts 2348 of individual hex nut and two the 3rd bolts 2349 are constituted, and slide bar 2344 is provided with fixed disc 23441st, two light bar segments 23442 and two thread segments 23443 are arranged with；Slide block 2345 is provided with circular hole 23451 and a pair same Axle thread blind hole 23452；

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

By the first fork 2312 and 2311 chain connection of sill, the second fork 2313, the 4th fork 23312 and sill Chain connection between 2311 3 components, 2312 ears ring of the first fork, 2314 ears ring of the 3rd fork and first connecting rod monaural ring 23151 coaxially penetrate pin hinge connection, and 2313 ears ring of the second fork, another 2314 ears ring of the 3rd fork, first connect Bar ears ring 23152 and the double oil cylinder monaural rings 23231 that stretch out of double multi-stage expansion shell types coaxially penetrate pin hinge connection, two the 211 chain connection of three forks 2314 and the second square tube shape fixed arm, composition the first series connection parallelogram lindage 231, repetition are aforementioned Assembly operation, is symmetrical in sill 2311 and the 211 vertical plane of symmetry of the second square tube shape fixed arm assembles another first series connection and puts down Row four-bar mechanism 231；

Two turriform linear Stiffness springs 2346 are sheathed on into two light bar segments 23442 of slide bar respectively, then by two Slide block 2345 is sheathed on two light bar segments 23442 of slide bar respectively, and two hex nuts 2347 are distinguished pretension, make two slide blocks 2345 make the 2346 appropriate compression of turriform linear Stiffness spring respectively, by the 5th fork 23413 and 2311 chain connection of sill, Make the left side monaural ring of two second connecting rods 23416 ears ring respectively with the 4th fork 23412,2314 ears ring of the 6th fork Coaxial with a pair of tapped blind holes 23452 of slide block, two the first bolts 2348 distinguish pretension, make the 4th fork 23412, the 6th pendulum Chain connection between 2,345 3 components of bar 23414 and slide block, by the right monaural ring of two second connecting rods 23416 respectively with the 5th The ears ring of fork 23413,23415 ears ring of the 7th fork are coaxial, and two bearing pins 23417 are respectively penetrated, and make second connecting rod 23416th, chain connection, the 6th fork 23414 and the 7th fork between 23,415 3 components of the 5th fork 23413 and the 7th fork 23415 chain connections between 2,340 3 components of plate shape entablature respectively, composition second are connected parallelogram lindage 2341；

By a pair of tapped blind holes 23452 of 2342 ears ring of the first strut, 2343 ears ring of the second strut and slide block 2345 Coaxially, two the second bolts 2349 distinguish pretension, make between the first strut 2342,2,345 3 components of the second strut 2343 and slide block Chain connection, the 6th fork 23414, the 7th fork 23415 and the second strut 2343 and 2340 chain connection of plate shape entablature, group Into servo-actuated Equipoising support apparatus 234；

Double multi-stage expansion shell types pair are stretched out oil cylinder 2331 to be symmetrically fixed on plate shape entablature 2340, four the 3rd are put 3rd laser displacement sensor 235 is symmetrically fixed on the second square tube by 211 chain connection of bar 2314 and the second square tube shape fixed arm Below shape fixed arm 211, the second lowering or hoisting gear 23 is constituted；

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

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

Cylinder body of hydraulic oil cylinder monaural ring 2512 is coaxially penetrated pin hinge with the second ears of arm ring 263 to be connected, strut Monaural ring 2522 coaxially penetrates pin hinge with the first ears of arm ring 262 and is connected, the second ears of bucket body ring 2542 and arm list Earrings 261 coaxially penetrates pin hinge connection, and connecting rod monaural ring 2531 coaxially penetrates bearing pin hinge with the first ears of bucket body ring 2541 Chain connects, and connecting rod ears ring 2532, strut ears ring 2521 and hydraulic cylinder piston rod monocyclic 2511 coaxially penetrate pin hinge Connection, constitutes the first bucket component 25, U-shaped suspension rod 27 is connected with arm ring flange 264, constitutes bucket device 24, U-shaped is hung Bar 27 is fixed on the second square tube shape telescopic arm 212, constitutes road shoulder and railway roadbed modification device 2；

Refer to Figure 13 to Figure 21, the clear stone device of described grab bucket 3 is by 31, two 32 and of the 3rd lowering or hoisting gear of entablature Eight the first grab mechanisms 33 are constituted, and entablature 31 is provided with two longerons 311 and two cantilever longitudinal beams 312；

The 3rd described lowering or hoisting gear 32 is carried out and first liter as the composition and version of the first lowering or hoisting gear 12 12 identical assembly operation of falling unit, constitutes the 3rd lowering or hoisting gear 32；

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

Second bucket component 34 and the first bucket component 25 constitute and version as；

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

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

Described casing 41 be provided with base plate 411, the collection stone of flechette-type bottom 412, two first storehouses 413, second collect stone storehouse 414, Two 415, two, square tube shape hole gradual change isosceles trapezoid grooves 416, four first convex stupefied 417 and two second convex stupefied 418, base plate 411 are provided with several bolts hole 4111, and flechette-type bottom 412 is provided with several sieve apertures 4121, and the first collection stone storehouse 413 is provided with symmetrical two Individual row's stone mouth 4131 and two collection stone mouths 4132, the second collection stone storehouse 414 are provided with symmetrical two row's stone mouth 4141 and two collection stones Mouth 4142, the first convex stupefied 417 top and bottom are provided with symmetrical two ears ring 4171, and the second convex stupefied 418 top and bottom are provided with symmetrical Two ears rings 4181, stone removing door 42 are provided with two the first monaural rings 421 and four the second monaural rings 422, and collection crossdrift 43 is provided with Two the first monaural rings, 431, four the second monaural rings 432 and six spill plates 433；

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

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

The second described elastic connecting component 47 and the first Flexible Connector 131 constitute and version as；

Stone removing door is driven into 441 piston rod monaural ring of oil cylinder, first pull bar the first ears ring 4421, the second pull bar the A pair of earrings 4431 coaxially penetrates pin hinge connection, composition stone removing door driving means 44；

Collection crossdrift is driven into 451 piston rod monaural ring of oil cylinder, the 3rd the first ears of pull bar ring 4521, the 4th pull bar the A pair of earrings 4531 coaxially penetrates pin hinge connection, composition collection crossdrift driving means 45；

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

Stone removing door driving oil cylinder 441 is respectively fixedly connected with the madial wall in two square tube shape holes 415, two the first pull bars Second ears ring 4422 is co-axially inserted pin hinge with two the first monaural rings 421 of stone removing door respectively and is connected, two the second push-and-pulls The second ears of bar ring 4432 is co-axially inserted pin hinge with two the first monaural rings 421 of another stone removing door respectively and is connected, will collection Crossdrift drives oil cylinder 451 to be respectively fixedly connected with the lateral wall in two square tube shape holes 415, two the 3rd pull bar the second ears rings 4522 are co-axially inserted pin hinge with collection two the first monaural rings 431 of crossdrift respectively is connected, two the 4th the second ears of pull bar Ring 4432 is co-axially inserted pin hinge with two the first monaural rings 431 of another stone removing door respectively and is connected, and two end caps 49 are distinguished It is fixed on casing 41；

Bolt 1311 is passed through into sill bolt hole 461, helical spring 1312 is sheathed on bolt 1311, is then passed through Box bottom bolt hole 4111, then another helical spring 1312 is sheathed on bolt 1311, pad 1313 is sheathed on bolt On 1311,1314 pretension of hex nut, casing 41 realize elastic connection with crossbeam 46；Second dither motor 48 is symmetrical connected On box bottom 411, crossbeam 46 is symmetrically fixed on two longerons 202 of railcar, and cmos image sensor 40 is fixed on horizontal stroke Below beam 46, composition ballast collection arranging device 4；

Refer to Figure 22 to Figure 26, the clear stone device in described pillow end 5 is by the second entablature component 51, the second telescopic drive Device 52, the 4th lowering or hoisting gear 53, the second grab mechanisms 54 and U-shaped bar 55 are constituted；

The second described entablature component 52 and the first entablature component 21 constitute and version as, carry out and first 21 identical assembly operation of entablature component, constitutes the second entablature component 52；

The second described retractable driving device 52 and the first retractable driving device 22 constitute and version as, carry out with First retractable driving device, 22 identical assembly operation, constitutes the second retractable driving device 52；

The 4th described lowering or hoisting gear 53 and the second lowering or hoisting gear 23 constitute and version as, carry out and the second lifting 23 identical assembly operation of device, constitutes the 4th lowering or hoisting gear 53；

The second described grab mechanisms 54 and the first grab mechanisms 33 constitute and version as, carry out and the first grab bucket 33 identical of device is assembled, and constitutes the second grab mechanisms 54；

Arm ring flange 354 is connected with U-shaped bar 55, then U-shaped bar 55 is fixed on the second square tube shape telescopic arm 212, The clear stone device in composition pillow end 5；

Figure 27 to Figure 33 is referred to, described chain tooth row stone device 6 is by the 3rd entablature component 61, the 3rd telescopic drive The 5th lowering or hoisting gear 63 of device 62 and chain tooth row stone component 64 are constituted；

The 3rd described entablature component 61 is by 611, two third party's tubular telescopic arms of third party's tubular fixed arm 612nd, the 4th laser displacement sensor 613 and the 4th range finding reference plate 614 are constituted, and third party's tubular fixed arm 611 is provided with four Ears ring 6111, third party's tubular telescopic arm 612 are provided with blind end 6121；

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

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

The 5th described lowering or hoisting gear 63 and the second lowering or hoisting gear 23 constitute and version as, carry out and the second lifting 23 identical assembly operation of device, constitutes the 5th lowering or hoisting gear 63；

Described chain tooth row stone component 64 is by the chain of yielding coupling 642, two of double output shaft hydraulic motor 641, two Tooth row stone part 643,644, eight C-shaped-rods 645 of U-shaped bar and suspension bracket 646 are constituted, and U-shaped bar 644 is provided with two circular flange disks 6441 and square flange 6442, C-shaped-rod 645 is provided with first flange disk 6451 and second flange disk 6452, and suspension bracket 646 is provided with two Individual first flange disk 6461 and eight second flange disks 6462；

Described chain tooth row stone part 643 is by square beam 6431, sprocket wheel 6432, sprocket wheel wheel shaft 6433, inducer 6434th, 6435, four, inducer wheel shaft BOGEY WHEEL 6436, four BOGEY WHEEL wheel shaft 6437, several chain tooth assemblies 6438 and several Bearing pin 6439 is constituted, and square beam 6431 is provided with the first ears ring 64311, the second ears ring 64312 and four the 3rd ears Ring 64313；

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

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

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

Will be sprocket crab bolt hole 64386 and first the second monaural of carrier bar ring 64390 coaxial, penetrate bolt 64383, nut 64384 pretensions, another bolt hole 64386 of chain tooth plate and second the second monaural of carrier bar ring 64394 coaxially, penetrate bolt 64383, 64384 pretension of nut, constitutes chain link 64382, by first carrier bar the first monaural ring 64389 of the first chain link, the second chain link first The 3rd monaural ring 64391 of carrier bar, sleeve 64381, the 3rd monaural ring 64395 of second the second carrier bar of chain link and first the second chain of chain link The first monaural of plate ring 64393 coaxially penetrates 6439 chain connection of bearing pin, repeats aforementioned operation, until several chain links 64382 are cut with scissors One is connect, will be the square beam 6431 being assembled into one, sprocket wheel 6432, inducer 6434 and four BOGEY WHEELs 6436 placed on it, By first carrier bar the first monaural ring 64389 of last chain link, the 3rd monaural ring 64391, sleeve of first the first carrier bar of chain link 64381st, the 3rd monaural ring 64393 of first the second carrier bar of chain link and last chain link the first monaural of the second carrier bar ring 64395 are coaxially worn Enter 6339 chain connection of bearing pin, make all 6438 chain connection of chain tooth assembly annular integrative-structures, constitute chain tooth row stone part 643,

Will be 641 double output shaft of double output shaft hydraulic motor, two yielding couplings 642 and two sprocket wheel wheel shafts 6433 solid Even, 644 square flange of U-shaped bar is fixed on the 3rd double output shaft hydraulic motor 641, eight C-shaped-rod second flange disks 6452 Be respectively symmetrically and be fixed on two square beams 6431, eight second flange disks 6462 of suspension bracket respectively with eight the first methods of C-shaped-rod Blue disk 6451 is connected, and two first flange disks 6461 of two circular flange disks 6441 of U-shaped bar and suspension bracket are respectively fixedly connected with third party On tubular telescopic arm 612, composition chain tooth row stone device 6；

Refer to Figure 34 to Figure 36, described four nut of sleeper synchronization assembling and disassembling device 7 be by the 4th entablature component 71, the Six lowering or hoisting gears 72 and two nut assembling and disassembling devices 73 are constituted；

The 4th described entablature component 71 is by the 5th square tube shape fixed arm 711 and two the 5th square tube shape telescopic arms 712 compositions, the 5th square tube shape fixed arm 711 are provided with symmetrical two long slot bore 7111, and the 5th square tube shape telescopic arm 712 is provided with two Individual monaural ring 7121 and two symmetrical grooves 7122, groove 7122 are provided with bolt hole 71221；

As the 4th described entablature component 71 is constituted with sill component 121, except aforesaid 5th square tube shape is fixed 711 orientation of arm and 1211 orientation of the first square tube shape fixed arm is different, 712 orientation of the 5th square tube shape telescopic arm and the first square tube shape 1212 orientation of telescopic arm is different, and remaining all component structural form is the same；

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

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

Described parallelogram lindage 722 is by 7221, two forks 7222 of sill and the 5th square tube shape telescopic arm 712 Composition, sill 7221 are provided with four ears rings 72211 and two symmetrical long slot bores 72212；

Carry out and 122 identical assembly operation of the first lifting drive, constitute the 6th lifting drive 721；

By one end of two forks 7222 respectively with 712 chain connection of the 5th square tube shape telescopic arm, two forks 7222 The other end respectively with 7221 chain connection of sill, constitute parallelogram lindage 722, be symmetrical in the 5th square tube shape fixed arm 711 and the vertical plane of symmetry of sill 7221 assemble another parallelogram lindage 722, by the 6th laser displacement sensor 723 Symmetrically it is fixed on below the 5th square tube shape fixed arm 711, constitutes the 6th lowering or hoisting gear 72；

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

Upper lid 733 is sheathed on into the first spiral rotary actuator output shaft circular shaft section 7322, lid 733 and the first spiral shell is made Rotation rotary actuator ring flange 7321 is connected, then circular connecting plate 734 is sheathed on the output of the first spiral rotary actuator Six prism shaft part 7323 of axle, 735 pretension of the first hex nut, internal gear 736 is coaxial with circular connecting plate 734 to be connected, gear 738 It is sheathed on the first axle journal of power transmission shaft 7371 to be connected, the first thrust bearing 740 is sheathed on the second axle journal of power transmission shaft 7372, power transmission shaft 737 make the first thrust bearing 740 contact with housing 739 through housing axis hole 7392, and the second thrust bearing 741 is sheathed on power transmission shaft On 3rd axle journal 7373, the second hex nut 742 screws on 7375 pretension of power transmission shaft thread segment, and yielding coupling 743 makes power transmission shaft 4th axle journal 7374 is coaxial with interior wide-mouth magnetic coupling box axle journal 7441 to be connected, and internal gear 736 is inserted in housing 739, two The gear teeth flank of tooth of gear 738 gear teeth face respectively with internal gear 736, upper lid 733 are connected with shell flange disk 7391, and two One end of individual suspension rod 731 is symmetrically fixed on 739 both sides of housing, composition nut assembling and disassembling device 73, the other end pair of two suspension rods 731 Title is fixed on 711 2 sides of the 4th square tube shape fixed arm, and sill 7221 is fixed on two 202 medial surfaces of longeron of railcar On, composition sleeper four nuts synchronization assembling and disassembling device 7；

Figure 37 to Figure 53 is referred to, described rail-lifting equipment 8 is driven by first crossbeam telescopic component 81, first crossbeam is flexible 82, two 86, eight, box connecting rod bolts of hex nut 85, two of fork 84, eight of the first pendulous device 83, eight of dynamic device 87th, two flexible shell types carry cylinder of rail 88 and constitute, and fork 84 is provided with six prism hole monaural rings 841 and monaural ring 842, box connecting rod 86 are arranged with four bolts hole 861 and semicylindrical opening 862, and flexible shell type carries 88 cylinder body of cylinder of rail and is provided with gusset 881, lives Stopper rod free end is provided with fagging 882；

Described first crossbeam telescopic component 81 is by 811, two the 5th square tube shape telescopic arms of the 5th square tube shape fixed arm 812nd, the 6th laser displacement sensor 813 and the 6th range finding reference plate 814 are constituted, and the 5th square tube shape telescopic arm 812 is provided with closing End 8121；

Described first crossbeam retractable driving device 82 as the composition of the first lifting drive 122, except aforesaid 5th square tube shape fixed arm 811 and 1211 version of the first square tube shape fixed arm is different, 812 and of the 5th square tube shape telescopic arm First square tube shape telescopic arm, 1212 version is different, and remaining all component structural form is the same；

Carry out and 122 identical assembly operation of the first lifting drive, composition first crossbeam retractable driving device 82；The Six laser displacement sensors 813 are symmetrically fixed on 811 side of the 5th square tube shape fixed arm, and the 6th range finding reference plate 814 is fixed on 5th square tube shape telescopic arm, 812 side；

The first described pendulous device 83 is by the first casing 831, the second spiral rotary actuator 832, incomplete tooth Wheel 833, two sector gears, 834, two multidiameters 835 and embedded cover plate 836 are constituted, and the first casing 831 is provided with two axles Hole 8311, the first positive stop lug boss 8312 and the second positive stop lug boss 8313, multidiameter 835 are provided with the first axle journal 8351, the second axle journal 8352nd, the 3rd axle journal 8353, the one or six prism shaft part 8354 and the two or six prism shaft part 8355, embedded cover plate 836 are provided with two Individual axis hole 8361, the first positive stop lug boss 8362 and the second positive stop lug boss 8363；

Two sector gears 834 are arranged respectively and are fixed on first diameter of axle 8351 of two multidiameters, two multidiameters 835 are each passed through two axis holes 8311 of casing, 835 second axle journal 8352 of multidiameter is formed with casing axis hole 8311 and rotate secondary, Partial gear 833 is arranged and is fixed on 832 output shaft of the second spiral rotary actuator, be placed in the first casing 831, The gear teeth of partial gear 833 are made to contact along the facewidth with the gear teeth of two sector gears respectively, the second spiral rotary actuator 832 are fixed on 831 base plate of the first casing, and two axis holes 8371 of embedded cover plate 837 are sheathed on two multidiameters respectively On three axle journals 8353, make embedded cover plate 837 and the first casing 831 be connected, constitute the first pendulous device 83；

Two forks, six prism hole monaural ring 841 is sheathed on into two the one or six prism shaft parts 8354 of multidiameter respectively, two Individual first hex nut 85 distinguishes pretension, then six prism hole monaural ring 841 of other two forks is sheathed on two ladders respectively The two or six prism shaft part 8355 of axle, in addition two the first hex nuts 85 distinguish pretension, make one end of four forks 84 respectively with The two ends of two multidiameters 835 are connected, and four screwed holes 861 of four fork monaural rings 842 and box connecting rod are coaxial, four first 87 pretension of bolt, make four forks 84 respectively with 86 chain connection of box connecting rod, form parallelogram lindage in parallel；

Two the first casings 831 are respectively fixedly connected with the blind end 8121 of two the 5th square tube shape telescopic arms, two are made One pendulous device 83 is symmetrical arranged, and two flexible shell types is carried 88 cylinder body of cylinder of rail and is respectively fixedly connected with two box connecting rod semicolumns In hole 862, make two flexible shell types carry cylinder of rail 88 and be symmetrical arranged, constitute rail-lifting equipment 8, by the 5th square tube shape fixed arm 811 Symmetrically it is fixed on two longerons 202 of railcar；

Described swivel block and push-and-pull sleeper device 9 are by second cross beam telescopic component 90, second cross beam retractable driving device 91st, 92, four the first forks 93 of the second pendulous device, crawl and 94, four the first hex nuts 96 of swivel block device and four spiral shells Bolt 97 is constituted, and the first fork 93 is provided with six prism hole monaural rings 931 and monaural ring 932；

Described second cross beam telescopic component 90 be by the 6th square tube shape fixed arm 901, the 6th square tube shape telescopic arm 902, 7th laser displacement sensor 903 and the 7th range finding reference plate 904 are constituted, and the 6th square tube shape telescopic arm 902 is provided with blind end 9021；

Described second cross beam retractable driving device 91 and the first retractable driving device 22 are constituted, except aforementioned 6th side Tubular fixed arm 901 and 211 version of the second square tube shape fixed arm are different, and remaining all component structural form is the same；

Carry out and 22 identical assembly operation of the first retractable driving device, composition second cross beam retractable driving device 91, the Seven laser displacement sensors 903 are symmetrically fixed on 901 side of the 6th square tube shape fixed arm, and the 7th range finding reference plate 904 is fixed on 6th square tube shape telescopic arm, 902 side；

The second described pendulous device 92 and the first pendulous device 83 constitute and version as, carry out and first swing 83 identical assembly operation of device, constitutes the second pendulous device 92；

Described crawl and swivel block device 94 are by the second casing 941, the 3rd 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 951, two the second forks, 952, two rollers 953, end cap 954 and two machines 955 device of machinery claw is constituted, 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 9416,942 output shaft of the 3rd spiral rotary actuator Connected ring flange 9421, ring flange 9421 are provided with spacing fan-shaped 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 9432,9433 and of the second axle journal 3rd axle journal 9434, ring flange 9431 are provided with spacing fan-shaped 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, the slotted eye 9493, two of axis hole 9492, two 9494, four the first monaural rings 9495 of pin-and-hole and eight the second monaural rings 9496, first connecting rod 950 are provided with ears ring 9501 and list Earrings 9502, second connecting rod 951 are provided with two ears rings 9511, and the second fork 952 is provided with monaural ring 9521, pin-and-hole 9522 and double Earrings 9523；

Described gripper 955 is by ladder U-bracket 949, four the 3rd forks, 9551, two helical springs 9552 Constitute with pressing plate 9553, the 3rd fork 9551 is provided with two ears rings 95511, pressing plate 9553 is provided with two the first monaural rings 95531 and four the second monaural rings 95532；

3rd spiral rotary actuator output shaft ring flange spacing fan-shaped boss 94211 is limited with hydraulic jack ring flange The fan-shaped boss 94311 in position aligns connected, and the first thrust bearing 944 is sheathed on the first axle journal of hydraulic jack 9432, by hydraulic oil Cylinder is penetrated in 941 shoulder hole of the second casing, makes the 3rd spiral rotary actuator output shaft ring flange 9421 and hydraulic jack method Blue disk 9431 inserts second the first circular hole portion of casing 9413, makes the spacing sector of the 3rd spiral rotary actuator output shaft ring flange Boss 94211 and the spacing fan-shaped boss of hydraulic jack ring flange 94311 are inserted in fan-shaped hole section 9413, make two spacing sectors convex Platform left surface is contacted with the first confined planes of fan-shaped hole section 94131, makes the first thrust bearing 944 insert second the second circular hole portion of casing 9414, the 3rd spiral rotary actuator 942 is fixed on 941 base plate of the second casing, make end cap 954 and the second casing 941 It is connected；

Second thrust bearing 945 is sheathed on the 3rd axle journal 9434 of oil cylinder so as to insert the 3rd circular hole portion of the second casing 9416 sections, piston rod 948 passes through ladder U-bracket axis hole 9492, and piston axis hole 9471 is sheathed on piston rod axle journal 9481, nut 946 pretensions, piston 947 are inserted in 943 cylinder barrel of hydraulic jack, ladder U-bracket flange 9491 are penetrated 943 cylinder of hydraulic jack Cylinder is connected, and makes 9415 chain connection of oil cylinder the second axle journal 9433 and the second housing bushing section, by piston rod ears ring 9482, second Connecting rod ears ring 9511 and first connecting rod monaural ring 9502 coaxially penetrate pin hinge connection, the second fork ears ring 9523 and rolling Wheel 953 coaxially penetrates pin hinge connection, and the second fork pin-and-hole 9522 coaxially penetrates bearing pin hinge with ladder U-bracket pin-and-hole 9494 Chain connects, and first connecting rod ears ring 9501 and second connecting rod ears ring 9511 are coaxially penetrated with the first fork monaural ring 9521 respectively Pin hinge connects；

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

Two the first forks, six prism hole monaural ring 931 is sheathed on into two the one or six prism shaft parts of multidiameter respectively 9254, two the first hex nuts 96 distinguish pretensions, then six prism hole monaural ring 931 of other two the first forks is arranged respectively In two the two or six prism shaft parts 9254 of multidiameter, two difference pretensions of the first hex nuts 96, make four the first forks in addition 93 one end is connected with the two ends of two multidiameters 925 respectively, four the first fork monaural rings 932 respectively with the second casing four Screwed hole 9411 is coaxial, and four the second bolts 97 distinguish pretension, four the first forks 93 is connected with 941 hinge of the second casing respectively Connect, form in-parallel four-bar mechanism；

First casing 831 is fixed on into the 6th square tube shape telescopic arm blind end 9021, composition swivel block and push-and-pull sleeper device 9；

Described sleeper handling apparatus 16 are by reciprocating motion storage sleeper device 160 and rigid hanger hoisting apparatus 168 Composition；

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 storehouses 1672, wherein left side half sleeper storehouse is used to store sleeper, it is right Side half sleeper storehouse is used to store bad sleeper.

Described reciprocator 161 is by base plate 162, the 3rd crossbeam telescopic component 163, reciprocating movement driving device 164th, symmetrically arranged two parallelogram lindages 165 and the 8th laser displacement sensor 166 are constituted；

The 3rd described crossbeam telescopic component 163 is stretched by the 7th square tube shape fixed arm 1631 and two the 7th square tube shapes Arm 1632 is constituted, and the 7th square tube shape fixed arm 1631 is provided with symmetrical two long slot bore 16311, the 7th square tube shape telescopic arm 1632 It is provided with blind end 16321 and two monaural rings 16322；

Described reciprocating movement driving device 164 as the composition of the first lifting drive 122, except the aforesaid 7th 1631 orientation of square tube shape fixed arm and 1211 orientation of the first square tube shape fixed arm is different, 1632 orientation of the 7th square tube shape telescopic arm It is different with 1212 orientation of the first square tube shape telescopic arm；Remaining all component structural form is the same；

Described parallelogram lindage 165 is by the 7th square tube shape telescopic arm 1632, two forks 1651 and moving beams 1652 compositions, moving beam 1652 are provided with two rollers 16521；

Carry out and 122 identical assembly operation of the first lifting drive, constitute reciprocating movement driving device 164；

By one end of two forks 1651 respectively with 1632 chain connection of the 7th square tube shape telescopic arm, two forks 1651 The other end respectively with 1652 chain connection of moving beam, constitute parallelogram lindage 165, the aforementioned assembly operation of repetition is symmetrical in The vertical plane of symmetry of the 7th square tube shape fixed arm 1631 and moving beam 1652 assembles another parallelogram lindage 165, base plate 162 are fixed on below the 7th square tube shape fixed arm 1631, and two rollers 16521 and 162 upper surface of base plate for making moving beam connect Touch, the 8th laser displacement sensor 166 is symmetrically fixed on into 1631 side of the 7th square tube shape fixed arm, constitute reciprocator 161；

Base plate 162 is fixed on into 20 crossbeam of railcar, the 5th square tube shape fixed arm 811 and the 6th square tube shape fixed arm 901 On, storage sleeper case 167 is fixed on moving beam 1652, and the roller 1671 and base plate 162 for making storage sleeper case 167 is connect above Touch, composition moves back and forth storage sleeper device 160；

Described rigid hanger hoisting apparatus 168 is by two telescopic cantilever boom devices 169, telescoping crossbeam device 170, just Property 171, two pick-and-place sleeper devices 172 of suspension bracket and the 9th laser displacement sensor 173 are constituted；

Described telescopic cantilever boom device 169 is 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 tenth laser displacement sensor 1698 constitute, 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 are provided with ring flange 16921 and cylinder shoulder 16922, and square tube shape telescopic arm 1693 sets There are ring flange 16931 and a 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 are provided with ring flange 16951；

End plate 1696 is symmetrically fixed on into the first multi-stage expansion shell type oil cylinder first flange disk 16941, square tube shape telescopic arm 1693 are sheathed on the first multi-stage expansion shell type oil cylinder 1694, make the first multi-stage expansion shell type oil cylinder second flange disk 16944 symmetrical The second square tube shape telescopic arm blind end 16932 is fixed on, the first ladder square tube shape telescopic arm 1692 is sheathed on square tube shape telescopic arm On 1693, the first ladder square tube shape fixed arm 1691 is sheathed on the first ladder square tube shape telescopic arm 1692, makes the first ladder side Cylinder fixed arm ring flange 16911 is connected with end plate 1696, and cantilever beam ring flange 16951 is fixed on square tube shape telescopic arm blind end On 16932, cantilever 1697 is fixed on cantilever beam ring flange 16951, and the tenth laser displacement sensor 1698 is fixed on cantilever On 1697, composition telescopic cantilever boom device 169；

Described telescoping crossbeam device 170 is stretched by the second ladder square tube shape fixed arm 1701, the second ladder square tube shape 1706 groups of arm 1702, the 3rd ladder square tube shape telescopic arm 1703, the second multi-stage expansion shell type oil cylinder 1704, end cap 1705 and push pedal Into the second ladder square tube shape fixed arm 1701 is provided with ring flange 17011, cylinder shoulder 17012 and long slot bore 17013, the second ladder side Tubular telescopic arm 1702 is provided with first shoulder, 17021, second shoulder 17022 and long slot bore 17023, and the 3rd ladder square tube shape is stretched Arm 1703 is provided with a shoulder 17031 and two monaural rings 17032, and the second multi-stage expansion shell type oil cylinder 1704 is provided with first flange disk 17041st, first order extension sleeve 17042, second level extension sleeve 17043 and second flange disk 17044；

End cap 1705 is symmetrically fixed on into the second multi-stage expansion shell type oil cylinder first flange disk 17041, the 3rd ladder square tube Shape telescopic arm 1703 is sheathed on the second multi-stage expansion shell type oil cylinder 1704, makes the second multi-stage expansion shell type oil cylinder second flange disk 17044 and 1703 blind end of the 3rd ladder square tube shape telescopic arm be connected, the second ladder square tube shape telescopic arm 1702 is sheathed on the 3rd On ladder square tube shape telescopic arm 1703, then the second ladder square tube shape fixed arm 1701 is sheathed on into the second ladder square tube shape telescopic arm On 1702, end cap 1705 is made to be connected with ladder square tube shape fixed arm ring flange 17011, push pedal 1706 is fixed on the 3rd ladder square tube 9th laser displacement sensor 173 is symmetrically fixed on the second ladder square tube shape fixed arm 1701 by 1703 blind end of shape telescopic arm Side, composition telescoping crossbeam device 170；

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

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

Described pick-and-place sleeper device 172 is by the 4th spiral rotary actuator 1721, the 3rd yielding coupling 1722 Constitute with interior wide-mouth nut 1723, the 4th spiral rotary actuator 1721 is provided with ring flange 17211 and output shaft 17212, interior Wide-mouth nut 1723 is provided with axle journal 17231；

4th spiral rotary actuator 1721 is penetrated in sill circular hole 17131, the 4th spiral rotary actuator Ring flange 17211 is fixed on above sill 17132, and the 3rd yielding coupling 1722 exports the 4th spiral rotary actuator Axle 17212 is connected with interior wide-mouth nut axle journal 17231, composition pick-and-place sleeper device 172；

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

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

1. clear stone screening work：On the outside of sleeper to be changed, bolt machine oil is marked, and engineering truck traction track car is run to treating When switching tracks pillow nearby, the image information of cmos image sensor collection, by pattern recognition system automatic identification, stops engineering truck The coaxial position of bolt is marked in cmos image sensor and machine oil, two ranked first grab mechanisms positioned at sleeper both sides to be changed sleeper Between, position shown in Fig. 1, oil pump are started working, and hydraulic oil makes the 3rd lifting drive the double rod hydraulic cylinder piston rods of dual Piston Start to stretch out, promote two the first square tube shape telescopic arms synchronously to stretch out, make two couple of symmetrically arranged two parallelogram lindages Fork relative to entablature dorsad synchronous hunting, entrust two and ranked first grab mechanisms decline, swashs by first by the 3rd lowering or hoisting gear Optical displacement sensor measures its displacement signal with entablature, carries out the double rod hydraulic pressure of the 3rd lifting drive control dual Piston The two hydraulic jack work of oil cylinder and grab bucket, when grab bucket is close to ballast between the sleeper of sleeper both sides to be changed, two hydraulic oil of grabbing bucket Cylinder piston rod starts to retract, and pulls two link motions respectively, makes symmetrically arranged two bucket bodies with respect to arm monaural ring dorsad Swing, make grab bucket be flared to maximum opening, two hydraulic cylinder piston rods of grab bucket stop retracting, when bucket tooth contacts ballast, the Three liftings drive the double rod hydraulic cylinder piston rods of dual Piston to stop stretching out, position shown in Figure 13, two hydraulic jacks of grabbing bucket Piston rod starts to stretch out, and promotes two link motions respectively, symmetrically arranged two bucket bodies is put with respect to arm monaural ring in opposite directions Move to gradually closing, ballast between crawl sleeper, two hydraulic cylinder piston rods of grab bucket stop stretching out, the 3rd lifting drives double-piston The double rod hydraulic cylinder piston rods of formula start to retract, and pull two the first square tube shape telescopic arms synchronously to retract, make symmetrically arranged Two pairs of forks of two parallelogram lindages relative to the opposite synchronous hunting of entablature, entrust two and ranked first and grab by the 3rd lowering or hoisting gear Bucket device rises to position shown in Figure 14, collection crossdrift two drive cylinder piston rods start it is synchronous stretch out, promote two the respectively Three pull bars and two the 4th pull bars, make two collection crossdrifts be rocked to position shown in Figure 14, and collection crossdrift two drives oil cylinder to live Stopper rod stops stretching out, and the second dither motor is started working, and casing starts vibration, and two hydraulic cylinder piston rods of grab bucket start It is synchronous to retract, two link motions are pulled respectively, make grab bucket gradually be flared to position shown in Figure 14, two hydraulic jacks of grab bucket are lived Stopper rod stops retracting, and the ballast in grab bucket rushes down to drop down onto two collection crossdrifts and be slipped to and collects in stone storehouse, and casing vibration makes stone in collection stone storehouse Sandy soil in quarrel, are separated in two gradual change isosceles trapezoid skewed slots by the sieve aperture of flechette-type bottom, and sandy soil are along two gradual change isosceles Trapezoidal skewed slot slides into two end cap sand discharges Tu Zui and discharges, and the ballast in waiting to grab bucket is slipped in collection stone storehouse completely, collects crossdrift two Individual driving cylinder piston rod starts synchronous retraction, pulls two the first pull bars and two the second pull bars respectively, makes two collection Crossdrift is rocked to position shown in Fig. 1, and collection crossdrift two drives cylinder piston rod to stop retracting, and the second dither motor stops work Make, while two hydraulic cylinder piston rods of grab bucket start synchronously to stretch out, promote two link motions respectively, grab bucket is gradually closed Close, two hydraulic cylinder piston rods of grab bucket stop stretching out, and clear stone sieves end-of-job；

2. rest the head on end lasher to make：Engineering truck traction track car is moved to left, by the firm rail of pattern recognition system automatic identification sleeper The number of outer bolt image, makes railcar move to left two sleeper pitches, and the second grab mechanisms are located above the pillow end of sleeper to be changed, Hydraulic oil makes the second telescopic drive two-way ram cylinder piston rod start to stretch out, and promotes the second square tube shape telescopic arm to entrust second Grab mechanisms are moved out, second laser displacement sensor its displacement signal with the second range finding reference plate, control the Two telescopic drive two-way ram oil cylinders and grab bucket hydraulic jack work, while hydraulic oil makes the 4th lifting drive double multi-stage expansions The double multi-stage sleeves for stretching out oil cylinder two ends of shell type start to stretch out step by step, promote first connecting rod and second connecting rod synchronization translation respectively, Make symmetrically arranged two first series connection parallelogram lindage each two pairs of swing link synchronous backswings up and down, the 4th lowering or hoisting gear support The second grab mechanisms of band decline, and measure which with the double positions for stretching out oil cylinder of double multi-stage expansion shell types by the 3rd laser displacement sensor Shifting signal, controls the 4th lifting and drives that double multi-stage expansion shell types are double to stretch out the two hydraulic jacks work of oil cylinder and grab bucket, when grabbing When the bucket tooth of bucket is close to pillow end railway roadbed ballast, two hydraulic cylinder piston rods of grab bucket start synchronous retraction, pull two companies respectively Bar is moved, and makes grab bucket be flared to maximum opening, and two hydraulic cylinder piston rods of grab bucket stop retracting, when bucket tooth contacts ballast, The double final stage extension sleeves for stretching out oil cylinder two ends of double multi-stage expansion shell types stop stretching out, and position shown in Figure 22, grab bucket liquid two press oil Cylinder piston rod starts synchronously to stretch out, and promotes two link motions respectively, makes grab bucket gradually close crawl ballast, two hydraulic pressure of grabbing bucket Cylinder piston rod stops stretching out, while hydraulic oil drives the 4th lifting, and double multi-stage expansion shell types are double to stretch out the multistage of oil cylinder two ends Sleeve starts to retract step by step, pulls first connecting rod and second connecting rod synchronization translation respectively, makes symmetrically arranged two first series connection The rising of the second grab mechanisms is entrusted in the opposite swing of two pairs of swing link synchronous each up and down of parallelogram lindage, the 4th lowering or hoisting gear, together When hydraulic oil make the second telescopic drive two-way ram cylinder piston rod start to stretch out, promote the second square tube shape telescopic arm to entrust the When two grab mechanisms are moved out to above road shoulder, the 4th lifting drives the double final stages for stretching out oil cylinder two ends of double multi-stage expansion shell types Extension sleeve stops retracting, and the second telescopic drive two-way ram cylinder piston rod stops stretching out, and two hydraulic jacks of grab bucket are lived Stopper rod starts to retract and pulls two link motions respectively, grab bucket is gradually opened, and rushes down the ballast in grab bucket and falls on shoulder, grabs bucket Two hydraulic cylinder piston rods start synchronously to stretch out, and promote two link motions respectively, grab bucket is gradually closed, while making second Telescopic drive two-way ram cylinder piston rod starts retraction and the 4th lifting drives double multi-stage expansion shell types pair to stretch out oil cylinder two The multi-stage sleeve at end starts to retract step by step, and the 4th lowering or hoisting gear is entrusted the second grab mechanisms and moves to position shown in Fig. 1, and second stretches Contracting drives two-way ram cylinder piston rod stopping retraction and the 4th lifting to drive pair multi-stage expansion shell types pair to stretch out oil cylinder two ends Chopped-off head sleeve stop retract, pillow end lasher make terminate；

3. arrange lapicide to make below rail：Engineering truck traction track car is moved to left, by pattern recognition system automatic identification sleeper Just the number of rail outer bolt image, makes railcar move to left a sleeper pitch, and chain tooth row stone device is located at two siding track of sleeper to be changed Top between pillow, hydraulic oil make the double rod hydraulic cylinder piston rod of the 3rd telescopic drive dual Piston start to stretch out, promote respectively with Its two connected third party's tubular telescopic arm synchronously stretches out, and makes two third party's tubular telescopic arms entrust two chain tooth rows respectively Stone device is moved out, and the 4th laser displacement sensor measures its displacement signal with the 4th range finding reference plate, controls the 3rd The double rod hydraulic jack of telescopic drive dual Piston and the work of double output shaft hydraulic motor, treat chain tooth row stone device move out to On the outside of rail between the sleeper of sleeper both sides to be changed during top, the double rod hydraulic cylinder piston rods of the 3rd telescopic drive dual Piston stop Stretch out, while hydraulic oil makes the 5th lifting drive the double multi-stage sleeves for stretching out oil cylinder two ends of double multi-stage expansion shell types to start to stretch step by step Go out, the 5th band chain tooth row stone of lowering or hoisting gear support two device declines, and measures which with the 5th liter by the 3rd laser displacement sensor Drop drives the double displacement signals for stretching out oil cylinder of pair multi-stage expansion shell types, controls the 5th lifting and drives double multi-stage expansion shell types pair to stretch Go out oil cylinder and the work of double output shaft hydraulic motor, when chain tooth row stone device contacts ballast, the 5th lifting drives double multi-stage expansions The double final stage sleeves for stretching out oil cylinder two ends of shell type stop stretching out, and hydraulic oil rotates forward double output shaft hydraulic motor, makes two Sprocket wheel forward direction synchronous axial system, several sprocket component movements of chain wheel drive chain connection one, the following sprocket of chain tooth row stone device The ballast contacted by the sprocket of plate is pushed on the outside of railway roadbed, and hydraulic oil makes the double rod hydraulic jacks of the 3rd telescopic drive dual Piston Piston rod starts to retract, and the pulling two third party tubular telescopic arms connected with which are synchronous respectively retracts, two third party's tubulars Telescopic arm entrusts motion in two chain tooth row stone device phases respectively, and chain tooth row stone device inwardly moves to the chain of its front-end chain tooth plate Tooth is contacted with the ballast below rail, ballast is gnawed successively between the adjacent two chains tooth plate sprocket of chain tooth row stone device, ballast quilt Chain tooth plate is pushed on the outside of railway roadbed successively, when chain tooth row stone device inwardly moves to position shown in Figure 27, arranges stone and terminate below rail, The double rod hydraulic cylinder piston rods of 3rd telescopic drive dual Piston stop retracting, and double output shaft hydraulic motor stops operating, the The double rod hydraulic cylinder piston rods of three telescopic drive dual Pistons start to stretch out, and two third party's tubular telescopic arms is entrusted respectively Two chain tooth row stone devices are moved out, and treat that chain tooth row stone device moves out on the inside of which sprocket of chain tooth plate and leaves under rail When on the outside of the edge of a wing, the double rod hydraulic cylinder piston rods of the 3rd telescopic drive dual Piston stop stretching out, while hydraulic oil makes the 5th Lifting drives the double multi-stage sleeves for stretching out oil cylinder two ends of double multi-stage expansion shell types to start to retract step by step, and the 5th lowering or hoisting gear entrusts two Individual chain tooth row stone device is raised, and hydraulic oil makes the double rod hydraulic cylinder piston rods of the 3rd telescopic drive dual Piston start to retract, Make two third party's tubular telescopic arms entrust two chain tooth row stone devices respectively inwardly to move, treat that chain tooth row stone device moves to figure Position shown in 1, the 3rd telescopic drive dual Piston pair rod hydraulic cylinder piston rod stops retracting and the 5th lifting driving is double more The double chopped-off head sleeves for stretching out oil cylinder two ends of the flexible shell type of level stop retracting, and stone end-of-job is arranged below rail；

4. nut work is dismantled：Engineering truck traction track car is moved to left, by the firm rail of pattern recognition system automatic identification sleeper The number of outer bolt image, makes railcar move to left a sleeper pitch, and four interior wide-mouth magnetic coupling boxs are located at sleeper to be changed Directly over four bolts, hydraulic oil makes the 6th lifting drive the double rod hydraulic jack of dual Piston to start to stretch out, promote respectively with Its two connected the 4th square tube shape telescopic arm synchronously stretches out, and makes two pairs of fork phases of symmetrically arranged two parallelogram lindages For sill dorsad synchronous hunting, the 6th lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is declined, by the 5th laser displacement Sensor measures its displacement signal with sill, controls the 6th lifting and drives the double rod hydraulic jacks and first of dual Piston Spiral rotary actuator works, and when interior wide-mouth magnetic coupling box is sheathed on nut, position shown in Figure 34, the 6th lifting are driven The double rod hydraulic cylinder piston rods of dynamic dual Piston stop stretching out, and hydraulic oil makes two the first spiral rotary actuators start instead To synchronous axial system, drive two circular connecting plates to entrust two internal gears respectively and rotate backward, each internal gear simultaneously with two Gear is engaged, and drives two drive axis, rotates four interior wide-mouth magnetic coupling box reverse syncs, four interior wide-mouth magnetic Property coupling box synchronously screws off four nuts, and the magnetic of interior wide-mouth magnetic coupling box makes the nut for screwing off stay in interior wide-mouth magnetic In coupling box, two the first spiral rotary actuators stop rotating backward, and hydraulic oil makes the 6th lifting drive dual Piston Double rod hydraulic cylinder piston rods start to retract, and the pulling two fourth square tube shape telescopic arms connected with which are synchronous respectively retracts, Two pairs of forks of symmetrically arranged two parallelogram lindages are made relative to the opposite synchronous hunting of sill, the 6th lowering or hoisting gear support Two nut assembling and disassembling devices of band rise to position shown in Fig. 1, dismantle nut end-of-job；

5. the work of bad sleeper is pulled out：Engineering truck traction track car is moved to left, firm by pattern recognition system automatic identification sleeper The number of rail outer bolt image, makes railcar move to left four sleeper pitches, and swivel block and push-and-pull sleeper device are just gone up positioned at bad sleeper Side, rail-lifting equipment are located on the left of bad sleeper surface between sleeper, and hydraulic oil makes second cross beam telescopic drive two-way ram oil cylinder Piston rod starts to stretch out, and promotes the 7th square tube shape telescopic arm to stretch out, and the 7th square tube shape telescopic arm is entrusted the second pendulous device and grabbed Take and swivel block device moved out, its displacement signal with the 8th range finding reference plate is measured by the 7th laser displacement sensor, Come control second cross beam telescopic drive two-way ram oil cylinder and the second spiral rotary actuator work, the second pendulous device and Crawl and swivel block device are moved out to appropriate location, and second cross beam telescopic drive two-way ram cylinder piston rod stops stretching Go out, hydraulic oil makes the second spiral rotary actuator start to rotate forward, partial gear and two sector gear engaged transmissions, Two multidiameters drive that four the first forks are positive to be swung, and make that the second casing entrusts crawl and swivel block device does translation, when two When first fork is contacted with the first positive stop lug boss, the second spiral rotary actuator stops rotating forward, in solenoid directional control valve Position makes the second spiral rotary actuator pressurize, while hydraulic oil makes second cross beam telescopic drive two-way ram cylinder piston rod Start to retract, pull the 7th square tube shape telescopic arm to retract, the 7th square tube shape telescopic arm is entrusted the second pendulous device and crawl and turned Pillow device is inwardly moved, and when two pressing plates of gripper inwardly move to bad sleeper both sides appropriate location, second cross beam stretches Two-way ram cylinder piston rod is driven to stop retracting, hydraulic oil makes hydraulic cylinder piston rod start to stretch out, and promotes first connecting rod Symmetrically arranged two the second forks are made to swing in opposite directions respectively with second connecting rod, the roller for being articulated with the second fork ears ring is pushed down Pressing plate, roller is rolled makes pressing plate overcome the pulling force of two cylindrically coiled springs to make translation, and two in-parallel four-bar mechanisms are positive Swing, when two platen clamp sleepers, the middle position of solenoid directional control valve makes hydraulic jack pressurize；

Hydraulic oil makes the double rod hydraulic cylinder piston rods of first crossbeam telescopic drive dual Piston start to stretch out, and promotes respectively The two sixth square tube shape telescopic arms connected with which synchronously stretch out, and measure which with the 6th range finding by the 6th laser displacement sensor The displacement signal of reference plate, controls the double rod hydraulic jacks of first crossbeam telescopic drive dual Piston and the second spiral swings liquid Pressure motor works, and the 6th square tube shape telescopic arm entrusts the first pendulous device and flexible shell type carries cylinder of rail and moves out to appropriate position Put, the double rod hydraulic cylinder piston rods of first crossbeam telescopic drive dual Piston stop stretching out, and its piston rod starts to retract, respectively Pull the synchronous retraction of connected with which two the 6th square tube shape telescopic arms, the 6th square tube shape telescopic arm entrust the first pendulous device and Flexible shell type carries cylinder of rail and inwardly moves, while the second spiral rotary actuator starts to rotate forward, partial gear and two Individual sector gear engaged transmission, two multidiameters drive the positive swing of four forks, box connecting rod to entrust flexible shell type and carry rail oil Cylinder makees translation, and when two forks are contacted with the first positive stop lug boss, the second spiral rotary actuator stops rotating forward, electromagnetism The middle position of reversal valve makes the second spiral rotary actuator pressurize, when flexible shell type carries cylinder of rail cylinder body and rail lower flange side During contact, its gusset upper surface is contacted with below rail, and the double rod hydraulic jacks of first crossbeam telescopic drive dual Piston are lived Stopper rod stops retracting；

Hydraulic oil makes the second level extension sleeve that flexible shell type carries cylinder of rail stretch out with first order extension sleeve, and the first order is stretched Contracting sleeve moves to range, and second level extension sleeve starts to stretch out, when the fagging for being fixed on second level extension sleeve is contacted Railway roadbed ballast after being compacted into, with constantly stretching out for second level extension sleeve, flexible shell type carries the cylinder body of cylinder of rail and entrusts Gusset is moved upwards, makes the middle position of rail jack-up, solenoid directional control valve make flexible shell type propose cylinder of rail pressurize；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, and gripper is positive to be turned to entrust hydraulic jack Dynamic, gripper rotates forward sleeper, when the 3rd spiral rotary actuator ring flange and the spacing sector of hydraulic jack ring flange When boss is contacted with second the second confined planes of casing scallop hole, gripper makes sleeper rotate forward 90 °, and the 3rd spiral swings hydraulic pressure Motor stops rotating forward, and hydraulic oil makes second cross beam telescopic drive two-way ram cylinder piston rod start to stretch out, the 7th side Cylinder telescopic arm entrusts the second pendulous device and crawl and swivel block device is moved out, and gripper pulls bad sleeper to move out, when When bad sleeper is moved out to end face thereafter and above rail lower flange trailing flank is coplanar, the double acting of second cross beam telescopic drive is lived Plug cylinder piston rod stops stretching out, and hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and makes cylinder body of hydraulic oil cylinder Entrust gripper to rotate backward, gripper rotates backward sleeper, when the 3rd spiral rotary actuator ring flange and hydraulic oil When the spacing fan-shaped boss of cylinder ring flange is contacted with second the first confined planes of casing scallop hole, gripper makes sleeper rotate backward 90 °, Position shown in Figure 48, the 3rd spiral rotary actuator stop rotating backward；

Hydraulic oil makes hydraulic cylinder piston rod start to retract, and pulls first connecting rod and second connecting rod to make respectively symmetrically arranged Two the second fork backswings, under the pulling force effect of two cylindrically coiled springs, make two pressing plates make translation, and two in parallel Parallelogram lindage backswing, when two pressing plates and sleeper side disengage to be contacted, hydraulic cylinder piston rod stops retracting；It is high Force feed rotates backward the second spiral rotary actuator, partial gear and two sector gear engaged transmissions, two ladders Axle drive four the first fork backswings, the second casing entrust crawl and swivel block device make translation, when two the first forks with When second positive stop lug boss is contacted, the second spiral rotary actuator stops operating, and the middle position of solenoid directional control valve puts the second spiral Hydrodynamic pressure motor pressurize；

Hydraulic oil makes first crossbeam telescopic drive two-way ram cylinder piston rod start to retract, the 7th square tube shape telescopic arm Entrust the second pendulous device and crawl and swivel block device inwardly moves to position shown in Fig. 1, first crossbeam telescopic drive double acting Piston oil-cylinder piston rod stops retracting；

Hydraulic oil makes flexible shell type propose the extension sleeve retraction of the cylinder of rail second level, and second level extension sleeve is retracted to stop, Second level extension sleeve starts to retract with first order extension sleeve, and second level extension sleeve hauls fagging and moves upwards, under rail Original position is dropped down onto, bad sleeper is pushed down so as to which upper surface is parallel with two rail lower surfaces, and flexible shell type carries cylinder of rail piston rod Quit work；

Hydraulic oil makes the double rod hydraulic cylinder piston rods of first crossbeam telescopic drive dual Piston start to stretch out, two the 6th Square tube shape telescopic arm is entrusted two flexible shell types respectively and carries cylinder of rail and moves out, when its gusset and rail are disengaged to be contacted, The double rod hydraulic cylinder piston rods of first crossbeam telescopic drive dual Piston stop stretching out；

Hydraulic oil rotates backward the second spiral rotary actuator, and partial gear engages biography with two sector gears Dynamic, two multidiameters drive four fork backswings, and box connecting rod is entrusted flexible shell type and carries cylinder of rail and makees translation, puts when two When bar is contacted with the second positive stop lug boss, flexible shell type carries cylinder of rail and moves to position shown in Fig. 1, the second spiral rotary actuator Stop operating, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, pulls out bad sleeper end-of-job；

6. handling bad sleeper work：Engineering truck traction track car is moved 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 located at adjacent sleeper on the left of sleeper to be changed Between directly over, hydraulic oil makes the double rod hydraulic cylinder piston rod of first crossbeam telescopic drive dual Piston start to stretch out, and pushes away respectively The dynamic two sixth square tube shape telescopic arms connected with which synchronously stretch out, when two the first pendulous devices and flexible shell type carry cylinder of rail Move out to appropriate location, the double rod hydraulic cylinder piston rods of first crossbeam telescopic drive dual Piston stop stretching out, its work Stopper rod starts to retract, two the 6th square tube shape telescopic arms entrust two the first pendulous devices respectively and flexible shell type carry cylinder of rail to Inside it is synchronized with the movement, while the second spiral rotary actuator starts to rotate forward, when two forks are contacted with the first positive stop lug boss When, the second spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, when When first pendulous device inwardly moves to flexible shell type and carries cylinder of rail cylinder body and rail lower flange contact outside, flexible shell type carries rail Cylinder block gusset upper surface is contacted with below rail, the double rod hydraulic cylinder pistons of first crossbeam telescopic drive dual Piston Bar stops retracting；

Hydraulic oil makes reciprocating motion drive the double rod hydraulic cylinder piston rods of dual Piston to start to stretch out, and promotes respectively and which Two connected eighth tubular telescopic arms synchronously stretch out, and make two pairs of forks of symmetrically arranged two parallelogram lindages relative In moving beam dorsad synchronous hunting, two pairs of forks pull moving beams to left movement, moving beam entrust storage sleeper case to Left movement, measures its displacement signal with moving beam by the 8th laser displacement sensor, controls to move back and forth driving pair The double rod hydraulic jack work of piston type, reset in rigid hanger when storage sleeper case moves to the bad sleeper position in storehouse of storage to the left When immediately below the pick-and-place sleeper device put, move back and forth and drive the double rod hydraulic cylinder piston rods of dual Piston to stop stretching out；

Hydraulic oil makes the second level extension sleeve of the second multi-stage expansion shell type oil cylinder start to stretch out with first order extension sleeve, The 3rd ladder square tube shape telescopic arm is promoted to stretch out, the 3rd ladder square tube shape telescopic arm is entrusted rigid hanger and moved out, when the 3rd When ladder square tube shape telescopic arm extend out to its shoulder and tactile second second shoulder grafting of ladder square tube shape telescopic arm, the first multi-stage expansion Shell type oil cylinder second level extension sleeve starts to stretch out, and promotes the 3rd ladder square tube shape telescopic arm to stretch by first order extension sleeve Go out, the 3rd ladder square tube shape telescopic arm pulls the second ladder square tube shape telescopic arm to stretch out, and is surveyed by the 9th laser displacement sensor Its displacement signal with push pedal is measured, the second multi-stage expansion shell type cylinder efficient is controlled, when two interior wide-mouths of pick-and-place sleeper device When above nut and the bad sleeper having been pulled out between sleeper, two bolts in inner side are coaxial, the second multi-stage expansion shell type oil cylinder second level is stretched Contracting sleeve stops stretching out；

Hydraulic oil makes the sleeve of the first multi-stage expansion shell type oil cylinder start to retract step by step, the second square tube shape telescopic arm and first Ladder square tube shape telescopic arm starts to retract successively, and rigid hanger entrusts the decline of pick-and-place sleeper device, is passed by the tenth laser displacement Sensor measures its displacement signal with sill, controls 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 4th spiral rotary actuators start to rotate forward, and makes Two interior wide-mouth nut forwards are rotated, and when two interior wide-mouth nuts screw on two bolts in inner side above sleeper, are put to the 4th spiral Hydrodynamic pressure motor is rotated forward to hard-over, position shown in Figure 49, and the 4th 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 the second level extension sleeve that flexible shell type carries cylinder of rail stretch out with first order extension sleeve, and the first order is stretched Contracting sleeve moves to range, and second level extension sleeve starts to stretch out, when the fagging for being fixed on second level extension sleeve is contacted Railway roadbed ballast after being compacted into, with constantly stretching out for second level extension sleeve, flexible shell type carries the cylinder body of cylinder of rail and entrusts Gusset is moved upwards, makes the middle position of rail jack-up, solenoid directional control valve make flexible shell type propose cylinder of rail pressurize；

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

Hydraulic oil makes the first order sleeve of the first multi-stage expansion shell type oil cylinder start to stretch out, and entrusts the second square tube shape telescopic arm Stretch out, rigid hanger entrusts the rising of pick-and-place sleeper device, when the second square tube shape telescopic arm ring flange is stretched with the first ladder square tube shape When contracting arm cylinder shoulder grafting is touched, the second level sleeve of the second multi-stage expansion shell type oil cylinder starts to stretch out, and the second square tube shape telescopic arm is pulled First ladder square tube shape telescopic arm stretches out, when pick-and-place sleeper device rises to appropriate height, the first multi-stage expansion shell type oil cylinder Second 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 is inwardly moved, 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 inwardly moves to the bad sleeper storehouse of storage 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 entrusts the decline of bad sleeper, is close to bad sleeper orlop when bad sleeper declines Or be previously put into bad sleeper when, hydraulic oil make two the 4th spiral rotary actuators start reverse sync rotation, make two Interior wide-mouth nut is rotated backward, and when bad sleeper is discharged in storehouse, the 4th spiral rotary actuator stops rotating backward, and second The sleeve of multi-stage expansion shell type oil cylinder starts to stretch out step by step, and rigid hanger and pick-and-place sleeper device rise to position shown in Fig. 1, hang Transport the work of bad sleeper to complete；

7. handling is well placed sleeper work：Hydraulic oil makes reciprocating motion drive the double rod hydraulic cylinder piston rods of dual Piston Start to retract, pull the synchronous retraction of connected with which two eighth tubular telescopic arms respectively, make symmetrically arranged two it is parallel Two pairs of forks of four-bar mechanism are promoted moving beam to move right, are moved relative to the opposite synchronous hunting of moving beam, two pairs of forks Dynamic crossbeam is entrusted storage sleeper case and is moved right, when storage sleeper case is moved right to having stored sleeper position in storehouse in rigid hanger When immediately below the pick-and-place sleeper device that refitting is put, move back and forth and drive the double rod hydraulic cylinder piston rods of dual Piston to stop contracting Return；

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 Decline is put, when two bolts in inner side are close above two interior wide-mouth nuts and the sleeper, hydraulic oil makes the 4th 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 4th spiral Hydrodynamic pressure motor is rotated forward to hard-over, and the 4th spiral rotary actuator stops rotating forward, the first multi-stage expansion set The first order sleeve of formula oil cylinder stops retracting；

Hydraulic oil makes the sleeve of the first multi-stage expansion shell type oil cylinder start to stretch out step by step, and rigid hanger entrusts pick-and-place sleeper dress Rising is put, pick-and-place sleeper device has been entrusted sleeper and risen to appropriate 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 and second level extension sleeve of the second multi-stage expansion shell type oil cylinder 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 drops to which 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 Fupport arm band rigid hanger is inwardly moved, and pick-and-place sleeper device has been entrusted sleeper and inwardly moved to appropriate location, penetrates sleeper Under rail, when having made sleeper rear end face and above rail lower flange trailing flank be coplanar, the second multi-stage expansion shell type oil cylinder second level Extension sleeve stops retracting；

Hydraulic oil makes flexible shell type propose the extension sleeve retraction of the cylinder of rail second level, and second level extension sleeve is retracted to stop, Second level extension sleeve starts to retract with first order extension sleeve, and second level extension sleeve hauls fagging retraction, drops down onto under rail Original position, sleeper to be finished changing is pushed down so as to which upper surface is parallel with two rail lower surfaces, and flexible shell type carries cylinder of rail and stops work Make；

Hydraulic oil makes the double rod hydraulic cylinder piston rods of first crossbeam telescopic drive dual Piston start to stretch out, two the 7th Square tube shape telescopic arm entrusts two the first pendulous devices respectively and flexible shell type carries cylinder of rail and moves out, when flexible shell type carries rail Cylinder block gusset is disengaged with rail lower flange when contacting, and the double rod hydraulic jacks of first crossbeam telescopic drive dual Piston are lived Stopper rod stops stretching out, while the second spiral rotary actuator starts to rotate backward, partial gear is nibbled with two sector gears Close transmission, two multidiameters drive four the first fork backswings, box connecting rod is entrusted flexible shell type and carries cylinder of rail and makees translation, When two the first forks are contacted with the second positive stop lug boss, the second spiral rotary actuator stops operating, two first swings Device and flexible shell type carry cylinder of rail and move to position shown in Fig. 1, and the middle position of solenoid directional control valve makes the second spiral swing hydraulic pressure horse Up to pressurize；

Hydraulic oil makes the 4th spiral rotary actuator start to rotate backward, when the 4th spiral rotary actuator reversely turns When moving to hard-over, sleeper is discharged, the 4th spiral rotary actuator stops rotating backward, the first multi-stage expansion shell type oil cylinder Sleeve start to stretch out step by step, rigid hanger is entrusted pick-and-place sleeper device and rises to appropriate 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 Inwardly move, pick-and-place sleeper device moves to position shown in Fig. 1, the second level sleeve of the first multi-stage expansion shell type oil cylinder stops stretching Go out, the first order sleeve of the second multi-stage expansion shell type oil cylinder stops retracting, handling is well placed sleeper work and completes；

8. advanced sleeper to work：Engineering truck traction track car is moved 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, and swivel block and push-and-pull sleeper device are located above good sleeper, Directly over rail-lifting equipment is located on the left of good sleeper between sleeper, hydraulic oil makes second cross beam telescopic drive two-way ram oil cylinder piston Bar starts to stretch out, and the 7th square tube shape telescopic arm entrusts the first tumbler and crawl and swivel block device is moved out, as the 7th side When tubular telescopic arm extend out to stop, second cross beam telescopic drive two-way ram cylinder piston rod stops stretching out, and hydraulic oil makes Second spiral rotary actuator is rotated forward, and when two the first forks are contacted with the first positive stop lug boss, the second spiral swings Hydraulic motor stops operating, and the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize；

Hydraulic oil makes second cross beam telescopic drive two-way ram cylinder piston rod start to retract, the 7th square tube shape telescopic arm Entrust the second pendulous device and crawl and swivel block device is inwardly moved, rail has been finished changing when two pressing plates of gripper are inwardly moved to During pillow both sides appropriate location, position shown in Figure 37, second cross beam telescopic drive two-way ram cylinder piston rod stop retracting, high Force feed makes hydraulic cylinder piston rod start to stretch out, and when two platen clamp sleepers, hydraulic cylinder piston rod stops stretching out, electromagnetism The middle position of reversal valve makes hydraulic jack pressurize；

Hydraulic oil makes the double rod hydraulic cylinder piston rods of first crossbeam telescopic drive dual Piston start to stretch out, the 6th square tube Shape telescopic arm entrusts the first pendulous device and flexible shell type carries cylinder of rail and moves out to appropriate location, first crossbeam telescopic drive The double rod hydraulic cylinder piston rods of dual Piston stop stretching out, and its piston rod starts to retract, while the second spiral swings hydraulic pressure horse Up to starting to rotate forward, when two forks are contacted with the first positive stop lug boss, the second spiral rotary actuator stops positive turning Dynamic, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, under flexible shell type carries cylinder of rail cylinder body and rail During the contacts side surfaces of the edge of a wing, its gusset upper surface is contacted with below rail, the double rod liquid of first crossbeam telescopic drive dual Piston Force feed cylinder piston rod stops retracting；

Hydraulic oil makes the extension sleeve that flexible shell type carries cylinder of rail stretch out step by step, makes rail jack-up, in solenoid directional control valve Position makes flexible shell type propose cylinder of rail pressurize；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, and gripper makes sleeper rotate forward 90 °, and the 3rd Spiral rotary actuator stops rotating forward, and hydraulic oil starts second cross beam telescopic drive two-way ram cylinder piston rod Retract, gripper has promoted sleeper inwardly to move, when having made sleeper inwardly move to position shown in Fig. 1, second cross beam is flexible to be driven Dynamic two-way ram cylinder piston rod stops retracting, and hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, machinery Pawl makes sleeper rotate backward 90 °, and the 3rd spiral rotary actuator stops rotating backward；

Hydraulic oil makes hydraulic cylinder piston rod start to retract, when two pressing plates of gripper and sleeper are disengaged to be contacted, hydraulic pressure Cylinder piston rod stops retracting, and hydraulic oil rotates backward the second spiral rotary actuator, when two the first forks and second When positive stop lug boss is contacted, the second spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes the second spiral swing liquid Pressure motor pressurize；

Hydraulic oil makes second cross beam telescopic drive two-way ram cylinder piston rod start to retract, the 7th square tube shape telescopic arm Entrust the second pendulous device and crawl and swivel block device inwardly moves to position shown in Fig. 1, second cross beam telescopic drive double acting Piston oil-cylinder piston rod stops retracting；

Hydraulic oil makes the extension sleeve that flexible shell type carries cylinder of rail retract step by step, and original position, electromagnetic switch are dropped down onto under rail The middle position of valve makes flexible shell type propose cylinder of rail pressurize,

Hydraulic oil makes the double rod hydraulic cylinder piston rods of first crossbeam telescopic drive dual Piston start to stretch out, and works as telescopic Formula carries cylinder of rail cylinder body gusset and rail and disengages when contact, the double rod hydraulic jack work of first crossbeam telescopic drive dual Piston Stopper rod stops stretching out, while the second spiral rotary actuator starts to rotate backward, when two forks and the second positive stop lug boss connect When tactile, the first pendulous device and flexible shell type carry cylinder of rail and move to position shown in Fig. 1, and the second spiral rotary actuator stops Rotate backward, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, has advanced sleeper end-of-job；

9. nut work is installed：Engineering truck traction track car is moved to right, by the firm rail of pattern recognition system automatic identification sleeper The number of outer bolt image, makes railcar move to right four sleeper pitches, and four are left wide-mouth magnetic coupling box difference in nut Coaxial with four bolts on sleeper, hydraulic oil makes the 6th lifting drive the double rod hydraulic cylinder piston rods of dual Piston to start to stretch Go out, the 6th lowering or hoisting gear is entrusted two nut assembling and disassembling devices and declined, the nut in interior wide-mouth magnetic coupling box is dropped to Switched tracks pillow threaded bolt contacts, position shown in Figure 34, and the 6th lifting drives the double rod hydraulic cylinder piston rods of dual Piston to stop stretching Go out, hydraulic oil makes two the first spiral rotary actuators start positive synchronous axial system, drive two circular connecting plates to hold in the palm respectively Two internal gears of band are rotated forward, and each internal gear is engaged with two gears simultaneously, are driven two drive axis, are made in four Wide-mouth magnetic coupling box forward direction synchronous axial system, the nut in four interior wide-mouth magnetic coupling boxs synchronously screw in four spiral shells of sleeper Bolt pretension, two the first spiral rotary actuators stop rotating forward, and hydraulic oil makes the 6th lifting drive dual Piston double Rod hydraulic cylinder piston rod starts to retract, and the 6th lowering or hoisting gear is entrusted two nut assembling and disassembling devices and rises to position shown in Fig. 1, 6th lifting drives the double rod hydraulic cylinder piston rods of dual Piston to stop retracting, and installs nut work and completes；

10. ballast backfilling working：Journey car traction track car is moved to right, the image information of cmos image sensor collection, is passed through The number of the firm rail outer bolt image of pattern recognition system automatic identification sleeper, makes railcar move to right four sleeper pitches, ballast collection Arranging device is located at directly over the pillow that switches tracks, and the second dither motor is started working, and stone removing door two drives cylinder piston rod to open Beginning stretches out, and promotes two the first pull bars and two the second pull bars respectively, makes two stone removing door synchronous huntings to shown in Figure 15 Position, the ballast in stone storehouse to be collected rushes down to be fallen completely switch tracks between pillow both sides sleeper, and the second dither motor quits work, row Crossdrift two drives cylinder piston rod to start to retract, and pulls two the first pull bars and two the second pull bars respectively, makes two Stone removing door synchronous hunting is completed to position shown in Fig. 1, ballast backfilling working；

11. road shoulders and railway roadbed correction of the flank shape work：Engineering truck traction track car is moved to right, by pattern recognition system automatic identification rail The number of firm rail outer bolt image is rested the head on, makes railcar move to right two sleeper pitches, bucket device is located on the pillow end of the pillow that switches tracks Side, hydraulic oil make the first telescopic drive two-way ram cylinder piston rod start to stretch out, and promote the second square tube shape telescopic arm to stretch out, Second square tube shape telescopic arm is entrusted bucket device and is moved out, second laser displacement sensor its with second range finding reference plate Displacement signal, control the first telescopic drive two-way ram oil cylinder and the work of bucket hydraulic jack, while hydraulic oil makes the Two liftings drive the double multi-stage expansion sleeves for stretching out oil cylinder two ends of double multi-stage expansion shell types to start to stretch out step by step, the second lowering or hoisting gear Bucket device decline is entrusted, which is measured by the 3rd laser displacement sensor and is driven double multi-stage expansion shell types pair to stretch with the second lifting Go out the displacement signal of oil cylinder, control the second lifting and drive double multi-stage expansion shell types pair to stretch out oil cylinder and bucket hydraulic jack work Make, when the bucket tooth of bucket is close to shoulder ballast, bucket hydraulic cylinder piston rod stretches out, promote link motion, make bucket positive Appropriate angle is swung, when being easy to shoulder correction of the flank shape unnecessary ballast is combined in bucket, when bucket moves to shoulder base angle, first stretches Contracting drives two-way ram cylinder piston rod to stop stretching out, and the double multi-stage expansion shell types of the second lifting driving are double to stretch out oil cylinder two ends Final stage extension sleeve stops stretching out, and position shown in Fig. 8, hydraulic oil start the first telescopic drive two-way ram cylinder piston rod Retract, pull the second square tube shape telescopic arm to retract, the second square tube shape telescopic arm is entrusted bucket and inwardly moved, while the second lifting is driven The multi-stage expansion sleeve at dynamic double multi-stage expansion shell type two ends is retracted step by step, and the second lowering or hoisting gear is entrusted bucket device and risen, and first Telescopic drive two-way ram cylinder piston rod and the second lifting drive the multi-stage expansion sleeve at double multi-stage expansion shell type two ends to open Begin to coordinate to retract, make the movement locus of bucket bucket tooth for the stringcourse of isosceles trapezoid road shoulder, enter trade shoulder correction of the flank shape, when bucket is moved to When bucket tooth is to railway roadbed upper surface, the second lifting drives the double multi-stage expansion sleeves for stretching out oil cylinder two ends of double multi-stage expansion shell types to stop Retract, road shoulder correction of the flank shape terminates, the first telescopic drive two-way ram cylinder piston rod continues to retract, the movement locus of bucket bucket tooth For straight line, while bucket hydraulic cylinder piston rod is slowly retracted, link motion is pulled, the slow backswing of bucket is made, is made to combine in Ballast in bucket is gushed, and to repair pillow end railway roadbed, when bucket bucket tooth is close to pillow end, bucket hydraulic cylinder piston rod stops work Make, the second lifting drives the double multi-stage expansion sleeves for stretching out oil cylinder two ends of double multi-stage expansion shell types to start to retract step by step, second liter When falling unit is entrusted bucket device and rises to position shown in Fig. 1, the first telescopic drive two-way ram cylinder piston rod stops contracting Return, the second lifting drives the double chopped-off head extension sleeves for stretching out oil cylinder two ends of double multi-stage expansion shell types to stop retracting, and switch tracks pillow pillow End road shoulder and railway roadbed correction of the flank shape end-of-job；

12. tamping flat quarrel work：Engineering truck traction track car is moved to right, by pattern recognition system automatic identification sleeper rail The number of outer bolt image, makes railcar move to right a sleeper pitch, and two row's vibrating spears are located at and are switched tracks between pillow both sides sleeper, figure Position shown in 3, hydraulic oil make the first lifting drive the double rod hydraulic cylinder piston rod of dual Piston to start to stretch out, promote respectively with Its two connected first square tube shape telescopic arm synchronously stretches out, and the first lowering or hoisting gear entrusts component decline of vibrating, and swashs by first Optical displacement sensor measures its displacement signal with entablature, controls the first lifting and drives the double rod hydraulic jacks of dual Piston Piston rod and the work of the first dither motor, when vibrating spear free end is close to switches tracks ballast between pillow both sides sleeper, first Dither motor is started working, and oscillating plate drives two row's vibrating spear dithers, the first lifting to drive the double rods of dual Piston Hydraulic cylinder piston rod continues to stretch out, the first lowering or hoisting gear entrust two row's vibrating spears insertion railway roadbed ballast appropriate depth, first liter Drop drives the double rod hydraulic cylinder piston rods of dual Piston to stop stretching out, and work is continued in position shown in Fig. 4, the first dither motor Make to the ballast tamping between pillow both sides sleeper that switched tracks to shake at ordinary times, the first dither motor quits work, and hydraulic oil makes first Lifting drives the double rod hydraulic cylinder piston rods of dual Piston to start to retract, and pulls two first square tube shapes connected with which respectively Telescopic arm is synchronously retracted, and the first lowering or hoisting gear is entrusted the component that vibrates and rises to position shown in Fig. 1, and the first lifting drives dual Piston Double rod hydraulic cylinder piston rods stop retracting, and oil pump quits work, and switched tracks the flat quarrel end-of-job of tamping between pillow both sides sleeper.

Symmetrically arranged two in first lowering or hoisting gear, the 3rd lowering or hoisting gear, the 5th lowering or hoisting gear and the 6th lowering or hoisting gear Parallelogram lindage, makes corresponding entablature parallel all the time with sill, changes the right of pillow to adapt to straight line and curved rail length section Should work；In second lowering or hoisting gear and the 4th lowering or hoisting gear, symmetrically arranged two first series connection parallelogram lindage, makes correspondence Elevating mechanism entablature is parallel all the time with sill, changes the correspondence work of pillow to adapt to straight line and curved rail length section；Second string Connection parallelogram lindage makes plate shape entablature parallel with sill all the time, makes servo-actuated Equipoising support apparatus adapt to straight line and curve iron The correspondence work of pillow is changed in rail section；In reciprocator, symmetrically arranged two parallelogram lindages, make moving beam all the time It is parallel with eighth tubular fixed arm, make storage sleeper case make translation；Storage sleeper case is made to make translation；Yielding coupling and interior wide Mouth nut can effectively adapt to sleeper bolt position deviation, make interior wide-mouth nut easily screw on sleeper bolt；It is same in hydraulic system Step valve, it is ensured that the sleeve synchronization telescope of two the first multi-stage expansion shell type oil cylinders；Rigid hanger make handling in sleeper without swing, carry High handling sleeper speed.

In position shown in Fig. 1, two linear Stiffness amount of spring compression being servo-actuated in Equipoising support apparatus are minimum, elastic force Less, now symmetrically arranged 6th fork and the second strut are maximum with entablature angle, and two springs are by two slide blocks point Do not act on the 6th fork and the power on the second strut plate shape is acted on more than its more small power, the 6th fork and the second strut The vertical component of entablature power is big, and the deadweight of plate shape entablature is double with double multi-stage expansion shell types to stretch to bear servo-actuated Equipoising support apparatus Go out the summation of the part deadweight of oil cylinder and balance, being servo-actuated Equipoising support apparatus lifts with lowering or hoisting gear and balance, in position shown in Fig. 8 Put, two linear Stiffness amount of spring compression are maximum, elastic force is maximum, now symmetrically arranged 6th fork and the second strut with Entablature angle is minimum, two springs by two slide blocks be respectively acting on the 6th fork and the second fork on power less than maximum The vertical component that elastic force, the 6th fork and the second strut act on plate shape entablature power is less, makes servo-actuated Equipoising support apparatus Bear the summation of the deadweight of plate shape entablature and the double part deadweights for stretching out oil cylinder of double multi-stage expansion shell types and balance, it is to avoid be double multistage The double multi-stage sleeves for stretching out oil cylinder of flexible shell type bear moment of flexure.

Claims (1)

1. there is the replacing sleeper machine of in-parallel four-bar mechanism, it is characterised in that：It is by the flat quarrel device of tamping, road shoulder and railway roadbed Synchronously assembly and disassembly are filled for modification device, clear stone device of grabbing bucket, ballast collection arranging device, the clear stone device in pillow end, chain tooth row stone device, four nuts Put, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, generator, Hydraulic system and control System cabine and track Car is constituted.Railcar is provided with multiple castors and two longerons, the flat quarrel device of tamping, road shoulder and railway roadbed modification device, clear stone of grabbing bucket Device, ballast collection arranging device, the clear stone device in pillow end, chain tooth row stone device, four nuts synchronization assembling and disassembling device, the first rail-lifting equipment, Transition and push-and-pull sleeper device, sleeper handling apparatus, generator and Hydraulic system and control System cabine are arranged on the two of railcar On individual longeron, railcar is drawn by engineering truck, and generator is that oil pump and control system provide power, Hydraulic system and control system Fuel tank, oil pump, hydraulic control system and automatic control system are provided with case；

The flat quarrel device of described tamping is made up of entablature, the first lowering or hoisting gear and the component that vibrates, and entablature is provided with two connections Plate, connecting plate are provided with several bolts hole；

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

Described sill component is made up of the first square tube shape fixed arm and two the first square tube shape telescopic arms, the first square tube shape Fixed arm is provided with symmetrical two long slot bore, and the first square tube shape telescopic arm is provided with blind end and two monaural rings；

The first described lifting drive is by the first square tube shape fixed arm, the double rod hydraulic jack of dual Piston and two the One square tube shape telescopic arm is constituted, and the cylinder body of the double rod hydraulic jacks of dual Piston is provided with square flange, piston rod free end and sets There is ring flange；

Described parallelogram lindage is made up of the first square tube shape telescopic arm, two forks and entablature；

Two the first square tube shape telescopic arms are arranged thereon from the double rod hydraulic jack two ends of dual Piston respectively, first party is made Tubular telescopic arm blind end is connected with the double rod hydraulic cylinder piston rod ring flanges of dual Piston, and the first square tube shape fixed arm is arranged On two the first square tube shape telescopic arms, the double rod hydraulic jack square flanges of dual Piston are made symmetrically to be fixed on the first square tube On shape fixed arm endoporus upper surface, the first lifting drive is constituted；

By one end of two forks respectively with the first square tube shape telescopic arm chain connection, the other end of two forks respectively with upper horizontal stroke Beam chain connection, constitutes parallelogram lindage, and the vertical plane of symmetry assembling for being symmetrical in entablature and the first square tube shape fixed arm is another One parallelogram lindage, first laser displacement transducer is symmetrically fixed on above the first square tube shape fixed arm, composition first Lowering or hoisting gear；

The described component that vibrates be by entablature, several first elastic connecting components, oscillating plate, eight vibrating spears, eight first Hex nut and the first dither motor composition, the first elastic connecting component is by bolt, two helical springs, pads and six Angle nut composition, oscillating plate are provided with several bolts hole and eight circular holes；

Bolt is passed through into entablature connecting plate bolt hole, helical spring is sheathed on bolt, oscillating plate bolt hole is then passed through, Again another helical spring is sheathed on bolt, pad is sheathed on bolt, hex nut pretension, oscillating plate and entablature reality Existing elastic connection；Vibrating spear passes through oscillating plate circular hole, and the first hex nut pretension, the first dither motor are symmetrically fixed on and shake Above dynamic plate, the first square tube shape fixed arm is symmetrically fixed on two longerons of railcar, the flat quarrel device of composition tamping；

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

The first described entablature component is passed 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 are provided with blind end and four ears rings, and the second square tube shape is stretched Contracting arm is provided with blind end；

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

Second square tube shape telescopic arm is sheathed on two-way ram oil cylinder, the second square tube shape telescopic arm blind end and double acting is made Piston oil-cylinder piston rod ring flange is connected, then the second square tube shape fixed arm is sheathed on the second square tube shape telescopic arm, and will be double Effect piston oil-cylinder ring flange is symmetrically fixed on the second square tube shape fixed arm blind end, constitutes the first retractable driving device, double cropping Moving sets are formed with piston oil-cylinder and the second square tube shape telescopic arm, second laser displacement transducer is symmetrically fixed on into the second square tube Above shape fixed arm, the second range finding reference plate is fixed on above the second square telescopic arm；

The second described lowering or hoisting gear is by two first series connection parallelogram lindage, the second lifting drives, with dynamic balancing Support meanss and the 3rd laser displacement sensor composition；

The first described series connection parallelogram lindage is connected by sill, the first fork, the second fork, two the 3rd forks, first Bar and the second square tube shape fixed arm composition, first connecting rod are provided with monaural ring and ears ring；

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

Described servo-actuated Equipoising support apparatus are by plate shape entablature, the second series connection parallelogram lindage, the first strut, the second support Bar, slide bar, two slide blocks, two turriform linear Stiffness springs, two hex nuts, two the second bolts and two the 3rd spiral shells Bolt is constituted, and slide bar is provided with fixed disc, is arranged with two light bar segments and two thread segments；Slide block is provided with circular hole and a pair same Axle thread blind hole；

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

By the first fork and sill chain connection, chain connection between the second fork, three components of the 4th fork and sill, the One fork ears ring, the 3rd fork ears ring and first connecting rod monaural ring coaxially penetrate pin hinge connection, the second fork ears Ring, another the 3rd fork ears ring, first connecting rod ears ring and double multi-stage expansion shell types pair are stretched out oil cylinder monaural ring and are coaxially worn Enter pin hinge connection, two the 3rd forks and the second square tube shape fixed arm chain connection, composition the first series connection parallel four-bar machine Structure, the aforementioned assembly operation of repetition, is symmetrical in sill and the second square tube shape fixed arm vertical plane of symmetry assembles another the first string Connection parallelogram lindage；

Two turriform linear Stiffness springs are sheathed on into two light bar segments of slide bar respectively, then two slide blocks are sheathed on respectively Two light bar segments of slide bar, two hex nuts distinguish pretension, make two slide blocks make turriform linear Stiffness spring appropriate respectively Compression, by the 5th fork and sill chain connection, makes the left side monaural ring of two second connecting rods double with the 4th fork respectively A pair of tapped blind holes of earrings, the 6th fork ears ring and slide block are coaxial, and two the first bolts distinguish pretensions, make the 4th fork, Chain connection between three components of the 6th fork and slide block, will be the right monaural ring of two second connecting rods double with the 5th fork respectively Earrings, the 7th fork ears ring are coaxial, and two bearing pins are respectively penetrated, and make second connecting rod, three structures of the 5th fork and the 7th fork Chain connection between part, the 6th fork and the 7th fork chain connection between three components of plate shape entablature respectively, composition second are gone here and there Connection parallelogram lindage；

A pair of tapped blind holes of the first strut ears ring, the second strut ears ring and slide block are coaxial, two the second bolt difference Pretension, makes chain connection between the first strut, three components of the second strut and slide block, the 6th fork, the 7th fork and the second strut With plate shape entablature chain connection, the servo-actuated Equipoising support apparatus of composition；

Double multi-stage expansion shell types pair are stretched out oil cylinder to be symmetrically fixed on plate shape entablature, by four the 3rd forks and the second square tube Shape fixed arm chain connection, the 3rd laser displacement sensor is symmetrically fixed on below the second square tube shape fixed arm, composition second Lowering or hoisting gear；

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

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

Cylinder body of hydraulic oil cylinder monaural ring is coaxially penetrated pin hinge with arm the second ears ring to be connected, strut monaural ring and arm First ears ring coaxially penetrates pin hinge connection, and bucket body the second ears ring coaxially penetrates pin hinge company with arm monaural ring Connect, connecting rod monaural ring coaxially penetrates pin hinge with bucket body the first ears ring and is connected, connecting rod ears ring, strut ears ring and hydraulic pressure Cylinder piston rod is monocyclic coaxially to penetrate pin hinge connection, constitutes the first bucket component, and U-shaped suspension rod is solid with arm ring flange Even, bucket device is constituted, U-shaped suspension rod is fixed on the second square tube shape telescopic arm, constitute road shoulder and railway roadbed modification device；

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

The composition and version of the 3rd described lowering or hoisting gear and the first lowering or hoisting gear is the same, carries out and the first lowering or hoisting gear phase Same assembly operation, constitutes the 3rd lowering or hoisting gear；

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

Second bucket component and the first bucket component are constituted and version is the same；

Two cylinder body of hydraulic oil cylinder monaural rings are coaxially penetrated pin hinge with two the second ears rings of arm respectively to be connected, two Strut monaural ring coaxially penetrates pin hinge with two the first ears rings of arm respectively and is connected, two the second ears of bucket body ring difference Pin hinge is coaxially penetrated with two monaural rings of arm to be connected, two connecting rod monaural rings are same with two bucket body the first ears rings respectively Axle penetrates pin hinge connection, and connecting rod ears ring, strut ears ring and hydraulic cylinder piston rod are monocyclic coaxially to penetrate pin hinge Connection, constitutes the first grab mechanisms, eight arm ring flanges is respectively symmetrically and is fixed on two longerons of entablature and two cantilevers On longeron, the clear stone device of composition grab bucket；

Described ballast collection arranging device is by cmos image sensor, casing, two stone removing doors, two collection crossdrifts, two row's stones Door drive, two collection crossdrift driving means, crossbeam, several second elastic connecting components, the second dither motors and two Individual end cap composition, crossbeam are provided with several bolts hole, and end cap is provided with sand discharge Tu Zui；

Described casing be provided with base plate, flechette-type bottom, two the first Ji Shicang, the second Ji Shicang, two square tube shape holes, two gradually Become isosceles trapezoid groove, four first it is convex stupefied and two it is second convex stupefied, base plate is provided with several bolts hole, and flechette-type bottom is provided with several Sieve aperture, the first Ji Shicang are provided with Pai Shikou and two Ji Shikou of symmetrical two, and the second Ji Shicang is provided with symmetrical two row's stone Mouth and two Ji Shikou, the first convex stupefied top and bottom are provided with symmetrical two ears ring, and the second convex stupefied top and bottom are provided with symmetrical two Individual ears ring, stone removing door are provided with two the first monaural rings and four the second monaural rings, collection crossdrift be provided with two the first monaural rings, four Individual second monaural ring and six spill plates；

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

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

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

Drive cylinder piston rod monaural ring, first pull bar the first ears ring, second pull bar the first ears ring same stone removing door Axle penetrates pin hinge connection, constitutes stone removing door driving means；

Drive cylinder piston rod monaural ring, the 3rd pull bar the first ears ring, the 4th pull bar the first ears ring same collection crossdrift Axle penetrates pin hinge connection, composition collection crossdrift driving means；

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

Stone removing door driving oil cylinder is respectively fixedly connected with the madial wall in two square tube shape holes, two first pull bar the second ears rings Pin hinge is co-axially inserted with two the first monaural rings of stone removing door respectively to be connected, two second the second ears of pull bar rings respectively with Two the first monaural rings of another stone removing door are co-axially inserted pin hinge connection, will collect crossdrift and drive oil cylinder to be respectively fixedly connected with two On the lateral wall in square tube shape hole, two the 3rd the second ears of pull bar rings are co-axially inserted with collection two the first monaural rings of crossdrift respectively Pin hinge connects, and two the 4th the second ears of pull bar rings are co-axially inserted with two the first monaural rings of another stone removing door respectively Pin hinge connects, and two end caps are respectively fixedly connected with casing；

Bolt is passed through into sill bolt hole, helical spring is sheathed on bolt, then pass through box bottom bolt hole, then will Another helical spring is sheathed on bolt, and pad is sheathed on bolt, hex nut pretension, and casing realizes elasticity even with crossbeam Connect；Second dither motor is symmetrically connected on box bottom, and crossbeam is symmetrically fixed on two longerons of railcar, CMOS figures As sensor is fixed on below crossbeam, ballast collection arranging device is constituted；

The clear stone device in described pillow end is grabbed by the second entablature component, the second retractable driving device, the 4th lowering or hoisting gear, second Bucket device and U-shaped bar composition；

The second described entablature component and the first entablature component are constituted and version is the same, carries out and the first entablature group Part identical assembly operation, constitutes the second entablature component；

The second described retractable driving device and the first retractable driving device constitute and version as, carry out flexible with first Driving means identical assembly operation, constitutes the second retractable driving device；

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

The second described grab mechanisms and the first grab mechanisms are constituted and version is the same, carry out identical with the first grab mechanisms Assembling, constitute the second grab mechanisms；

Arm ring flange is connected with U-shaped bar, then U-shaped bar is fixed on the second square tube shape telescopic arm, the clear stone dress in composition pillow end Put；

Described chain tooth row stone device is by the 3rd entablature component, the 5th lowering or hoisting gear of the 3rd retractable driving device and chain tooth row Stone component is constituted；

The 3rd described entablature component is by third party's tubular fixed arm, two third party's tubular telescopic arms, the 4th laser positions Displacement sensor and the 4th range finding reference plate composition, third party's tubular fixed arm are provided with four ears rings, third party's tubular telescopic arm It is provided with blind end；

The 3rd described retractable driving device as the composition of the first lifting drive, except aforesaid third party's tubular is fixed 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 form Different, remaining all component structural form is the same；

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

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

Described chain tooth row stone component is by double output shaft hydraulic motor, two yielding couplings, two chain tooth row stone parts, U Shape bar, eight C-shaped-rods and suspension bracket composition, U-shaped bar are provided with two circular flange disks and square flange, and C-shaped-rod is provided with the first method Blue disk and second flange disk, suspension bracket are provided with two first flange disks and eight second flange disks；

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

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

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

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

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

Double output shaft hydraulic motor double output shaft, two yielding couplings and two sprocket wheel wheel shafts are connected, U-shaped bar square flange Disk is fixed on the 3rd double output shaft hydraulic motor, and eight C-shaped-rod second flange disks are respectively symmetrically and are fixed on two square beams On, eight second flange disks of suspension bracket are connected with eight C-shaped-rod first flange disks respectively, two circular flange disks of U-shaped bar and suspension bracket Two first flange disks are respectively fixedly connected with third party's tubular telescopic arm, constitute chain tooth row stone device；

Described four nut of sleeper synchronization assembling and disassembling device is by sill, the 6th lowering or hoisting gear and two nut assembling and disassembling device groups Into sill is provided with four ears rings and two symmetrical long slot bores；

The 6th described lowering or hoisting gear is by entablature component, the 6th lifting drive, symmetrically arranged two parallel four-bars Mechanism and the 5th laser displacement sensor composition；

Described entablature component is made up of the 4th square tube shape fixed arm and two the 4th square tube shape telescopic arms, the 4th square tube shape Fixed arm is provided with symmetrical two long slot bore, and the 4th square tube shape telescopic arm is provided with blind end and two monaural rings；

The 6th described lifting drive and the first lifting drive composition, except aforesaid 4th square tube shape fixed arm Orientation and the first square tube shape fixed arm orientation is different, the 4th square tube shape telescopic arm orientation and the first square tube shape telescopic arm orientation not Equally, remaining all component structural form is the same；

Described parallelogram lindage is made up of sill, two forks and the 4th square tube shape telescopic arm,

Carry out and the first lifting drive identical assembly operation, constitute the 6th lifting drive；

By one end of two forks respectively with the 4th square tube shape telescopic arm chain connection, the other end of two forks respectively with lower horizontal stroke Beam chain connection, constitutes parallelogram lindage, and the vertical plane of symmetry assembling for being symmetrical in the 4th square tube shape fixed arm and sill is another One parallelogram lindage, the 5th laser displacement sensor is symmetrically fixed on below the 4th square tube shape fixed arm, composition the 6th Lowering or hoisting gear；

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

Upper lid is sheathed on into the first spiral rotary actuator output shaft circular shaft section, lid and the first spiral rotary actuator is made Ring flange is connected, then circular connecting plate is sheathed on six prism shaft part of the first spiral rotary actuator output shaft, the first hexagonal Nut pretension, internal gear are coaxially connected with circular connecting plate, and geared sleeve is connected located at the first axle journal of power transmission shaft, the first thrust bearing It is sheathed on the second axle journal of power transmission shaft, power transmission shaft makes the first thrust bearing contact with housing through housing axis hole, the second thrust axis On the 3rd axle journal of power transmission shaft, the second hex nut screws on power transmission shaft thread segment pretension to bearing sleeve, and yielding coupling makes power transmission shaft 4th axle journal is coaxially connected with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, the gear teeth flank of tooth of two gears Gear teeth face with internal gear respectively, upper lid are connected with shell flange disk, and one end of two suspension rods is symmetrically fixed on housing Both sides, constitute nut assembling and disassembling device, and the other end of two suspension rods is symmetrically fixed on two sides of the 4th square tube shape fixed arm, lower horizontal stroke Beam is fixed on two side rail inner faces of railcar, composition sleeper four nuts synchronization assembling and disassembling device；

Described rail-lifting equipment be by first crossbeam telescopic component, first crossbeam retractable driving device, two the first pendulous devices, Eight forks, eight hex nuts, two box connecting rods, eight bolts, two flexible shell types carry cylinder of rail composition, and fork is provided with Six prism hole monaural rings and monaural ring, box connecting rod are arranged with four bolts hole and semicylindrical opening, and flexible shell type carries cylinder of rail Cylinder body is provided with gusset, piston rod free end and is provided with fagging；

Described first crossbeam telescopic component is by the 5th square tube shape fixed arm, two the 5th square tube shape telescopic arms, the 6th laser Displacement transducer and the 6th range finding reference plate composition, the 5th square tube shape telescopic arm are provided with blind end；

Described first crossbeam retractable driving device as the composition of the first lifting drive, except aforesaid 5th square tube shape Fixed arm and the first square tube shape fixed arm version is different, the 5th square tube shape telescopic arm and the first square tube shape telescopic arm structure Form is different, and remaining all component structural form is the same；

Carry out and the first lifting drive identical assembly operation, constitute first crossbeam retractable driving device；6th laser position Displacement sensor is symmetrically fixed on the 5th square tube shape fixed arm side, and the 6th range finding reference plate is fixed on the 5th square tube shape telescopic arm side Face；

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

Two sector gears are arranged respectively and are fixed on first diameter of axle of two multidiameters, two multidiameters are each passed through casing Two axis holes, are made the second axle journal of multidiameter be formed with casing axis hole and rotate secondary, partial gear is arranged and is fixed on the second spiral On rotary actuator output shaft, be placed into making in the first casing the gear teeth of partial gear respectively with two sector gears The gear teeth are contacted along the facewidth, and the second spiral rotary actuator is fixed on the first box bottom, two axis holes of embedded cover plate It is sheathed on two the 3rd axle journals of multidiameter respectively, makes embedded cover plate and the first casing be connected, constitute the first pendulous device；

Two forks, six prism hole monaural ring is sheathed on into two the one or six prism shaft parts of multidiameter, two the first hexagonal spiral shells respectively The other pretension of mother stock, then six prism hole monaural ring of other two forks is sheathed on into two the two or six prism shaft parts of multidiameter respectively, Other two the first hex nuts distinguish pretension, make one end of four forks be connected with the two ends of two multidiameters respectively, four Four screwed holes of fork monaural ring and box connecting rod are coaxial, four the first tools for bolts ' pretension, make four forks respectively with box connecting rod Chain connection, forms parallelogram lindage in parallel；

Two the first casings are respectively fixedly connected with the blind end of two the 5th square tube shape telescopic arms, two the first pendulous devices pair are made Claim to arrange, two flexible shell types are carried into cylinder of rail cylinder body and is respectively fixedly connected with two box connecting rod semicylindrical openings, make two to stretch Shell type carries cylinder of rail and is symmetrical arranged, and constitutes rail-lifting equipment, the 5th square tube shape fixed arm is symmetrically fixed on two of railcar and is indulged Liang Shang；

Described swivel block and push-and-pull sleeper device are by second cross beam telescopic component, second cross beam retractable driving device, the second pendulum Dynamic device, four the first forks, crawls and swivel block devices, four the first hex nuts and four bolt compositions, the first fork set There are six prism hole monaural rings and monaural ring；

Described second cross beam telescopic component is by the 6th square tube shape fixed arm, the 6th square tube shape telescopic arm, the 7th laser displacement Sensor and the 7th range finding reference plate composition, the 6th square tube shape telescopic arm are provided with blind end；

Described second cross beam retractable driving device and the first retractable driving device composition, except aforementioned 6th square tube shape is fixed Arm and the second square tube shape fixed arm version are different, and remaining all component structural form is the same；

Carry out and the first retractable driving device identical assembly operation, constitute second cross beam retractable driving device, the 7th laser position Displacement sensor is symmetrically fixed on the 6th square tube shape fixed arm side, and the 7th range finding reference plate is fixed on the 6th square tube shape telescopic arm side Face；

The second described pendulous device and the first pendulous device are constituted and version is the same, carries out identical with the first pendulous device Assembly operation, constitute the second pendulous device；

Described crawl and swivel block device are by the second casing, the 3rd spiral rotary actuator, hydraulic jack, the first thrust axis Hold, the second thrust bearing, the second hex nut, piston, piston rod, ladder U-bracket, first connecting rod, second connecting rod, two Two forks, two rollers, end cap and two mechanical gripper device compositions, the second casing are provided with symmetrical four screwed hole, the first circle Hole section, fan-shaped hole section, the second circular hole portion, axle sleeve section and the 3rd circular hole portion, the 3rd spiral rotary actuator output shaft fixed connection method Blue disk, ring flange are provided with spacing fan-shaped 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 are provided with spacing fan-shaped 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 are provided with ears ring and monaural ring, and second connecting rod is provided with two ears rings, and the second fork is provided with list Earrings, pin-and-hole and ears ring；

Described gripper is made up of ladder U-bracket, four the 3rd forks, two helical springs and pressing plates, the 3rd pendulum Bar is provided with two ears rings, and pressing plate is provided with two the first monaural rings and four the second monaural rings；

Will be sector the 3rd spiral rotary actuator output shaft ring flange spacing fan-shaped boss spacing with hydraulic jack ring flange convex Platform aligns connected, and the first thrust bearing is sheathed on the first axle journal of hydraulic jack, and hydraulic jack is penetrated the second casing shoulder hole It is interior, make the 3rd spiral rotary actuator output shaft ring flange and hydraulic jack ring flange insert second the first circular hole portion of casing, Put the spacing fan-shaped boss of the 3rd spiral rotary actuator output shaft ring flange and the spacing fan-shaped boss of hydraulic jack ring flange Enter in fan-shaped hole section, two spacing fan-shaped boss left surfaces is contacted with fan-shaped the first confined planes of hole section, make the first thrust bearing Second the second circular hole portion of casing is inserted, the 3rd spiral rotary actuator is fixed on the second box bottom, make end cap and Two casings are connected；

Second thrust bearing is sheathed on the 3rd axle journal of oil cylinder so as to insert the 3rd circular hole portion section of the second casing, piston rod is worn Ladder U-bracket axis hole is crossed, piston shaft hole sleeve is located at piston rod axle journal, and nut pretension inserts piston in hydraulic jack cylinder barrel, Ladder U-bracket flange is penetrated hydraulic jack cylinder barrel to be connected, the second axle journal of oil cylinder and the second housing bushing section chain connection is made, Piston rod ears ring, second connecting rod ears ring and first connecting rod monaural ring are coaxially penetrated into pin hinge connection, the second fork is double Earrings coaxially penetrates pin hinge with roller and is connected, and the second fork pin-and-hole coaxially penetrates pin hinge with ladder U-bracket pin-and-hole Connection, first connecting rod ears ring and second connecting rod ears ring coaxially penetrate pin hinge with the first fork monaural ring respectively and are connected；

The ears ring of four the 3rd forks is coaxially penetrated pin hinge company respectively with four the second monaural rings of ladder U-bracket Connect, another ears ring of four the 3rd forks coaxially penetrates pin hinge with four the second monaural rings of pressing plate respectively and is connected, two Individual helical spring one end is connected with two the first monaural rings of ladder U-bracket respectively, two helical spring other end difference It is connected with two the first monaural rings of pressing plate, constitutes gripper, the pulling force of two helical springs makes to be articulated with the rolling of the second fork Wheel is contacted with pressing plate all the time, the aforementioned assembly operation of repetition, assembles another gripper, composition crawl and swivel block device；

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

First casing is fixed on into the 6th square tube shape telescopic arm blind end, composition swivel block and push-and-pull sleeper device；

Described sleeper handling apparatus are made up of reciprocating motion storage sleeper device and rigid hanger hoisting apparatus；

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 storehouses, wherein left side half sleeper storehouse is used to store sleeper, right side half sleeper storehouse is used to store bad rail Pillow.

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

The 3rd described crossbeam telescopic component is made up of the 7th square tube shape fixed arm and two the 7th square tube shape telescopic arms, and the 7th Square tube shape fixed arm is provided with symmetrical two long slot bore, and the 7th square tube shape telescopic arm is provided with blind end and two monaural rings；

As the composition of described reciprocating movement driving device and the first lifting drive, except aforesaid 7th square tube shape is fixed Arm orientation and the first square tube shape fixed arm orientation is different, the 7th square tube shape telescopic arm orientation and the first square tube shape telescopic arm orientation It is different；Remaining all component structural form is the same；

Described parallelogram lindage is made up of the 7th square tube shape telescopic arm, two forks and moving beam, and moving beam is provided with Two rollers；

Carry out and the first lifting drive identical assembly operation, constitute reciprocating movement driving device；

By one end of two forks respectively with the 7th square tube shape telescopic arm chain connection, the other end of two forks respectively with movement Crossbeam chain connection, constitutes parallelogram lindage, and the aforementioned assembly operation of repetition is symmetrical in the 7th square tube shape fixed arm and mobile horizontal stroke The vertical plane of symmetry of beam assembles another parallelogram lindage, and base plate is fixed on below the 7th square tube shape fixed arm, makes mobile horizontal stroke Two rollers of beam are contacted with plate upper surface, and the 8th laser displacement sensor is symmetrically fixed on the 7th square tube shape fixed arm side Face, constitutes reciprocator；

Base plate is fixed on track car crossbeam, the 5th square tube shape fixed arm and the 6th square tube shape fixed arm, storage sleeper case is solid It is connected on moving beam, the roller of storage sleeper case is contacted with substrate, composition moves back and forth storage sleeper device；

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

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

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

Described telescoping crossbeam device is by the second ladder square tube shape fixed arm, the second ladder square tube shape telescopic arm, the 3rd ladder Square tube shape telescopic arm, the second multi-stage expansion shell type oil cylinder, end cap and push pedal composition, the second ladder square tube shape fixed arm are provided with flange Disk, cylinder shoulder and long slot bore, the second ladder square tube shape telescopic arm are provided with first shoulder, second shoulder and long slot bore, the 3rd ladder side Tubular telescopic arm is provided with a shoulder and two monaural rings, and the second multi-stage expansion shell type oil cylinder is provided with first flange disk, the first order and stretches Sleeve, second level extension sleeve and second flange disk；

End cap is symmetrically fixed on the second multi-stage expansion shell type oil cylinder first flange disk, the 3rd ladder square tube shape telescopic arm is sheathed on On second multi-stage expansion shell type oil cylinder, the second multi-stage expansion shell type oil cylinder second flange disk and the 3rd ladder square tube shape telescopic arm are made Blind end is connected, and the second ladder square tube shape telescopic arm is sheathed on the 3rd ladder square tube shape telescopic arm, then by the second ladder square tube Shape fixed arm is sheathed on the second ladder square tube shape telescopic arm, makes end cap be connected with ladder square tube shape fixed arm ring flange, push pedal The 3rd ladder square tube shape telescopic arm blind end is fixed on, the 9th laser displacement sensor is symmetrically fixed on into the second ladder square tube shape Fixed arm side, constitutes 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, constitutes rigid hanger；

Described pick-and-place sleeper device is made up of the 4th spiral rotary actuator, yielding coupling and interior wide-mouth nut, the Four spiral rotary actuators are provided with ring flange and output shaft, and interior wide-mouth nut is provided with axle journal；

4th spiral rotary actuator is penetrated in sill circular hole, the 4th spiral rotary actuator ring flange is fixed on sill Above, the 3rd yielding coupling makes the 4th spiral rotary actuator output shaft be connected with interior wide-mouth nut axle journal, constitutes pick-and-place sleeper Device；

Two telescopic cantilever boom devices are symmetrically fixed on two longerons of railcar, telescoping crossbeam device the second ladder square tube shape Fixed arm is fixed on below two cantilever girder cantilevers, two ears rings of entablature respectively with the 3rd ladder square tube shape telescopic arm Two monaural ring coaxial bolts connections, constitute sleeper handling apparatus.