CN106522046A - Mechanical-electrical-hydraulic integrated sleeper replacement device - Google Patents

Abstract

The invention discloses a mechanical-electrical-hydraulic integrated sleeper replacement device. The mechanical-electrical-hydraulic integrated sleeper replacement device is composed of 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, wherein the rail vehicle is provided with a plurality of trundles and two longitudinal beams; the four-nut synchronous assembly and disassembly device, the rail lifting device, the rail switching and sleeper sliding device, the sleeper hoisting device, the electric generator and the hydraulic system and control system cabinet are arranged on the two longitudinal beams of the rail vehicle; and the rail vehicle is dragged by an engineering vehicle. By means of the mechanical-electrical-hydraulic integrated sleeper replacement device, a working device can be aligned at the working position quickly; four nuts are assembled and disassembled synchronously, so that the pretightening forces of the four nuts are coincident, the fatigue life of bolts is prolonged, and connection reliability of a sleeper and a steel rail is ensured; the sleeper is quickly hoisted and arranged; the device is suitable for sleeper replacement of linear and curved rail sections; and the rail switching and sleeper sliding device is an integrated device, the structure is simple and compact, automatic control is achieved, operation is convenient, and efficiency of sleeper replacement work is high.

Description

Mechanical-electrical-hydraulic integration changes sleeper device

Technical field

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

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 are needed to change in time, during sleeper replacement, using manual work, are taken When laborious, 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 mechanical-electrical-hydraulic integration changes sleeper device.

The present invention is by four nuts synchronization assembling and disassembling device, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling dress Put, electromotor, Hydraulic system and control System cabine and railcar are constituted.Railcar is provided with multiple castors and two longerons, four spiral shells Female synchronization assembling and disassembling device, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor and hydraulic system and control System cabine processed is arranged on two longerons of railcar, and railcar is drawn by engineering truck, and electromotor is that oil pump and control system are carried For power, fuel tank, oil pump, hydraulic control system and automatic control system in Hydraulic system and control System cabine, are provided with；

Described four nut of sleeper synchronization assembling and disassembling device is by entablature, lowering or hoisting gear and two nut assembling and disassembling device groups Into entablature is provided with four ears rings；

Described lowering or hoisting gear is by two first series connection parallelogram lindages, lifting drive, servo-actuated balanced support Device and first laser displacement transducer composition；

Described first series connection parallelogram lindage is by sill, the first fork, the second fork, two the 3rd forks and the One connecting rod is constituted, and first connecting rod is provided with monaural ring and ears ring；

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

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, and composition first is connected parallelogram lindage, the aforementioned assembly operation of repetition, is symmetrical in sill and upper The crossbeam vertical plane of symmetry assembles another the first series connection parallelogram lindage；

Two turriform linear Stiffness springs are symmetrically sheathed on into two light bar segments of slide bar, then two slide blocks are covered respectively Located at two light bar segments of slide bar, two the first hex nuts are distinguished pretension, make two slide blocks make turriform linear Stiffness respectively Spring suitably compresses, and by the 5th fork and sill chain connection, makes the left side monaural ring of two second connecting rods respectively with the 4th A pair of tapped blind holes of the ears ring, the 6th fork ears ring and slide block of fork are coaxial, and two the first bolts distinguish pretensions, make the Chain connection between four forks, three components of the 6th fork and slide block, by the right monaural ring of two third connecting rods respectively with the 5th The ears ring of fork, the 7th fork ears ring are coaxial, and two bearing pins are respectively penetrated, and make second connecting rod, the 5th fork and the 7th pendulum Chain connection between three components of bar, composition the second series connection parallelogram lindage；

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 respectively with plate shape entablature chain connection, the servo-actuated Equipoising support apparatus of composition；

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 into oil cylinder and is fixed on plate shape entablature, by four the 3rd forks and entablature hinge Connection, first laser displacement transducer are symmetrically fixed on below entablature；Composition 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 Angle axis 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 entablature, and sill is connected 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 first square tube shape fixed arm, two the first square tube shape telescopic arms, second Laser displacement sensor and the second range finding reference plate composition, the first square tube shape telescopic arm are provided with blind end；

The first described retractable driving device is by the first square tube shape fixed arm, the double rod hydraulic jacks of dual Piston and two First square tube shape telescopic arm is constituted, and the double rod cylinder body of hydraulic oil cylinder of dual Piston are provided with square flange, piston rod free end and set There is ring flange；

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 Square tube shape fixed arm endoporus upper surface, constitutes retractable driving device, and second laser displacement transducer is symmetrically fixed on the first square tube Shape fixed arm side, the second range finding reference plate are symmetrically fixed on the first square tube shape telescopic 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 tools for bolts ' pretension, four forks is cut with scissors with box connecting rod respectively Chain connects, and forms parallelogram lindage in parallel；

Two the first casings are respectively fixedly connected with the blind end of two the first 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 first 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 second square tube shape fixed arm, the second square tube shape telescopic arm, the 3rd laser Displacement transducer and the 3rd range finding reference plate composition, the second square tube shape telescopic arm are provided with blind end；

The second 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 thereon from two-way ram oil cylinder piston rod end, makes the second square tube shape stretch Arm blind end is connected with two-way ram cylinder piston rod ring flange, and the second square tube shape solid determines arm from the second square tube shape telescopic arm Opening is arranged thereon, makes two-way ram cylinder flange disk and the second square tube solid determine arm blind end and is connected, composition second Retractable driving device, two-way ram oil cylinder and the second square tube shape telescopic arm form moving sets, the 3rd laser displacement sensor pair Title is fixed on the second square tube shape fixed arm side, and the 3rd range finding reference plate is symmetrically fixed on the second square tube shape telescopic 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, four bolts difference pretensions, 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 second 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 Two rollers 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 for Store bad sleeper.

Described reciprocator is by base plate, two series connection parallelogram lindages, reciprocating movement driving devices and the Four laser displacement sensors are constituted；

Described series connection parallelogram lindage is by fixed cross beam, two the first forks, connecting rod, two the second forks and shiftings Dynamic crossbeam composition, connecting rod are provided with two monaural rings, and moving beam is provided with two rollers and square groove hole；

Described reciprocating movement driving device by hydraulic motor, gear and tooth bar, constitute；

By two the first forks respectively with fixed cross beam chain connection, the first fork ears ring, the second fork ears ring and Connecting rod monaural ring coaxially penetrates pin hinge connection, another the first fork ears ring, another the second fork ears ring and company Bar another monaural ring coaxially penetrates pin hinge connection, two the second forks respectively with moving beam chain connection, composition string Connection parallelogram lindage, the vertical plane of symmetry for being symmetrical in fixed cross beam and moving beam assemble another parallelogram lindage, bottom Plate is fixed on fixed cross beam lower surface, two rollers of moving beam is contacted with plate upper surface, and tooth bar is symmetrical in two strings Connection parallelogram lindage is fixed on base plate, and gear is arranged and is fixed on hydraulic motor output shaft, and hydraulic motor is fixed on mobile horizontal stroke Beam sides, engages wheel and rack, and hydraulic motor is symmetrically fixed on fixed cross beam side, and the 4th laser displacement sensor is connected In moving beam side, reciprocating movement driving device is assembled；

Base plate is fixed on track car crossbeam, the first square tube shape fixed arm and the second square tube shape fixed arm, sleeper is stored Case is fixed on moving beam, two rollers 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 5th 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 6th 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 6th 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 5th 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, the 3rd yielding coupling and interior wide-mouth nut Composition, the 4th spiral rotary actuator 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 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. 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；

3. can quickly handling and put sleeper work；

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

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

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

Fig. 4 is the lifting drive exploded perspective schematic diagram of the present invention.

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

Fig. 6 is the nut assembling and disassembling device exploded perspective schematic diagram of the present invention.

Fig. 7 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.

Fig. 8 is close-up schematic view at C in Fig. 7.

Fig. 9 is the rail-lifting equipment working condition schematic perspective view of the present invention.

Figure 10 is the first crossbeam retractable driving device exploded perspective schematic diagram of the present invention.

Figure 11 is the first pendulous device exploded perspective schematic diagram of the present invention.

Figure 12 is the second cross beam retractable driving device exploded perspective schematic diagram of the present invention.

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

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

Figure 15 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 16 is the rail-lifting equipment of the present invention and handling sleeper working state of device schematic perspective view.

Figure 17 is the reciprocator schematic perspective view of the present invention.

Figure 18 is the storage sleeper case schematic perspective view of the present invention.

Figure 19 is the telescopic cantilever boom device exploded perspective schematic diagram of the present invention.

Figure 20 is the telescoping crossbeam device exploded perspective schematic diagram of the present invention.

Figure 21 is the left view of Fig. 7.

Figure 22 is close-up schematic view at D in Figure 21.

Specific embodiment

Refer to shown in Fig. 1 and Fig. 2, the present invention is by four nuts synchronization assembling and disassembling device 7, rail-lifting equipment 8, transition and push-and-pull Sleeper device 9, sleeper handling apparatus 15, electromotor 18, Hydraulic system and control System cabine 19 and railcar 20 are constituted.Railcar It is provided with multiple castors 201 and two longerons 202, four nuts synchronization assembling and disassembling device 7, rail-lifting equipment 8, transition and push-and-pull sleeper device 9th, sleeper handling apparatus 15, electromotor 18 and Hydraulic system and control System cabine 19 are arranged on two longerons 202 of railcar, Railcar 20 is drawn by engineering truck, and electromotor 18 is that oil pump and control system provide power, Hydraulic system and control System cabine 19 Fuel tank, oil pump, hydraulic control system and automatic control system are provided with inside；

Refer to shown in Fig. 1, Fig. 3 to Fig. 5, described four nut of sleeper synchronization assembling and disassembling device 7 is by entablature 71, lifting Device 72 and two nut assembling and disassembling devices 73 are constituted, and entablature 71 is provided with four ears rings 711；

Described lowering or hoisting gear 72 is by two first series connection parallelogram lindages 721, lifting drive 722, is servo-actuated Equipoising support apparatus 724 and first laser displacement transducer 725 are constituted；

Described first series connection parallelogram lindage 721 by sill 7211, the first fork 7212, the second fork 7213, Two the 3rd forks 7213 and first connecting rod 7215 are constituted, and first connecting rod 7215 is provided with monaural ring 72151 and ears ring 72152；

Described lifting drive 722 is to stretch out oil cylinder 7221 and two first connecting rods by double multi-stage expansion shell types are double 7215 compositions, the double two final stage extension sleeve free ends for stretching out oil cylinder 7221 of double multi-stage expansion shell types are provided with monaural ring 72211；

Described servo-actuated Equipoising support apparatus 724 be by plate shape entablature 7240, second series connection parallelogram lindage 7241, First strut 7242, the second strut 7243, the turriform linear Stiffness spring 7246, two of slide block 7245, two of slide bar 7244, two 7247, two the first bolts 7248 of individual first hex nut and two the second bolts 7249 are constituted, and slide bar 7244 is provided with fixation Disk 72441, it is arranged with two light bar segments 72442 and two thread segments 72443；Slide block 7245 is provided with circular hole 72451 and To coaxial threaded blind hole 72452；

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

By the first fork 7212 and 7211 chain connection of sill, the second fork 7213, the 4th fork 72412 and sill Chain connection between 7211 3 components, 7212 ears ring of the first fork, 7213 ears ring of the 3rd fork and first connecting rod 7215 are single Earrings coaxially penetrates pin hinge connection, 7213 ears ring of the second fork, another 7213 ears ring of the 3rd fork, first connecting rod 7215 ears rings and the double oil cylinder monaural rings 72211 that stretch out of double multi-stage expansion shell types coaxially penetrate pin hinge connection, composition first Series connection parallelogram lindage 721, the aforementioned assembly operation of repetition are symmetrical in sill 7211 and the assembling of the 71 vertical plane of symmetry of entablature Another the first series connection parallelogram lindage 721；

Two turriform linear Stiffness springs 7246 are symmetrically sheathed on into two light bar segments 72442 of slide bar, then by two Slide block 7245 is sheathed on two light bar segments 72442 of slide bar respectively, and two the first hex nuts 7247 are distinguished pretension, make two cunnings Block 7245 makes the 7246 appropriate compression of turriform linear Stiffness spring respectively, and the 5th fork 72413 and 7211 hinge of sill are connected Connect, make the left side monaural ring of two second connecting rods 72416 ears ring respectively with the 4th fork 72412, the 6th fork 72414 pairs A pair of tapped blind holes 72452 of earrings and slide block are coaxial, and two the first bolts 7248 distinguish pretensions, make the 4th fork 72412, the Chain connection between 7,245 3 components of six forks 72414 and slide block, by the right monaural ring of two third connecting rods 72416 respectively with The ears ring of the 5th fork 72413,72415 ears ring of the 7th fork are coaxial, and two bearing pins 72417 are respectively penetrated, and make the second company Chain connection between bar 72416,72,415 3 components of the 5th fork 72413 and the 7th fork, composition the second series connection parallel four-bar machine Structure 7241；

By a pair of tapped blind holes 72452 of 7242 ears ring of the first strut, 7243 ears ring of the second strut and slide block 7245 Coaxially, two the second bolts 7249 distinguish pretension, make between the first strut 7242,7,245 3 components of the second strut 7243 and slide block Chain connection, the 6th fork 72414, the 7th fork 72415 and the second strut 7243 are connected with 7240 hinge of plate shape entablature respectively Connect, the servo-actuated Equipoising support apparatus 724 of composition；

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 72414, the 7th fork 72415 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 into oil cylinder 7221 and is fixed on plate shape entablature 7240, by four Individual 3rd fork 7214 and 71 chain connection of entablature, first laser displacement transducer 725 are symmetrically fixed on below entablature；Group Into lowering or hoisting gear 72；

Refer to shown in Fig. 6, described nut assembling and disassembling device 73 is to swing hydraulic pressure horse by two suspension rods 731, the first spiral Up to 732, upper lid 733, circular connecting plate 734, the first hex nut 735, the gear of power transmission shaft 737, two of internal gear 736, two 738th, the first thrust bearing 740, two of housing 739, two the second thrust bearing 741, two the second hex nut 742, two Yielding coupling 743 and two interior wide-mouth magnetic coupling boxs 744 are constituted, and the first spiral rotary actuator 732 is provided with flange Disk 7321, its output shaft are provided with circular shaft section 7322 and six prism shaft parts 7323, and upper lid 733 is provided with axis hole 7331, circular connecting plate 734 are provided with hexagonal axis hole 7341, and power transmission shaft 737 is provided with the first axle journal 7371, the second axle journal 7372, the 3rd axle journal the 7373, the 4th Axle journal 7374 and thread segment 7375, housing 739 are provided with ring flange 7391 and two axis holes 7392, interior wide-mouth magnetic coupling box 744 are 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 71 2 sides of entablature, and sill 7211 is fixed on two 202 medial surface of longeron of railcar, constitutes sleeper four Nut synchronization assembling and disassembling device 7；

Refer to shown in Fig. 7 to Figure 11, described rail-lifting equipment 8 is stretched by first crossbeam telescopic component 81, first crossbeam 82, two 86, eight, box connecting rods of hex nut 85, two of fork 84, eight of the first pendulous device 83, eight of contracting driving means 87, two flexible shell types of bolt 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 is 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 881st, piston rod free end is provided with fagging 882；

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

The first described retractable driving device 82 is by the double rod hydraulic jacks of the first square tube shape fixed arm 811, dual Piston 821 and two the first square tube shape telescopic arms 812 constitute, double 821 cylinder body of rod hydraulic jack of dual Piston is provided with square flange 8211st, piston rod free end is provided with ring flange 8212；

Two the first square tube shape telescopic arms 812 are sheathed on into which from double 821 two ends of rod hydraulic jack of dual Piston respectively On, make the first square tube shape telescopic arm blind end 8121 connected with the double rod hydraulic cylinder piston rod ring flanges 8212 of dual Piston, First square tube shape fixed arm 811 is sheathed on two the first square tube shape telescopic arms 812, makes the double rod hydraulic jack sides of dual Piston Shape ring flange 8211 is symmetrically fixed on 811 endoporus upper surface of the first square tube shape fixed arm, constitutes retractable driving device 82, and second swashs Optical displacement sensor 813 is symmetrically fixed on 811 side of the first square tube shape fixed arm, and the second range finding reference plate 814 is symmetrically fixed on First 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 bolts 87 pretensions, 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 first 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 first square tube shape fixed arm 811 Symmetrically it is fixed on two longerons 202 of railcar；

Refer to shown in Fig. 7, Figure 12 to Figure 14, described swivel block and push-and-pull sleeper device 9 are by the flexible group of second cross beam Part 90, second cross beam retractable driving device 91,92, four the first forks 93 of the second pendulous device, crawl and swivel block device 94, four Individual first hex nut 96 and four bolts 97 are 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 second square tube shape fixed arm 901, the second square tube shape telescopic arm 902, 3rd laser displacement sensor 903 and the 3rd range finding reference plate 904 are constituted, and the second square tube shape telescopic arm 902 is provided with blind end 9021；

The second described retractable driving device 91 is by the second square tube shape fixed arm 901, two-way ram oil cylinder 911 and Two square tube shape telescopic arms 902 are constituted, and 911 cylinder body of two-way ram oil cylinder is provided with square slider 9111 and ring flange 9112, piston Bar free end is provided with ring flange 9113,

Second square tube shape telescopic arm 902 is arranged thereon from 911 tailpiece of the piston rod of two-way ram oil cylinder, the second square tube is made Shape telescopic arm blind end 9021 is connected with two-way ram cylinder piston rod ring flange 9113, and the second square tube shape solid determines arm 901 It is arranged thereon from 902 opening of the second square tube shape telescopic arm, makes two-way ram cylinder flange disk 9112 and the second square tube solid Shape is determined arm blind end 9011 and is connected, and constitutes the second retractable driving device 91, and two-way ram oil cylinder 911 and the second square tube shape are flexible Arm 902 forms moving sets, and the 3rd laser displacement sensor 903 is symmetrically fixed on 901 side of the second square tube shape fixed arm, and the 3rd surveys Second square tube shape telescopic arm, 902 side is fixed on symmetrically away from reference plate 904；

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 bolts 97 distinguish pretensions, make four the first forks 93 respectively with 941 chain connection of the second casing, Form in-parallel four-bar mechanism；

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

Refer to shown in Figure 15 to Figure 22, described sleeper handling apparatus 16 are by reciprocating motion storage sleeper device 160 Constitute with rigid hanger hoisting apparatus 168；

Described reciprocating motion storage sleeper device 160 is made up of reciprocator 161 and storage sleeper case 167, Storage sleeper case 167 is provided with two rollers 1671 and several sleeper storehouses 1672, wherein left side half sleeper storehouse is used to store rail Pillow, right side half sleeper storehouse are used to store bad sleeper.

Described reciprocator 161 is by 162, two series connection parallelogram lindages 163 of base plate, moves back and forth driving Device 165 and the 4th laser displacement sensor 166 are constituted；

Described series connection parallelogram lindage 163 be by 1631, two the first forks 1632 of fixed cross beam, connecting rod 1633, Two the second forks 1634 and moving beam 1635 are constituted, and connecting rod 1633 is provided with two monaural rings 16331, and moving beam 1635 sets There are two rollers 16351 and square groove hole 16352；

Described reciprocating movement driving device 165 by hydraulic motor 1651, gear 1652 and tooth bar 1653, constitute；

By two the first forks 1632 respectively with 1631 chain connection of fixed cross beam, 1632 ears ring of the first fork, second 1634 ears ring of fork and connecting rod monaural ring 16331 coaxially penetrate pin hinge and connect, another 1632 ears ring of the first fork, Another 1634 ears ring of the second fork and connecting rod another monaural ring 16331 coaxially penetrate pin hinge connection, two second Fork 1634 respectively with 1635 chain connection of moving beam, composition series connection parallelogram lindage 163, be symmetrical in fixed cross beam 1631 Another parallelogram lindage 163 is assembled with the vertical plane of symmetry of moving beam 1635, base plate 162 is fixed on fixed cross beam 1631 Lower surface, makes two rollers 16351 and 162 upper surface of base plate of moving beam, and it is flat that tooth bar 1653 is symmetrical in two series connection Row four-bar mechanism 163 is fixed on base plate 162, and gear 1652 is arranged and is fixed on 1651 output shaft of hydraulic motor, hydraulic motor 1651 are fixed on 1635 side of moving beam, gear 1652 is engaged with tooth bar 1653, and hydraulic motor 1651 is symmetrically fixed on Determine 1631 side of crossbeam, the 4th laser displacement sensor 166 is fixed on 1635 side of moving beam, and assembling is moved back and forth and drives dress Put 165；

Base plate 162 is fixed on into 20 crossbeam of railcar, the first square tube shape fixed arm 811 and the second square tube shape fixed arm 901 On, storage sleeper case 167 is fixed on moving beam 1635, is made above two rollers 1671 and base plate 162 of storage sleeper case Contact, composition move 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 5th 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 6th 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 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 1693 On, the first ladder square tube shape fixed arm 1691 is sheathed on the first ladder square tube shape telescopic arm 1692, makes the first ladder square tube solid Determine arm ring flange 16911 to be connected with end plate 1696, cantilever beam ring flange 16951 is fixed on square tube shape telescopic arm blind end 16932 On, cantilever 1697 is fixed on cantilever beam ring flange 16951, and the 6th laser displacement sensor 1698 is fixed on cantilever 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 5th 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 flange Disk 17211 is fixed on above sill 1713, the 3rd yielding coupling 1722 make the 4th spiral rotary actuator output shaft 17212 with Interior wide-mouth nut axle journal 17231 is connected, 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 16.

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

1. nut work is dismantled：On the right side of sleeper to be changed, on the outside of adjacent sleeper, bolt is good with machine oil labelling, engineering truck traction rail When road car is run to sleeper to be changed, the image information of cmos image sensor collection is known automatically by pattern recognition system Not, engineering truck is made to be parked in the cmos image sensor position coaxial with machine oil labelling bolt, four interior wide-mouth magnetic coupling boxs Directly over four bolts of sleeper to be changed, hydraulic oil makes hydraulic oil make double multi-stage expansion shell types pair stretch out the multistage of oil cylinder two ends Sleeve starts to stretch out step by step, promotes two first connecting rod synchronization translations respectively, makes symmetrically arranged two first series connection parallel four Linkage each two pairs of forks dorsad synchronous hunting up and down, lowering or hoisting gear are entrusted two nut assembling and disassembling devices and are declined, swash by first Optical displacement sensor measures its displacement signal with sill, controls double multi-stage expansion shell types pair and stretches out oil cylinder and the first spiral Rotary actuator works, when interior wide-mouth magnetic coupling box is sheathed on nut, position shown in Fig. 3, and double multi-stage expansion shell types Double final stage sleeves for stretching out oil cylinder two ends stop stretching out, and hydraulic oil makes two the first spiral rotary actuators start reverse sync Rotate, drive two circular connecting plates to entrust two internal gears respectively and rotate backward, each internal gear is nibbled with two gears simultaneously Close, drive two drive axis, rotate four interior wide-mouth magnetic coupling box reverse syncs, four interior wide-mouth magnetic Flos Mumes Sleeve 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 plum-blossom sleeve In cylinder, two the first spiral rotary actuators stop rotating backward, while hydraulic oil makes, and double multi-stage expansion shell types are double to stretch out oil The multi-stage sleeve at cylinder two ends starts to retract step by step, pulls the synchronization translations of two first connecting rods respectively, makes symmetrically arranged two the The opposite synchronous hunting of two pairs of forks each up and down of one series connection parallelogram lindage, lowering or hoisting gear are entrusted on two nut assembling and disassembling devices Position shown in Fig. 1 is risen to, the double chopped-off head sleeves for stretching out oil cylinder two ends of double multi-stage expansion shell types stop retracting, dismounting nut work knot Beam；

2. 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 six 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 second square tube shape telescopic arm to stretch out, and the second 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 3rd range finding reference plate is measured by the 3rd laser displacement sensor, Hydraulic pressure horse is swung to control second cross beam telescopic drive two-way ram oil cylinder, the second spiral rotary actuator and the 3rd spiral Up to work, the second pendulous device and crawl and swivel block device are moved out to appropriate location, second cross beam telescopic drive double acting Piston oil-cylinder piston rod stop stretch out, hydraulic oil makes the second spiral rotary actuator start to rotate forward, partial gear with Two sector gear engaged transmissions, two multidiameters drive that four the first forks are positive to be swung, make the second casing entrust crawl and Swivel block device does translation, and when two the first forks are contacted with the first positive stop lug boss, the second spiral rotary actuator just stops To rotation, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, while hydraulic oil makes, and second cross beam is flexible to be driven Dynamic two-way ram cylinder piston rod starts to retract, and pulls the second square tube shape telescopic arm to retract, and the second square tube shape telescopic arm is entrusted Second pendulous device and crawl and swivel block device are inwardly moved, and are fitted when two pressing plates of gripper inwardly move to bad sleeper both sides When position, second cross beam telescopic drive two-way ram cylinder piston rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod Start to stretch out, promote first connecting rod and second connecting rod motion, symmetrically arranged two the second forks is swung in opposite directions respectively, be hinged Pressing plate is pushed down in the roller of the second fork ears ring, roller is rolled makes pressing plate overcome the pulling force of two cylindrically coiled springs to put down Dynamic, two in-parallel four-bar mechanism forward directions swing, and when two platen clamp sleepers, the middle position of solenoid directional control valve makes hydraulic oil Cylinder 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 first square tube shape telescopic arms connected with which synchronously stretch out, by first laser displacement sensor its with the first range finding The displacement signal of reference plate, controls the double rod hydraulic jacks of first crossbeam telescopic drive dual Piston, the second spiral and swings liquid Pressure motor and flexible shell type propose cylinder of rail work, and the first square tube shape telescopic arm entrusts the first pendulous device and flexible shell type carries rail oil Cylinder is moved out to appropriate location, and the double rod hydraulic cylinder piston rods of first crossbeam telescopic drive dual Piston stop stretching out, its Start to retract, the pulling two first square tube shape telescopic arms connected with which are synchronous respectively retracts, and the first square tube shape telescopic arm is entrusted First pendulous device and flexible shell type carry cylinder of rail and inwardly move, while the second spiral rotary actuator starts to rotate forward, Partial gear and two sector gear engaged transmissions, two multidiameters drive the positive swing of four forks, box connecting rod to entrust Flexible shell type carries cylinder of rail and makees translation, and when two forks are contacted with the first positive stop lug boss, the second spiral rotary actuator stops Only rotate forward, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, when flexible shell type carries cylinder of rail cylinder body During with rail lower flange contacts side surfaces, its gusset upper surface is contacted with below rail, first crossbeam telescopic drive dual Piston Double rod hydraulic cylinder piston rods stop 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, and makes second Square tube shape telescopic arm entrusts the second pendulous device and crawl and swivel block device is moved out, and gripper pulls bad sleeper to outward transport Dynamic, when bad sleeper is moved out to end face thereafter and above rail lower flange trailing flank is coplanar, second cross beam telescopic drive is double Effect piston oil-cylinder piston rod stops stretching out, and hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and makes hydraulic oil Cylinder cylinder body is entrusted gripper and is rotated backward, and gripper rotates backward sleeper, when the 3rd spiral rotary actuator ring flange and When the spacing fan-shaped boss of hydraulic jack ring flange is contacted with second the first confined planes of casing scallop hole, gripper makes sleeper reversely turn Dynamic 90 °, position shown in Figure 15, 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；

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

Hydraulic oil makes second cross beam telescopic drive two-way ram cylinder piston rod start to retract, the second 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 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, flexible shell type carries cylinder of rail and stops work Make；

Hydraulic oil makes the double rod hydraulic cylinder piston rod of first crossbeam telescopic drive dual Piston start to stretch out, and makes two the One square tube shape telescopic arm is entrusted two flexible shell types respectively and carries cylinder of rail and moves out, and contacts when its gusset is disengaged with rail When, 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；

3. 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 right side 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 makes two First square tube shape telescopic arm entrusts two the first pendulous devices respectively and flexible shell type carries cylinder of rail and moves out to appropriate location, The double rod hydraulic cylinder piston rods of first crossbeam telescopic drive dual Piston stop stretching out, and which starts to retract, and makes two first party Tubular telescopic arm entrusts two the first pendulous devices respectively and flexible shell type carries cylinder of rail and is inwardly 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, the second spiral rotary actuator Stop operating, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, when the first pendulous device is inwardly moved to When flexible shell type carries cylinder of rail cylinder body and rail lower flange contact outside, flexible shell type carry cylinder of rail cylinder body gusset upper surface with Contact below rail, the double rod hydraulic cylinder piston rods of first crossbeam telescopic drive dual Piston stop retracting；

Hydraulic oil makes reciprocating motion drive hydraulic motor to start to rotate forward, and makes wheel and rack engaged transmission, drives liquid Pressure motor traction moving beam is moved to the left, and moving beam traction stores sleeper case to left movement, is passed by the 4th laser displacement Sensor measures which and moves back and forth the displacement signal of driving hydraulic motor, controls to move back and forth driving hydraulic motor work, when When storage sleeper case moves to the bad sleeper position in storehouse of storage immediately below pick-and-place sleeper device to the left, move back and forth and drive hydraulic motor Stopping is rotated forward；

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start to stretch out with first order extension sleeve, pushes away Dynamic second ladder square tube shape telescopic arm stretches hydraulic oil makes the second level extension sleeve of the second multi-stage expansion shell type oil cylinder with the first order Extension sleeve starts to stretch out, and promotes the 3rd ladder square tube shape telescopic arm to stretch out, and the 3rd ladder square tube shape telescopic arm is entrusted rigidity and hung Frame is moved out, when the 3rd ladder square tube shape telescopic arm extend out to its shoulder and second second shoulder grafting of ladder square tube shape telescopic arm When tactile, the first multi-stage expansion shell type oil cylinder second level extension sleeve starts to stretch out, and promotes the 3rd rank by first order extension sleeve Terraced 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, by the 6th Laser displacement sensor measures its displacement signal with push pedal, controls the second multi-stage expansion shell type cylinder efficient, when pick-and-place rail When above the interior wide-mouth nut of two, device of pillow 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 extension sleeve stops stretching out；

Hydraulic oil makes the sleeve of the first multi-stage expansion shell type oil cylinder start to retract step by step, square tube shape telescopic arm and the first ladder Square tube shape telescopic arm starts to retract successively, and rigid hanger entrusts the decline of pick-and-place sleeper device, by the 5th laser displacement sensor Its displacement signal with sill is measured, the first multi-stage expansion shell type cylinder efficient is controlled, when two interior wide-mouth nuts and rail When above pillow, 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 forward is rotated, and when two interior wide-mouth nuts screw on two bolts in inner side above sleeper, swings liquid to the 4th spiral Pressure motor is rotated forward to hard-over, position shown in Figure 16, and the 4th spiral rotary actuator stops rotating forward, more than first The first order sleeve of the flexible shell type oil cylinder of level stops retracting；

Hydraulic oil makes 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 square tube shape telescopic arm and stretches Go out, rigid hanger entrusts the rising of pick-and-place sleeper device, when square tube shape telescopic arm ring flange and the flexible arm cylinder of the first ladder square tube shape When shoulder grafting is touched, the second level sleeve of the second multi-stage expansion shell type oil cylinder starts to stretch out, and square tube shape telescopic arm pulls the first ladder side Tubular telescopic arm stretches out, when pick-and-place sleeper device rises to appropriate height, the second level sleeve of the first multi-stage expansion shell type oil cylinder Stopping is stretched out；

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start to retract, and pulls the 3rd ladder square tube shape Telescopic arm is retracted, and the 3rd ladder square tube shape telescopic arm entrusts rigid hanger and pick-and-place sleeper device 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；

4. handling is well placed sleeper work：Hydraulic oil makes reciprocating motion drive hydraulic motor to start to rotate backward, and makes gear With tooth bar engaged transmission, hydraulic motor traction moving beam is driven to move right, moving beam is entrusted storage sleeper case and transported to the right Dynamic, moving beam is entrusted storage sleeper case and is moved right, when storage sleeper case is moved right to having stored sleeper position in storehouse in pick-and-place When immediately below sleeper device, move back and forth and drive hydraulic motor to stop rotating backward；

Hydraulic oil makes the sleeve of the first multi-stage expansion shell type oil cylinder start to retract step by step, and rigid hanger entrusts pick-and-place sleeper dress 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 second Square tube shape telescopic arm entrusts two the second 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 second 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；

5. 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 right side 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 makes the second square tube shape telescopic arm entrust the second pendulous device and crawl and swivel block device and moves out, when second When square tube shape telescopic arm extend out to stop, second cross beam telescopic drive two-way ram cylinder piston rod stops stretching out, hydraulic oil Rotate forward the second spiral rotary actuator, the second casing entrusts crawl and swivel block device makees translation, put when two first When bar is contacted with the first positive stop lug boss, the second spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes the second spiral shell Rotation rotary actuator pressurize；

Hydraulic oil makes second cross beam telescopic drive two-way ram cylinder piston rod start to retract, and two when gripper press When plate inwardly moves most intimate friend's sleeper both sides appropriate location, position shown in Figure 15, second cross beam telescopic drive two-way ram oil cylinder Piston rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod start to stretch out, and when two platen clamp sleepers, hydraulic jack is lived Stopper rod stops stretching out, and 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 makes first party Tubular telescopic arm entrusts the first pendulous device and flexible shell type carries cylinder of rail and moves out to appropriate location, and first crossbeam is flexible to be driven The double rod hydraulic cylinder piston rods of dynamic dual Piston stop stretching out, and which starts to retract, and the first square tube shape telescopic arm entrusts the first pendulum Dynamic device and flexible shell type carry cylinder of rail and inwardly move, while the second spiral rotary actuator starts to rotate forward, when two When fork is contacted with the first positive stop lug boss, the second spiral rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes Second spiral rotary actuator pressurize, when flexible shell type carries cylinder of rail cylinder body with rail lower flange contacts side surfaces, its reinforcing Plate upper surface is contacted with below rail, and the double rod hydraulic cylinder piston rods of first crossbeam telescopic drive dual Piston stop retracting, Hydraulic oil makes flexible shell type carry cylinder of rail extension sleeve to stretch out step by step, make the middle position of rail jack-up, solenoid directional control valve make telescopic Formula proposes 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, and makes the second square tube shape stretch Fupport arm the second pendulous device of band and crawl and swivel block device inwardly move to position shown in Fig. 1, second cross beam telescopic drive double cropping Stop retracting with piston oil-cylinder piston rod；

Hydraulic oil makes flexible shell type carry cylinder of rail extension sleeve to retract step by step, original position is dropped down onto under rail, and flexible shell type is carried Cylinder of rail quits work, and hydraulic oil makes the double rod hydraulic cylinder piston rods of first crossbeam telescopic drive dual Piston start to stretch out, When flexible shell type carry cylinder of rail move out to its gusset and rail disengage contact when, first crossbeam telescopic drive dual Piston Double rod hydraulic cylinder piston rods stop stretching out, while the second spiral rotary actuator starts to rotate backward, when two forks When contacting with the second positive stop lug boss, the first pendulous device and flexible shell type carry cylinder of rail and move to position shown in Fig. 1, the second spiral Rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, has advanced rail Pillow end-of-job；

6. nut work is installed：Engineering truck 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 six sleeper pitches, and four are stayed There is wide-mouth magnetic coupling box in nut coaxial with four bolts on sleeper respectively, hydraulic oil makes the double multi-stage expansion shell types of lifting Double multi-stage sleeves for stretching out oil cylinder two ends start to stretch out step by step, and lowering or hoisting gear is entrusted two nut assembling and disassembling devices and declined, and works as decline Nut into interior wide-mouth magnetic coupling box and the pillow threaded bolt contacts that switch tracks, position shown in Fig. 3, the double multi-stage expansion shell types of lifting Double final stage sleeves for stretching out oil cylinder two ends stop stretching out, and it is positive synchronous that hydraulic oil starts two the first spiral rotary actuators Rotate, drive two circular connecting plates to entrust two internal gears respectively and rotate forward, each internal gear is nibbled with two gears simultaneously Close, drive two drive axis, make four interior wide-mouth magnetic coupling box forward direction synchronous axial systems, four interior wide-mouth magnetic Flos Mumes Nut in sleeve synchronously screws in four bolts of sleeper pretension, and two the first spiral rotary actuators stop rotating forward, Hydraulic oil makes the double multi-stage sleeves for stretching out oil cylinder two ends of the double multi-stage expansion shell types of lifting start to retract step by step, and lowering or hoisting gear entrusts two Individual nut assembling and disassembling device rises to position shown in Fig. 1, and the double chopped-off head sleeves for stretching out oil cylinder two ends of the double multi-stage expansion shell types of lifting stop Only retract, nut work is installed and is completed；

In lowering or hoisting gear, symmetrically arranged two first series connection parallelogram lindage, makes corresponding entablature begin with sill It is parallel eventually, the correspondence work of pillow is changed to adapt to straight line and curved rail length section；Second series connection parallelogram lindage makes horizontal in plate shape Beam is parallel with sill all the time, makes servo-actuated Equipoising support apparatus adaptation straight line and curved rail length section change the correspondence work of pillow；It is past In multiple telecontrol equipment, symmetrically arranged two series connection parallelogram lindage, makes moving beam parallel with fixed cross beam all the time, makes storage Deposit sleeper case and make translation；Synchronous valve in hydraulic system, it is ensured that the sleeve synchronization telescope of two the first multi-stage expansion shell type oil cylinders； Rigid hanger makes sleeper in handling without swing, improve handling sleeper speed.Yielding coupling and interior wide-mouth nut effectively can be adapted to Sleeper bolt position deviation, makes interior wide-mouth nut easily screw on sleeper bolt；

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. 3 Put, two linear Stiffness amount of spring compression are maximum, elastic force is maximum, now symmetrically arranged 6th fork and the second strut with Entablature angle is minimum, two springs 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. mechanical-electrical-hydraulic integration changes sleeper device, it is characterised in that：It is by four nuts synchronization assembling and disassembling device, rail-lifting equipment, turns Rail and push-and-pull sleeper device, sleeper handling apparatus, electromotor, Hydraulic system and control System cabine and railcar composition；Railcar Multiple castors and two longerons are provided with, four nuts synchronization assembling and disassembling device, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper hang Shipping unit, electromotor and Hydraulic system and control System cabine are arranged on two longerons of railcar, and railcar is led by engineering truck Draw, electromotor is that oil pump and control system provide power, and fuel tank, oil pump, hydraulic pressure control are provided with Hydraulic system and control System cabine System processed and automatic control system；

Described four nut of sleeper synchronization assembling and disassembling device is made up of entablature, lowering or hoisting gear and two nut assembling and disassembling devices, on Crossbeam is provided with four ears rings；

Described lowering or hoisting gear is by two first series connection parallelogram lindages, lifting drive, servo-actuated Equipoising support apparatus Constitute with first laser displacement transducer；

The first described series connection parallelogram lindage is connected by sill, the first fork, the second fork, two the 3rd forks and first Bar is constituted, and first connecting rod is provided with monaural ring and ears ring；

Described lifting drive stretches out oil cylinder and two first connecting rods are constituted by double multi-stage expansion shell types are double, double multistage to stretch The double two final stage extension sleeve free ends for stretching out oil cylinder of contracting shell type 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 the first hex nuts, two the first bolts and two Two 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；

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, composition the first series connection parallelogram lindage, the aforementioned assembly operation of repetition are symmetrical in sill and entablature The vertical plane of symmetry assembles another the first series connection parallelogram lindage；

Two turriform linear Stiffness springs are symmetrically sheathed on into two light bar segments of slide bar, then two slide blocks are sheathed on respectively Two light bar segments of slide bar, two the first hex nuts distinguish 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 third 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, composition the second series 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 Respectively with plate shape entablature chain connection, the servo-actuated Equipoising support apparatus of composition；

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 into oil cylinder and is fixed on plate shape entablature, four the 3rd forks are connected with entablature hinge Connect, first laser displacement transducer is symmetrically fixed on below entablature；Composition 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 hexagonal axis 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 entablature, and sill is fixed on rail On two side rail inner faces of road car, 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 first square tube shape fixed arm, two the first square tube shape telescopic arms, second lasers Displacement transducer and the second range finding reference plate composition, the first square tube shape telescopic arm are provided with blind end；

The first described retractable driving device is by the first square tube shape fixed arm, the double rod hydraulic jacks of dual Piston and two first Square tube shape telescopic arm is constituted, and the double rod cylinder body of hydraulic oil cylinder of dual Piston are provided with square flange, piston rod free end and are provided with method Blue disk；

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 Shape fixed arm endoporus upper surface, constitutes retractable driving device, and it is solid that second laser displacement transducer is symmetrically fixed on the first square tube shape Determine arm side, the second range finding reference plate is symmetrically fixed on the first square tube shape telescopic arm side；

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 tools for bolts ' pretension, make four forks respectively with box connecting rod link Connection, forms parallelogram lindage in parallel；

Two the first casings are respectively fixedly connected with the blind end of two the first 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 first 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 second square tube shape fixed arm, the second square tube shape telescopic arm, the 3rd laser displacement Sensor and the 3rd range finding reference plate composition, the second square tube shape telescopic arm are provided with blind end；

The second 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 thereon from two-way ram oil cylinder piston rod end, seals the second square tube shape telescopic arm Closed end is connected with two-way ram cylinder piston rod ring flange, and the second square tube shape solid determines arm from the second square tube shape telescopic arm opening End is arranged thereon, makes two-way ram cylinder flange disk and the second square tube solid determine arm blind end and is connected, and composition second stretches Driving means, two-way ram oil cylinder and the second square tube shape telescopic arm form moving sets, and the 3rd laser displacement sensor is symmetrically solid It is connected in the second square tube shape fixed arm side, the 3rd range finding reference plate is symmetrically fixed on the second square tube shape telescopic arm side；

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 bolts distinguish pretension, make four First fork is connected with the second chest hinge respectively, forms in-parallel four-bar mechanism；

First casing is fixed on into the second 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 Two rollers 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 sleeper；

Described reciprocator is swashed by base plate, two series connection parallelogram lindages, reciprocating movement driving devices and the 4th Optical displacement sensor is constituted；

Described series connection parallelogram lindage is by fixed cross beam, two the first forks, connecting rod, two the second forks and mobile horizontal strokes Beam is constituted, and connecting rod is provided with two monaural rings, and moving beam is provided with two rollers and square groove hole；

Described reciprocating movement driving device by hydraulic motor, gear and tooth bar, constitute；

By two the first forks respectively with fixed cross beam chain connection, the first fork ears ring, the second fork ears ring and connecting rod Monaural ring coaxially penetrates pin hinge connection, and another the first fork ears ring, another the second fork ears ring and connecting rod are another One monaural ring coaxially penetrates pin hinge connection, two the second forks respectively with moving beam chain connection, composition series connection is flat Row four-bar mechanism, the vertical plane of symmetry for being symmetrical in fixed cross beam and moving beam assemble another parallelogram lindage, and base plate is solid It is connected in fixed cross beam lower surface, two rollers of moving beam is contacted with plate upper surface, it is flat that tooth bar is symmetrical in two series connection Row four-bar mechanism is fixed on base plate, and gear is arranged and is fixed on hydraulic motor output shaft, and hydraulic motor is fixed on moving beam side Face, engages wheel and rack, and hydraulic motor is symmetrically fixed on fixed cross beam side, and the 4th laser displacement sensor is fixed on shifting Dynamic crossbeam side, assembles reciprocating movement driving device；

Base plate is fixed on track car crossbeam, the first square tube shape fixed arm and the second square tube shape fixed arm, storage sleeper case is solid It is connected on moving beam, two rollers 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 5th 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 6th 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 6th 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 5th 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 by the 4th spiral rotary actuator, the 3rd 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 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.