CN106192627A - Mechanical-electrical-hydraulic integration sleeper replacement device - Google Patents

Abstract

The invention discloses mechanical-electrical-hydraulic integration sleeper replacement device, synchronized assembling and disassembling device, rail-lifting equipment, swivel block and push-and-pull sleeper device, electromotor, Hydraulic system and control System cabine and railcar by sleeper four nut to form, railcar is provided with four castors and two longerons, sleeper four nut synchronizes assembling and disassembling device, rail-lifting equipment, swivel block and push-and-pull sleeper device, electromotor and Hydraulic system and control System cabine and is arranged on two longerons of railcar, and railcar is drawn by engineering truck.The present invention can be by automatic for equipment alignment work position；It is capable of four nuts and synchronizes mounting or dismounting, make four nut pretightning forces consistent, improve the fatigue life of bolt, it is ensured that the reliability that sleeper is connected with rail；Can adapt to straight line and the related work of pillow is changed in curved rail length section；Swivel block and push-and-pull sleeper are integrating device, simple and compact for structure, automatically control, easy to operate, change pillow work efficiency high.

Description

Mechanical-electrical-hydraulic integration sleeper replacement device

Technical field

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

Background technology

Railroad sleeper is during using for a long time, and due to natural subsidence and vibration, railway ballast local is heavy Fall, needs to carry out maintenance, and indivedual sleepers damage, and needs to change in time, during carrying out railway roadbed maintenance or sleeper replacement, adopts By manual work, waste time and energy, inefficiency.Work can not be completed in effective train passage gap (being commonly called as: skylight), Only use small-sized efficient automated machine, train passage gap could be utilized not close a road to traffic operation.

Summary of the invention

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

The present invention be by sleeper four nut synchronize assembling and disassembling device, rail-lifting equipment, swivel block and push-and-pull sleeper device, electromotor, Hydraulic system and control System cabine and railcar composition, railcar is provided with four castors and two longerons, and sleeper four nut synchronizes Assembling and disassembling device, rail-lifting equipment, swivel block and push-and-pull sleeper device, electromotor and Hydraulic system and control System cabine are arranged on railcar Two longerons on, railcar is drawn by engineering truck, and electromotor is that oil pump and control system provide power, Hydraulic system and control Fuel tank, oil pump, hydraulic control system and automatic control system it is provided with in System cabine；

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

Described entablature assembly is made up of first party tubular fixed arm and two first party tubular telescopic arms, first party Tubular fixed arm is provided with two long slot bores of symmetry, and first party tubular telescopic arm is provided with blind end and two monaural rings；

The first described lowering or hoisting gear is by the first lifting drive, symmetrically arranged two the first parallelogram lindages With the first laser displacement sensor composition；

The first described lifting drive is by first party tubular fixed arm, the double rod hydraulic jack and two of dual Piston Individual first party tubular telescopic arm forms, and the double rod cylinder body of hydraulic oil cylinder of dual Piston is provided with square flange, piston rod free end It is provided with ring flange；

The first described parallelogram lindage is made up of sill, two forks and first party tubular telescopic arm, lower horizontal stroke Beam is provided with four ears rings and two symmetrical long slot bores；

Two first party tubular telescopic arms are sheathed thereon from the double rod hydraulic jack two ends of dual Piston respectively, make the One square tube shape telescopic arm rod hydraulic cylinder piston rod ring flange double with dual Piston is connected, and first party tubular fixed arm is sheathed on On two first party tubular telescopic arms, the double rod cylinder body of hydraulic oil cylinder square flange symmetry of dual Piston is made to be fixed on first party Tubular fixed arm endoporus upper surface, forms the first lifting drive；

By one end of two forks respectively with first party tubular telescopic arm chain connection, the other end of two forks respectively with Sill chain connection, forms the first parallelogram lindage, and the vertical being symmetrical in sill and first party tubular fixed arm is symmetrical Face assembles another the first parallelogram lindage, the first laser displacement sensor symmetry is fixed on first party tubular fixed arm Face, forms the first lowering or hoisting gear；

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

Upper cover is sheathed on the first spiral rotary actuator output shaft circular shaft section, makes upper cover and the first spiral swing hydraulic pressure The contact of motor ring flange is connected, then circle connecting plate is sheathed on the first spiral rotary actuator output shaft six prism shaft part, Second hex nut pretension, internal gear is coaxially fixed with one with circular connecting plate, and geared sleeve is located at power transmission shaft the first axle journal and is connected, First thrust bearing is sheathed on power transmission shaft the second axle journal, and power transmission shaft makes the first thrust bearing connect with housing through housing axis hole Touching, the second thrust bearing is sheathed on power transmission shaft the 3rd axle journal, and the 3rd hex nut screws on power transmission shaft thread segment pretension, elastic connection Axial organ makes power transmission shaft the 4th axle journal coaxially be fixed with one with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, and two The gear teeth flank of tooth of individual gear respectively with the gear teeth face of internal gear, upper cover is fixed with one with shell flange dish, two suspension rods One end symmetry be fixed on housing both sides, form nut assembling and disassembling device, the other end symmetry of two suspension rods is fixed on the first square tube Two sides of shape fixed arm, sill is fixed on two side rail inner faces of railcar, and composition sleeper four nut synchronizes mounting or dismounting dress Put；

Described rail-lifting equipment by cmos image sensor, entablature, the second lowering or hoisting gear, carry rail assembly and form；

The second described lowering or hoisting gear be by sill assembly, the second lifting drive, two symmetrically arranged second Parallelogram lindage and the second laser displacement sensor composition；

Described sill assembly is made up of second party tubular fixed arm and two second party tubular telescopic arms, second party Tubular fixed arm is provided with two long slot bores of symmetry, and second party tubular telescopic arm is provided with blind end and two ears rings；

As the second described lifting drive and the first lifting drive composition, except aforesaid second party tubular is solid Outside arms differs with first party tubular fixed arm orientation, second party tubular telescopic arm differs with first party tubular telescopic arm orientation, Remaining all component structural form is the same；

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

The second described parallelogram lindage is made up of second party tubular telescopic arm, two forks and entablature；

By one end of two forks respectively with second party tubular telescopic arm chain connection, the other end of two forks respectively with Entablature chain connection, forms the second parallelogram lindage, and the vertical being symmetrical in entablature and second party tubular fixed arm is symmetrical Face assembles another the second parallelogram lindage, the second laser displacement sensor symmetry is fixed on second party tubular fixed arm Face, forms the second lowering or hoisting gear；

The described rail assembly that carries is by two suspension rods, suspension bracket, the second spiral rotary actuator, opposed cam, two cunnings Dynamic assembly, two cylindrical screw extension springs, I-shaped tubular fixed arm and two carry cylinder of rail composition, suspension rod be provided with the first ring flange and Second ring flange, the second spiral rotary actuator output shaft free end is provided with ring flange；

Described slide assemblies is made up of I-shaped tubular travelling arm and roller, and I-shaped tubular travelling arm is provided with semicolumn Hole, symmetrical two monaural rings and tappet, I-shaped tubular travelling arm tappet is provided with ears ring, and I-shaped tubular fixed arm is provided with symmetry Two semicylindrical openings, carry that cylinder of rail cylinder body is provided with gusset, piston rod free end is provided with fagging；

By roller and I-shaped tubular travelling arm tappet ears ring chain connection, form slide assemblies, carry cylinder of rail and be fixed on In I-shaped tubular travelling arm semicylindrical opening, opposed cam is coaxially connected with spiral rotary actuator output shaft ring flange, and second Spiral rotary actuator symmetry is fixed on below suspension bracket, and suspension bracket symmetry is fixed on above I-shaped tubular fixed arm, by two cunnings Dynamic assembly is sheathed thereon from I-shaped tubular fixed arm two ends, makes roller and opposed cam contact, the two ends of cylindrical screw extension spring It is connected with two I-shaped tubular travelling arm homonymy monaural rings respectively, makes two to carry cylinder of rail and be symmetrical arranged, two suspension rod the second methods Blue dish symmetry is fixed on above suspension bracket, and composition carries rail assembly, and two suspension rod the first ring flange symmetries are fixed on entablature side, Cmos image sensor is fixed on below second party tubular fixed arm, forms rail-lifting equipment；

Described swivel block and push-and-pull sleeper device are by telescopic component, retractable driving device, tumbler, two connecting plates With crawl and swivel block device composition；

Described telescopic component is to be sensed by third party's tubular fixed arm, third party's tubular telescopic arm and the 3rd laser displacement Device forms, and third party's tubular fixed arm is provided with blind end, and third party's tubular telescopic arm is provided with dividing plate；

Described retractable driving device is to be stretched by third party's tubular fixed arm, two-way ram oil cylinder and third party's tubular Arm forms, and two-way ram cylinder block is provided with square slider and ring flange, piston rod are provided with ring flange；

Third party's tubular telescopic arm is sheathed on two-way ram oil cylinder, two-way ram cylinder piston rod ring flange with Third party's tubular telescopic arm dividing plate is connected, then is sheathed on third party's tubular telescopic arm by third party's tubular fixed arm, makes double cropping It is connected with third party's tubular fixed arm blind end with piston oil-cylinder ring flange, forms retractable driving device, two-way ram oil cylinder Forming moving sets with third party's tubular telescopic arm, the 3rd laser displacement sensor symmetry is fixed on third party's tubular fixed arm Face；

Described tumbler is by third party's tubular telescopic arm, the 3rd spiral rotary actuator, the hollow ladder of cantilever Axle, the first thrust bearing, the first casing, the second thrust bearing, the first hex nut, circular connecting plate, the second hex nut, end Lid and equi intensity cantilever form, and the 3rd spiral rotary actuator output shaft is provided with thread segment and six prism shaft parts, and cantilever is empty Heart multidiameter is provided with thread segment, the first axle journal, the second axle journal, the 3rd axle journal and connecting plate, and connecting plate is provided with spacing arc groove, the One casing is provided with spacer pin and cantilever ladder axle sleeve, and cantilever multidiameter is arranged with the first axle sleeve, the second axle sleeve and the 3rd axle sleeve, end Being covered with bearing pin, circular connecting plate is provided with six prism axis holes, and equi intensity cantilever is provided with pin shaft hole and ring flange；

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

Described crawl and swivel block device are by the second casing, the 4th spiral rotary actuator, hydraulic jack, first push away Power bearing, the second thrust bearing, the 3rd hex nut, piston, piston rod, ladder U-bracket, first connecting rod, second connecting rod, two Individual first fork, two rollers, end cap and two mechanical gripper device compositions, the second casing be provided with four screwed holes of symmetry, the One circular hole portion, scallop hole section, the second circular hole portion, axle sleeve section and the 3rd circular hole portion, the 4th spiral rotary actuator output shaft is solid Even ring flange, ring flange is provided with spacing fan-shaped boss, and scallop hole section is provided with the first confined planes and the second confined planes, and hydraulic jack sets Having 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 first fork sets There are monaural ring, pin-and-hole and ears ring；

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

By spacing for the 4th spiral rotary actuator output shaft ring flange fan-shaped boss and the spacing fan of hydraulic jack ring flange Shape boss aligns connected, and the first thrust bearing is sheathed on hydraulic jack the first axle journal, and hydraulic jack penetrates the second casing rank In ladder hole, the 4th spiral rotary actuator output shaft ring flange and hydraulic jack ring flange is made to insert second casing the first circular hole Section, spacing fan-shaped boss left surface contacts with scallop hole section the first confined planes, and the first thrust bearing inserts second casing the second circle Hole section, makes the 4th spiral rotary actuator be fixed on the second box bottom, makes end cap and the second casing be connected；

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

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

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

The invention has the beneficial effects as follows:

1. can be by automatic for equipment alignment work position；

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

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

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

Accompanying drawing explanation

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

Fig. 2 is that sleeper four nut of the present invention synchronizes assembling and disassembling device duty schematic perspective view.

Fig. 3 is the first lifting drive exploded perspective schematic diagram of the present invention.

Fig. 4 is the nut assembling and disassembling device exploded perspective schematic diagram of the present invention.

Fig. 5 is the rail-lifting equipment of the present invention and swivel block and push-and-pull sleeper device duty schematic perspective view.

Fig. 6 is the second lifting drive exploded perspective schematic diagram of the present invention.

Fig. 7 be the present invention carry rail assembly exploded perspective schematic diagram.

Fig. 8 is the swivel block of the present invention and push-and-pull sleeper device sidewall cuts duty schematic perspective view open.

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

Figure 10 is the tumbler exploded perspective schematic diagram of the present invention.

Figure 11 is crawl and the swivel block device exploded perspective schematic diagram of the present invention.

Detailed description of the invention

Referring to shown in Fig. 1, the present invention is to be synchronized assembling and disassembling device 7, rail-lifting equipment 8, swivel block and push-and-pull by sleeper four nut Sleeper device 9, electromotor 18, Hydraulic system and control System cabine 19 and railcar 20 form, and railcar 20 is provided with four castors 201 and two longerons 202, sleeper four nut synchronizes assembling and disassembling device 7, rail-lifting equipment 8, swivel block and push-and-pull sleeper device 9, electromotor 18 and Hydraulic system and control System cabine 19 be arranged on two longerons 202 of railcar, railcar 20 is drawn by engineering truck, send out Motor 18 provides power for oil pump and control system, is provided with fuel tank, oil pump, hydraulic control in Hydraulic system and control System cabine 19 System and automatic control system；

Referring to shown in Fig. 1 and Fig. 3, it is by entablature assembly 71, first that described sleeper four nut synchronizes assembling and disassembling device 7 Lowering or hoisting gear 72 and two nut assembling and disassembling devices 73 form；

Described entablature assembly 71 is by first party tubular fixed arm 711 and two first party tubular telescopic arms 712 groups Becoming, first party tubular fixed arm 711 is provided with two long slot bores 7111 of symmetry, and first party tubular telescopic arm 712 is provided with blind end 7121 and two monaural rings 7122；

The first described lowering or hoisting gear 72 be by the first lifting drive 721, symmetrically arranged two first parallel four Linkage 722 and the first laser displacement sensor 723 form；

The first described lifting drive 721 is by first party tubular fixed arm 711, the double rod hydraulic oil of dual Piston Cylinder 7211 and two first party tubular telescopic arms 712 form, and double rod hydraulic jack 7211 cylinder body of dual Piston is provided with square method Blue dish 72111, piston rod free end are provided with ring flange 72112；

The first described parallelogram lindage 722 is to be stretched by 7221, two forks 7222 of sill and first party tubular Arm 712 forms, and sill 7221 is provided with four ears rings 72211 and two symmetrical long slot bores 72212；

Two first party tubular telescopic arms 712 are sheathed on it from double rod hydraulic jack 7211 two ends of dual Piston respectively On, make the double rod hydraulic cylinder piston rod ring flange of first party tubular telescopic arm 712 and dual Piston 72112 be connected, first party Tubular fixed arm 711 is sheathed on two first party tubular telescopic arms 712, makes the double rod cylinder body of hydraulic oil cylinder of dual Piston square Ring flange 72111 symmetry is fixed on first party tubular fixed arm 711 endoporus upper surface, forms the first lifting drive 721；

By one end of two forks 7222 respectively with first party tubular telescopic arm 712 chain connection, two forks 7222 The other end respectively with sill 7221 chain connection, form the first parallelogram lindage 722, be symmetrical in sill 7221 and first The vertical plane of symmetry of square tube shape fixed arm 711 assembles another the first parallelogram lindage 722, by the first laser displacement sensor 723 symmetries are fixed on above first party tubular fixed arm 711, form the first lowering or hoisting gear 72；

Referring to shown in Fig. 5, described nut assembling and disassembling device 73 is to be swung hydraulic pressure horse by two suspension rods the 731, first spiral Reach 732, upper cover 733, circular connecting plate the 734, second hex nut 735, internal gear 737, two gears of 736, two power transmission shafts 738,740, two second thrust bearing the 741, the 3rd 742, two elasticity of hex nut of 739, two the first thrust bearings of housing Shaft coupling 743 and two interior wide-mouth magnetic coupling boxs 744 form, and the first spiral rotary actuator 732 is provided with ring flange 7321, its output shaft is provided with circular shaft section 7322 and six prism shaft parts 7323, and upper cover 733 is provided with axis hole 7331, circular connecting plate 734 Being provided with six prism holes 7341, power transmission shaft 737 is provided with first axle journal the 7371, second axle journal the 7372, the 3rd axle journal the 7373, the 4th axle journal 7374 and thread segment 7375, housing 739 is provided with ring flange 7391 and two axis holes 7392, and interior wide-mouth magnetic coupling box 744 sets There is axle journal 7441；

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

Referring to shown in Fig. 5 to Fig. 7, described rail-lifting equipment 8 is by cmos image sensor 80, entablature 81, second Lowering or hoisting gear 82, carry rail assembly 83 and form；

The second described lowering or hoisting gear 82 is to be set by 822, two symmetries of sill assembly the 821, second lifting drive The second parallelogram lindage 823 put and the second laser displacement sensor 825 form；

Described sill assembly 821 is by second party tubular fixed arm 8211 and two second party tubular telescopic arms 8212 Composition, second party tubular fixed arm 8211 is provided with two long slot bores 82111 of symmetry, and second party tubular telescopic arm 8212 is provided with envelope Closed end 82121 and two ears rings 82122；

The second described lifting drive 822 forms the same with the first lifting drive 721, except aforesaid second party Tubular fixed arm 8211 differs 180 with first party tubular fixed arm 711 orientation⁰, second party tubular telescopic arm 8212 and first party Tubular telescopic arm 712 orientation difference 180⁰Outward, remaining all component structural form is the same；

Carry out the assembly operation identical with the first lifting drive 721, form the second lifting drive 822；

The second described parallelogram lindage 823 is by second party tubular telescopic arm 8212, two forks 8231 and entablatures 81 compositions；

By one end of two forks 8231 respectively with second party tubular telescopic arm 8212 chain connection, two forks 8231 The other end respectively with entablature 81 chain connection, form the second parallelogram lindage 823, be symmetrical in entablature 81 and the second square tube The vertical plane of symmetry of shape fixed arm 8211 assembles another the second parallelogram lindage 823, by the second laser displacement sensor 825 Symmetry is fixed on above second party tubular fixed arm 8211, forms the second lowering or hoisting gear 82；

The described rail assembly 83 that carries is by two suspension rods 831, suspension bracket the 832, second spiral rotary actuator 833, opposed Cam 835, two cylindrical screw extension springs 836 of 834, two slide assemblies, I-shaped tubular fixed arm 837 and two carry cylinder of rail 838 compositions, suspension rod 831 is provided with the first ring flange 8311 and the second ring flange 8312, and the second spiral rotary actuator 833 exports Axle free end is provided with ring flange 8331；

Described slide assemblies 835 is made up of I-shaped tubular travelling arm 8351 and roller 8352, I-shaped tubular travelling arm 8351 are provided with semicylindrical opening 83511, symmetrical two monaural rings 83512 and tappet 83513, I-shaped tubular travelling arm tappet 83513 Being provided with ears ring 83514, I-shaped tubular fixed arm 837 is provided with two semicylindrical openings 8371 of symmetry, carries on cylinder of rail 838 cylinder body Be provided with gusset 8381, piston rod free end is provided with fagging 8382；

By roller 8352 and I-shaped tubular travelling arm tappet ears ring 83514 chain connection, form slide assemblies 835, carry Cylinder of rail 838 is fixed in I-shaped tubular travelling arm semicylindrical opening 83511, and opposed cam 834 is defeated with spiral rotary actuator Shaft ring flange 8331 is coaxially connected, and the second spiral rotary actuator 833 symmetry is fixed on below suspension bracket 832, and suspension bracket 832 is right Claim to be fixed on above I-shaped tubular fixed arm 837, two slide assemblies 835 are sheathed on from I-shaped tubular fixed arm 837 two ends On it, making roller 8352 contact with opposed cam 834, slides with two I-shaped tubulars respectively in the two ends of cylindrical screw extension spring 836 Arm homonymy monaural ring 83512 is connected, and makes two to carry cylinder of rail 838 and is symmetrical arranged, and two suspension rod 831 second ring flanges 8312 are symmetrical Being fixed on above suspension bracket 832, composition carries rail assembly 83, and two suspension rod 831 first ring flange 8311 symmetries are fixed on entablature 81 Side, cmos image sensor 80 is fixed on below second party tubular fixed arm 8211, forms rail-lifting equipment 8；

Referring to shown in Fig. 8 to Figure 11, described swivel block and push-and-pull sleeper device 9 are by telescopic component 90, telescopic drive Device 91,92, two connecting plates 93 of tumbler and crawl and swivel block device 94 form；

Described telescopic component 90 is by third party's tubular fixed arm 901, third party's tubular telescopic arm 902 and the 3rd laser Displacement transducer 903 forms, and third party's tubular fixed arm 901 is provided with blind end 9011, third party's tubular telescopic arm 902 be provided with every Plate 9021；

Described retractable driving device 91 is by third party's tubular fixed arm 901, two-way ram oil cylinder 911 and third party Tubular telescopic arm 902 forms, and two-way ram oil cylinder 911 cylinder body is provided with square slider 9111 and ring flange 9112, piston rod set There is ring flange 9113；

Third party's tubular telescopic arm 902 is sheathed on two-way ram oil cylinder 911, two-way ram cylinder piston rod method Blue dish 9113 is connected with third party's tubular telescopic arm dividing plate 9021, then third party's tubular fixed arm 901 is sheathed on third party's cylinder On shape telescopic arm 902, two-way ram cylinder flange dish 9112 is made to be connected with third party's tubular fixed arm blind end 9011, composition Retractable driving device 91, two-way ram oil cylinder 911 and third party's tubular telescopic arm 902 form moving sets, the 3rd laser displacement Sensor 903 symmetry is fixed on above third party's tubular fixed arm 901；

Described tumbler 92 is by third party's tubular telescopic arm the 902, the 3rd spiral rotary actuator 921, cantilever Hollow multidiameter the 922, first thrust bearing the 923, first casing the 924, second thrust bearing the 925, first hex nut 926, circle Shape connecting plate the 927, second hex nut 928, end cap 929 and equi intensity cantilever 930 form, the 3rd spiral rotary actuator 921 output shafts are provided with thread segment 9211 and six prism shaft parts 9212, and the hollow multidiameter of cantilever 922 is provided with thread segment 9221, first Axle journal the 9222, second axle journal the 9223, the 3rd axle journal 9224 and connecting plate 9225, connecting plate 9225 is provided with spacing arc groove 92251, First casing 924 is provided with spacer pin 9241 and cantilever ladder axle sleeve 9242, and cantilever ladder axle sleeve 9242 is provided with the first axle sleeve 92421, the second axle sleeve 92422 and the 3rd axle sleeve 92423, end cap 929 is provided with bearing pin 9291, and circular connecting plate 927 is provided with six ribs Axis of a cylinder hole 9271, equi intensity cantilever 930 is provided with pin shaft hole 9301 and ring flange 9302；

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

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

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

Spacing for 4th spiral rotary actuator output shaft ring flange 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 hydraulic jack the first axle journal 9432, by hydraulic oil Cylinder penetrates in the second casing 941 shoulder hole, makes the 4th spiral rotary actuator output shaft ring flange 9421 and hydraulic jack method Second casing the first circular hole portion 9413 inserted by blue dish 9431, and spacing fan-shaped boss 94211 left surface is spacing with scallop hole section first Face 94131 contacts, and the first thrust bearing 944 inserts second casing the second circular hole portion 9414, makes the 4th spiral rotary actuator 942 are fixed on the second casing 941 base plate, make end cap 954 and the second casing 941 be connected；

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

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

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

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

1. dismounting nut work: use and manually or mechanically ballast between the sleeper of bad sleeper both sides has been cleared up, on the right side of bad sleeper Bolt machine oil labelling outside second sleeper, when engineering truck traction track car runs near bad sleeper, cmos image sensor The image information gathered, is identified automatically by pattern recognition system, makes engineering truck be parked in cmos image sensor and machine oil labelling The position that bolt is coaxial, four bolts that four interior wide-mouth magnetic coupling boxs are respectively fixedly connected with on sleeper are coaxial, position shown in Fig. 1 Putting, oil pump is started working, and hydraulic oil makes the first lifting drive the double rod hydraulic cylinder piston rod of dual Piston to start to stretch out, respectively Promote two first party tubular telescopic arms connected with it Tong Bu to stretch out, make symmetrically arranged two the first parallelogram lindages Two pairs of forks synchronize backswing relative to sill, and the first lowering or hoisting gear is entrusted two nut assembling and disassembling devices and declined, by the One laser displacement sensor measures the displacement signal of itself and sill, controls the first lifting and drives the double rod hydraulic pressure of dual Piston Oil cylinder and the work of the first spiral rotary actuator, when interior wide-mouth magnetic coupling box is sheathed on nut, position shown in Fig. 2, First lifting drives the double rod hydraulic cylinder piston rod of dual Piston to stop stretching out, and hydraulic oil makes two the first spirals swing hydraulic pressure Motor starts reverse sync and rotates, and drives two circular connecting plates to entrust two internal gears respectively and rotates, and each internal gear is simultaneously Engage with two gears, drive two drive axis, make four interior wide-mouth magnetic coupling box reverse sync rotate, in four Wide-mouth magnetic coupling box synchronize screw off four nuts, the magnetic of interior wide-mouth magnetic coupling box make the nut screwed off stay interior extensively In mouth magnetic coupling box, two the first spiral rotary actuators stop rotating backward, and it is double that hydraulic oil makes the first lifting drive The double rod hydraulic cylinder piston rod of piston type starts to retract, and pulls Tong Bu with two first party tubular telescopic arms that it is connected respectively Retract, make two pairs of forks of symmetrically arranged two the first parallelogram lindages relative to sill synchronous hunting in opposite directions, first Lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is risen to position shown in Fig. 1, and the first lifting drives the double rod hydraulic pressure of dual Piston Cylinder piston rod stops retracting, and completes to dismantle nut work；

2. pull-out bad sleeper work: engineering truck traction track car moves to left, and is automatically identified sleeper bar by pattern recognition system The number of rail outer bolt image, makes railcar move to left a sleeper pitch, swivel block and push-and-pull sleeper device and is positioned at bad sleeper and just goes up Side, hydraulic oil makes two-way ram cylinder piston rod start to stretch out, and promotes third party's tubular telescopic arm to stretch out, and third party's tubular is stretched Contracting arm entrusts tumbler and crawl and swivel block device moves out, and measures itself and equal strength by the 3rd laser displacement sensor The displacement signal of cantilever beam, controls two-way ram oil cylinder, the 3rd spiral rotary actuator and the 4th spiral and swings hydraulic pressure Motor operations, tumbler and crawl and swivel block device move out to correct position, and two-way ram cylinder piston rod stops Stretch out, its piston rod start retract, pull third party's tubular telescopic arm to retract, third party's tubular telescopic arm entrust tumbler with Capturing and swivel block device inward, hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward simultaneously, drives first Casing rotates forward, and the first casing is entrusted and rotated forward with its second casing being connected, and the second casing entrusts crawl and swivel block dress Put and rotate forward, when the first casing rotates forward to its spacer pin and cantilever hollow multidiameter connecting plate spacing arc groove one termination When touching, crawl entrusted by the second casing and swivel block device rotates forward 90 °, and the 3rd spiral rotary actuator stops rotating forward, The middle position of solenoid directional control valve makes the 3rd spiral rotary actuator pressurize, when two pressing plate inward of gripper are to bad sleeper During appropriate location, both sides, two-way ram cylinder piston rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod stretch out, and promotes the One connecting rod and second connecting rod motion, make two symmetrically arranged 3rd forks swing in opposite directions, be articulated with the 3rd fork ears ring Roller pushes down pressing plate, and roller rolls and makes pressing plate overcome the pulling force of two cylindrically coiled springs to make translation, two in-parallel four bars Mechanism's forward swings, and when two platen clamp sleepers, the middle position of solenoid directional control valve makes hydraulic jack pressurize；

Hydraulic oil makes the second lifting drive the double rod hydraulic cylinder piston rod of dual Piston to start to stretch out, and promotes respectively and it Two the second party tubular telescopic arms being connected synchronize to stretch out, and make two pairs of forks of symmetrically arranged two the second parallelogram lindages Relative to entablature synchronous hunting dorsad, the second lowering or hoisting gear is entrusted rail-lifting equipment and is declined, by the second laser displacement sensor Measure the displacement signal of itself and entablature, control the second lifting and drive the double rod hydraulic jack of dual Piston and carry rail assembly pair Piston type double rod hydraulic jack work, when rail-lifting equipment drops to carry cylinder of rail cylinder body gusset upper surface and rail lower surface Time coplanar, the second lifting drives the double rod hydraulic cylinder piston rod of dual Piston to stop stretching out, and hydraulic oil makes the second spiral swing Hydraulic motor starts to rotate forward, and drives opposed cam to rotate forward, and the outline curved surface of opposed cam passes through two rollers, point Tui Dong not make two I-shaped outside translations of tubular travelling arm by tappet, make two I-shaped tubular travelling arms entrust two respectively and carry rail oil Cylinder moves out, and when carrying cylinder of rail cylinder body with rail lower flange contacts side surfaces, carries cylinder of rail cylinder body gusset upper surface and steel Contacting below rail, the second spiral rotary actuator stops rotating forward, and hydraulic oil makes to carry cylinder of rail piston rod and stretches out, when being connected After the fagging carrying cylinder of rail piston rod contacts railway roadbed ballast and is compacted into, along with carrying constantly stretching out of cylinder of rail piston rod, Carrying the cylinder body of cylinder of rail to entrust gusset and move upward, make rail jack-up, the middle position of solenoid directional control valve makes to propose cylinder of rail pressurize；

Hydraulic oil makes the 4th spiral rotary actuator start to rotate forward, and makes hydraulic jack entrust gripper forward and turns Dynamic, gripper makes sleeper rotate forward, when the 4th spiral rotary actuator ring flange and the spacing sector of hydraulic jack ring flange When boss and the contact of second casing scallop hole the second confined planes, gripper makes sleeper rotate forward 90 °, and the 4th spiral swings hydraulic pressure Motor stops rotating forward, and hydraulic oil makes two-way ram cylinder piston rod start to stretch out, and gripper pulls bad sleeper to outward transport Dynamic, when bad sleeper moves out to end face thereafter and above rail lower flange trailing flank is coplanar, two-way ram oil cylinder piston Bar stops stretching out, and hydraulic oil makes the 4th spiral rotary actuator start to rotate backward, and makes hydraulic jack entrust gripper reverse Rotating, gripper makes sleeper rotate backward, when the 4th spiral rotary actuator ring flange and the spacing fan of hydraulic jack ring flange When shape boss and the contact of second casing scallop hole the first confined planes, gripper makes sleeper rotate backward 90 °, position shown in Fig. 5, the Four spiral rotary actuators stop rotating backward；

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

Hydraulic oil makes two-way ram cylinder piston rod start to stretch out, and third party's tubular telescopic arm is entrusted tumbler and grabs Taking and swivel block device moves out to appropriate location, two-way ram cylinder piston rod stops stretching out；Hydraulic oil makes the 3rd spiral Rotary actuator starts to rotate backward, and drives the first casing to rotate backward, and the second casing being connected with it entrusted by the first casing Rotating backward, crawl entrusted by the second casing and swivel block device rotates backward, when the first casing rotates backward to its spacer pin with outstanding During the contact of the arm hollow multidiameter connecting plate spacing arc groove other end, crawl entrusted by the second casing and swivel block device rotates backward 90 °, the 3rd spiral rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes the 3rd spiral rotary actuator protect Pressure, two-way ram cylinder piston rod starts to retract, and third party's tubular telescopic arm entrusts tumbler and crawl and swivel block device Inward is to position shown in Fig. 1, and two-way ram cylinder piston rod stops retracting；

Hydraulic oil makes to carry cylinder of rail piston rod to start to retract, and its piston rod hauls fagging and moves upward, and rail falls to former Position, pushes down bad sleeper and makes its upper surface parallel with two rail lower surfaces, carries cylinder of rail piston rod and is retracted to stop, high pressure Oil makes the second spiral rotary actuator start to rotate backward, and drives opposed cam to rotate backward, two cylindrical screw extension springs Pulling force make two rollers all the time with the outline curved face contact of opposed cam, the pulling force of two cylindrical screw extension springs pulls two works The inside translation of word tubular travelling arm, makes two I-shaped tubular travelling arms entrust two respectively and carries cylinder of rail inward, when carrying rail Oil cylinder gusset disengages with rail when contacting, and the second spiral rotary actuator stops rotating backward；

Hydraulic oil makes the second lifting drive the double rod hydraulic cylinder piston rod of dual Piston to start to retract, and pulls respectively and it Two the second party tubular telescopic arms being connected synchronize to stretch out, and make two pairs of forks of symmetrically arranged two the second parallelogram lindages Relative to entablature synchronous hunting in opposite directions, the second lowering or hoisting gear is entrusted rail-lifting equipment and is risen, when rail-lifting equipment rises to shown in Fig. 1 Position, the second lifting drives the double rod hydraulic cylinder piston rod of dual Piston to stop retracting, and oil pump quits work, and pulls out bad sleeper End-of-job, engineering truck traction track car is removed, and uses and is manually or mechanically removed by bad sleeper；

3. advanced sleeper to work: using after manually or mechanically being set by good sleeper, engineering truck traction track car runs extremely Time near good sleeper, the image information that cmos image sensor gathers, automatically identified by pattern recognition system, make engineering truck stop In the position that cmos image sensor is coaxial with machine oil labelling bolt, swivel block and push-and-pull sleeper device have been positioned at above sleeper, carry Directly over rail device has been positioned on the right side of sleeper between sleeper, oil pump is started working, and hydraulic oil makes two-way ram cylinder piston rod open Beginning stretches out, and makes tumbler and crawl and swivel block device move out, when third party's tubular telescopic arm extend out to stop, and double cropping Stop stretching out with piston oil-cylinder piston rod；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, and makes the second casing entrust crawl and swivel block device Rotating forward 90 °, the 3rd spiral rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes the 3rd spiral swing liquid Pressure motor pressurize, hydraulic oil make two-way ram cylinder piston rod start retract, make tumbler and crawl and swivel block device to Interior motion, when two presser motion most intimate friend's sleeper appropriate locations, both sides of gripper, position shown in Fig. 5, two-way ram oil Cylinder piston rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod stretch out, when two platen clamp sleepers, solenoid directional control valve Middle position makes hydraulic jack pressurize；

Hydraulic oil makes the second lifting drive the double rod hydraulic cylinder piston rod of dual Piston to start to stretch out, the second lowering or hoisting gear Entrust rail-lifting equipment to decline, when rail-lifting equipment drop to carry cylinder of rail cylinder body gusset upper surface coplanar with rail lower surface time, Second lifting drives the double rod hydraulic cylinder piston rod of dual Piston to stop stretching out, and hydraulic oil makes the second spiral rotary actuator Start to rotate forward, when putting forward cylinder of rail cylinder body and rail lower flange contacts side surfaces, carry cylinder of rail cylinder body gusset upper surface with Contacting below rail, the second spiral rotary actuator stops rotating forward, and hydraulic oil makes to carry cylinder of rail piston rod and stretches out, and makes steel Rail jack-up, the middle position of solenoid directional control valve makes to propose cylinder of rail pressurize；

Hydraulic oil makes the 4th spiral rotary actuator start to rotate forward, when gripper makes sleeper rotate forward 90 °, the Four spiral rotary actuators stop rotating forward, and hydraulic oil makes two-way ram cylinder piston rod start to retract, and makes gripper Having promoted sleeper inward, made sleeper inward to shown in Fig. 1 during position, two-way ram cylinder piston rod stops contracting Returning, hydraulic oil makes the 4th spiral rotary actuator start to rotate backward, and gripper makes sleeper rotate backward 90 °, the 4th spiral Rotary actuator stops rotating backward；

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

Hydraulic oil makes two-way ram cylinder piston rod start to stretch out, and third party's tubular telescopic arm is entrusted tumbler and grabs Taking and swivel block device moves out to appropriate location, two-way ram cylinder piston rod stops stretching out；Hydraulic oil makes the 3rd spiral Rotary actuator starts to rotate backward, and makes the second casing entrust crawl and swivel block device rotates backward 90 °, and the 3rd spiral swings Hydraulic motor stops rotating backward, and the middle position of solenoid directional control valve makes the 3rd spiral rotary actuator pressurize, two-way ram oil Cylinder piston rod starts to retract, and third party's tubular telescopic arm entrusts tumbler and crawl and swivel block device inward to Fig. 1 institute Showing position, two-way ram cylinder piston rod stops retracting；

Hydraulic oil makes to carry cylinder of rail piston rod to start to retract, and rail falls to original position, carries cylinder of rail piston rod and is retracted to Stop, hydraulic oil makes the second spiral rotary actuator start to rotate backward, when carry cylinder of rail inward to its gusset with When rail disengages contact, the second spiral rotary actuator stops rotating backward；

Hydraulic oil makes the second lifting drive the double rod hydraulic cylinder piston rod of dual Piston to start to retract, when the second lifting dress Putting and entrust rail-lifting equipment and rise to position shown in Fig. 1, the second lifting drives the double rod hydraulic cylinder piston rod of dual Piston to stop Retract, advanced sleeper end-of-job；

4. nut work is installed: engineering truck traction track car moves to right, and is automatically identified sleeper rail by pattern recognition system The number of outer bolt image, makes railcar move to right a sleeper pitch, and four are left wide-mouth magnetic coupling box difference in nut Coaxial with four bolts being fixed on sleeper, hydraulic oil makes the first lifting drive the double rod hydraulic cylinder piston rod of dual Piston Starting to stretch out, the first lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is declined, in it drops to interior wide-mouth magnetic coupling box Nut with switched tracks pillow threaded bolt contacts, position shown in Fig. 2, the first lifting drives the double rod hydraulic cylinder piston rod of dual Piston Stopping is stretched out, and hydraulic oil makes two the first spiral rotary actuator forward synchronous axial system, drives two circular connecting plates respectively Entrusting two internal gears to rotate forward, each internal gear engages with two gears simultaneously, drives two drive axis, makes four Interior wide-mouth magnetic coupling box forward synchronous axial system, the nut in four interior wide-mouth magnetic coupling boxs synchronizes to screw in sleeper four Bolt pretension, two the first spiral rotary actuators start stopping and rotating forward, and hydraulic oil makes the first lifting drive dual-active The double rod hydraulic cylinder piston rod of plug starts to retract, and the first lowering or hoisting gear is entrusted two nut assembling and disassembling devices and risen to Fig. 1 institute Showing position, the first lifting drives the double rod hydraulic cylinder piston rod of dual Piston to stop retracting, and oil pump quits work, and installs nut Work completes, and engineering truck traction track car leaves.

First lowering or hoisting gear and symmetrically arranged two the first parallelogram lindages of the second lowering or hoisting gear so that it is square tube shape is stretched Contracting arm is the most parallel with sill, to adapt to straight line and curved rail length section sleeper nut mounting or dismounting work；Yielding coupling and interior Wide-mouth nut can effectively adapt to sleeper bolt position deviation, makes interior wide-mouth nut easily screw on sleeper bolt.

Claims (1)

1. mechanical-electrical-hydraulic integration sleeper replacement device, it is characterised in that: it is to be synchronized assembling and disassembling device by sleeper four nut, carried rail dress Put, swivel block and push-and-pull sleeper device, electromotor, Hydraulic system and control System cabine and railcar composition, railcar is provided with four Castor and two longerons, sleeper four nut synchronizes assembling and disassembling device, rail-lifting equipment, swivel block and push-and-pull sleeper device, electromotor and liquid Pressure system and control system case are arranged on two longerons of railcar, and railcar is drawn by engineering truck, electromotor be oil pump and Control system provides power, is provided with fuel tank, oil pump, hydraulic control system and automatically controls and be in Hydraulic system and control System cabine System；

It is by entablature assembly, the first lowering or hoisting gear and two nut assembling and disassembling devices that described sleeper four nut synchronizes assembling and disassembling device Composition；

Described entablature assembly is made up of first party tubular fixed arm and two first party tubular telescopic arms, first party tubular Fixed arm is provided with two long slot bores of symmetry, and first party tubular telescopic arm is provided with blind end and two monaural rings；

The first described lowering or hoisting gear is by the first lifting drive, symmetrically arranged two the first parallelogram lindages and One laser displacement sensor composition；

The first described lifting drive is by first party tubular fixed arm, the double rod hydraulic jack of dual Piston and two the One square tube shape telescopic arm composition, dual Piston is double, and rod cylinder body of hydraulic oil cylinder is provided with square flange, piston rod free end is provided with Ring flange；

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

Two first party tubular telescopic arms are sheathed thereon from the double rod hydraulic jack two ends of dual Piston respectively, make first party Tubular telescopic arm rod hydraulic cylinder piston rod ring flange double with dual Piston is connected, and first party tubular fixed arm is sheathed on two On first party tubular telescopic arm, the double rod cylinder body of hydraulic oil cylinder square flange symmetry of dual Piston is made to be fixed on first party tubular Fixed arm endoporus upper surface, forms the first lifting drive；

By one end of two forks respectively with first party tubular telescopic arm chain connection, the other end of two forks respectively with lower horizontal stroke Beam chain connection, forms the first parallelogram lindage, is symmetrical in the vertical plane of symmetry group of sill and first party tubular fixed arm Fill another the first parallelogram lindage, the first laser displacement sensor symmetry be fixed on above first party tubular fixed arm, Form the first lowering or hoisting gear；

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

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

Described rail-lifting equipment by cmos image sensor, entablature, the second lowering or hoisting gear, carry rail assembly and form；

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

Described sill assembly is made up of second party tubular fixed arm and two second party tubular telescopic arms, second party tubular Fixed arm is provided with two long slot bores of symmetry, and second party tubular telescopic arm is provided with blind end and two ears rings；

As the second described lifting drive and the first lifting drive composition, except aforesaid second party tubular fixed arm Differ with first party tubular fixed arm orientation, outside second party tubular telescopic arm differs with first party tubular telescopic arm orientation, remaining All component structural forms are the same；

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

The second described parallelogram lindage is made up of second party tubular telescopic arm, two forks and entablature；

By one end of two forks respectively with second party tubular telescopic arm chain connection, the other end of two forks respectively with upper horizontal stroke Beam chain connection, forms the second parallelogram lindage, is symmetrical in the vertical plane of symmetry group of entablature and second party tubular fixed arm Fill another the second parallelogram lindage, the second laser displacement sensor symmetry be fixed on above second party tubular fixed arm, Form the second lowering or hoisting gear；

The described rail assembly that carries is by two suspension rods, suspension bracket, the second spiral rotary actuator, opposed cam, two Slide Groups Part, two cylindrical screw extension springs, I-shaped tubular fixed arm and two carry cylinder of rail composition, and suspension rod is provided with the first ring flange and second Ring flange, the second spiral rotary actuator output shaft free end is provided with ring flange；

Described slide assemblies is made up of I-shaped tubular travelling arm and roller, and I-shaped tubular travelling arm is provided with semicylindrical opening, right Claiming two monaural rings and tappet, I-shaped tubular travelling arm tappet to be provided with ears ring, I-shaped tubular fixed arm is provided with two of symmetry Semicylindrical opening, carries that cylinder of rail cylinder body is provided with gusset, piston rod free end is provided with fagging；

By roller and I-shaped tubular travelling arm tappet ears ring chain connection, form slide assemblies, carry cylinder of rail and be fixed on I-shaped In tubular travelling arm semicylindrical opening, opposed cam is coaxially connected with spiral rotary actuator output shaft ring flange, the second spiral Rotary actuator symmetry is fixed on below suspension bracket, and suspension bracket symmetry is fixed on above I-shaped tubular fixed arm, by two Slide Groups Part is sheathed thereon from I-shaped tubular fixed arm two ends, makes roller and opposed cam contact, and the two ends of cylindrical screw extension spring are respectively It is connected with two I-shaped tubular travelling arm homonymy monaural rings, makes two to carry cylinder of rail and be symmetrical arranged, two suspension rod the second ring flanges Symmetry is fixed on above suspension bracket, and composition carries rail assembly, and two suspension rod the first ring flange symmetries are fixed on entablature side, and CMOS schemes As sensor is fixed on below second party tubular fixed arm, form rail-lifting equipment；

Described swivel block and push-and-pull sleeper device are by telescopic component, retractable driving device, tumbler, two connecting plates and to grab Take and swivel block device composition；

Described telescopic component is by third party's tubular fixed arm, third party's tubular telescopic arm and the 3rd laser displacement sensor group Becoming, third party's tubular fixed arm is provided with blind end, and third party's tubular telescopic arm is provided with dividing plate；

Described retractable driving device is by third party's tubular fixed arm, two-way ram oil cylinder and third party's tubular telescopic arm group Becoming, two-way ram cylinder block is provided with square slider and ring flange, piston rod are provided with ring flange；

Third party's tubular telescopic arm is sheathed on two-way ram oil cylinder, two-way ram cylinder piston rod ring flange and the 3rd Square tube shape telescopic arm dividing plate is connected, then is sheathed on third party's tubular telescopic arm by third party's tubular fixed arm, makes double acting live Plug cylinder flange dish and third party's tubular fixed arm blind end are connected, and form retractable driving device, two-way ram oil cylinder and the Tripartite's tubular telescopic arm forms moving sets, and the 3rd laser displacement sensor symmetry is fixed on above third party's tubular fixed arm；

Described tumbler be by third party's tubular telescopic arm, the 3rd spiral rotary actuator, the hollow multidiameter of cantilever, One thrust bearing, the first casing, the second thrust bearing, the first hex nut, circular connecting plate, the second hex nut, end cap and Equi intensity cantilever forms, and the 3rd spiral rotary actuator output shaft is provided with thread segment and six prism shaft parts, the hollow rank of cantilever Ladder axle is provided with thread segment, the first axle journal, the second axle journal, the 3rd axle journal and connecting plate, and connecting plate is provided with spacing arc groove, the first case Body is provided with spacer pin and cantilever ladder axle sleeve, and cantilever multidiameter is arranged with the first axle sleeve, the second axle sleeve and the 3rd axle sleeve, and end cap sets Having bearing pin, circular connecting plate to be provided with six prism axis holes, equi intensity cantilever is provided with pin shaft hole and ring flange；

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

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

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

By convex for spacing for the 4th spiral rotary actuator output shaft ring flange fan-shaped boss sector spacing with hydraulic jack ring flange Platform aligns connected, and the first thrust bearing is sheathed on hydraulic jack the first axle journal, and hydraulic jack penetrates the second casing shoulder hole In, make the 4th spiral rotary actuator output shaft ring flange and hydraulic jack ring flange insert second casing the first circular hole portion, Spacing fan-shaped boss left surface contacts with scallop hole section the first confined planes, and the first thrust bearing inserts second casing the second circular hole Section, makes the 4th spiral rotary actuator be fixed on the second box bottom, makes end cap and the second casing be connected；

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

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

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