CN106223139A - A kind of mechanical-electrical-hydraulic integration sleeper replacement device - Google Patents

Abstract

The invention discloses a kind of 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

A kind of mechanical-electrical-hydraulic integration sleeper replacement device

Technical field

The present invention relates to a kind of railway maintenance machinery, particularly to a kind of 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 a kind of 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, lowering or hoisting gear and two nut assembling and disassembling device groups that described sleeper four nut synchronizes assembling and disassembling device Become；

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

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

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

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

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

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

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

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

First laser displacement sensor symmetry is fixed on below entablature, forms 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, it is solid that the other end symmetry of two suspension rods is fixed on square tube shape Two sides of arms, sill is fixed on two side rail inner faces of railcar composition, and sleeper four nut synchronizes assembling and disassembling device；

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

The first described telescopic component is by first party tubular fixed arm, two first party tubular telescopic arms and the second laser Displacement transducer forms, and first party tubular telescopic arm is provided with dividing plate；

The first described retractable driving device is by first party tubular fixed arm, the double rod hydraulic jack of dual Piston and two First party tubular telescopic arm forms, and dual Piston is double, and rod cylinder body of hydraulic oil cylinder is provided with square flange, piston rod free end sets There is ring flange；

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 dividing plate rod hydraulic cylinder piston rod ring flange double with dual Piston is connected, first party tubular fixed arm set It is located on two first party tubular telescopic arms, makes the double rod hydraulic jack square flange symmetry of dual Piston be fixed on first party Tubular fixed arm endoporus upper surface, forms retractable driving device, and the first laser displacement sensor symmetry is fixed on first party tubular Above fixed arm；

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

Second spiral rotary actuator is fixed on the base plate of first party tubular telescopic arm dividing plate front end, hollow cantilever rank Ladder axle sleeve is located on the second spiral rotary actuator output shaft, makes cantilever hollow multidiameter connecting plate be fixed on first party tubular Telescopic arm end face, the first thrust bearing is sheathed on cantilever hollow multidiameter the 3rd axle journal, and casing cantilever ladder axle sleeve is sheathed on On second spiral rotary actuator output shaft, the first thrust bearing is made to insert casing cantilever ladder axle sleeve the 3rd axle sleeve section, outstanding Arm ladder axle sleeve the second axle sleeve section is sheathed on hollow multidiameter the second axle journal, and the second thrust bearing is sheathed on the hollow ladder of cantilever On axle the first axle journal, inserting cantilever ladder axle sleeve the first axle sleeve section, the first hex nut screws in cantilever hollow multidiameter thread segment Pretension, makes the first casing and cantilever hollow multidiameter chain connection, circular connecting plate be sheathed on the second spiral rotary actuator Output shaft six prism shaft part, makes circular connecting plate be fixed on the first casing cantilever ladder axle sleeve free end, the second hex nut rotation Enter the second spiral rotary actuator output shaft thread segment pretension, make the second spiral rotary actuator output shaft and the first casing Being connected, end cap is fixed on the first casing, and equi intensity cantilever pin-and-hole is sheathed on end cap bearing pin, equi intensity cantilever ring flange Being fixed on above first party tubular telescopic arm, form the first tumbler, two connecting plates make the first casing and box connector It is fixed with one, two is carried cylinder of rail cylinder body and is respectively fixedly connected with in two box connector semicylindrical openings, cmos image sensor It is fixed on outside railcar longeron, forms rail-lifting equipment；

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

The second described telescopic component is by second party tubular fixed arm, second party tubular telescopic arm and the 3rd laser displacement Sensor forms, and second party tubular fixed arm is provided with blind end, and second party tubular telescopic arm is provided with blind end；

The second described retractable driving device is by second party tubular fixed arm, two-way ram oil cylinder and second party tubular Telescopic arm forms, and two-way ram cylinder block is provided with square slider and ring flange, piston rod are provided with ring flange；

Second party tubular telescopic arm is sheathed on two-way ram oil cylinder, two-way ram cylinder piston rod ring flange with Second party tubular telescopic arm blind end is connected, then is sheathed on second party tubular telescopic arm by second party tubular fixed arm, makes double Effect piston oil-cylinder ring flange is connected with second party tubular fixed arm blind end, forms the second retractable driving device, and double acting is lived Plug oil cylinder forms moving sets with second party tubular telescopic arm, and the 3rd laser displacement sensor symmetry is fixed on second party tubular and fixes Above arm；

The second described tumbler and the first tumbler form and version is the same, carries out and the first tumbler Identical assembly operation, forms the second tumbler；

Described crawl and swivel block device are by the second casing, the 3rd spiral rotary actuator, hydraulic jack, first push away Power bearing, the second thrust bearing, the second hex nut, piston, piston rod, ladder U-bracket, first connecting rod, second connecting rod, two Individual first fork, two rollers, end cap and two mechanical gripper device compositions, the second casing be provided with 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 3rd 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 3rd 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 3rd 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 3rd 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 second 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 lifting drive exploded perspective schematic diagram of the present invention.

Fig. 4 is the servo-actuated Equipoising support apparatus exploded perspective schematic diagram of the present invention.

Fig. 5 is the nut assembling and disassembling device exploded perspective schematic diagram of the present invention.

Fig. 6 is the rail-lifting equipment of the present invention and swivel block and push-and-pull sleeper device duty schematic perspective view.

Fig. 7 is that the rail-lifting equipment sidewall of the present invention cuts off working state schematic perspective view open.

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

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

Figure 10 is two connecting plates, the box connector of the present invention and carries cylinder of rail schematic perspective view.

Figure 11 is the swivel block of the present invention and push-and-pull sleeper device sidewall cuts duty schematic perspective view open.

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

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

Figure 14 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. 2 to Fig. 5, it is by entablature 71, lowering or hoisting gear that described sleeper four nut synchronizes assembling and disassembling device 7 72 and two nut assembling and disassembling devices 73 form；

Described lowering or hoisting gear 72 is by two first series connection parallelogram lindages 721, lifting drive 723, servo-actuated Equipoising support apparatus 724 and the first laser displacement sensor 725 form；

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

Described lifting drive 723 is to be stretched out oil cylinder 7231 and two first connecting rods by double multi-stage expansion shell types are double 7215 compositions, the double final stage extension sleeve free end stretching out oil cylinder 7231 of double multi-stage expansion shell types is provided with monaural ring 72311；

Described servo-actuated Equipoising support apparatus 724 be by plate shape entablature 7240, second connect parallelogram lindage 7241, First strut the 7242, second strut 7243, slide bar 7245, two turriform linear Stiffness springs 7246, two of 7244, two slide blocks 7247, two the first bolts 7248 of individual first hex nut and two the second bolts 7249 form, and slide bar 7244 is provided with fixing Disk 72441, it is arranged with two light bar segment 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 the 7211, the 4th fork 72412, the 5th fork the 72413, the 6th fork the 72414, the 7th 72415, two second connecting rods 72416 of fork and two bearing pins 72417 compositions；

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

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

By the first strut 7242 ears ring, the second strut 7243 ears ring and a pair tapped blind hole 72452 of slide block 7245 Coaxially, two the second bolt 7249 pretensions respectively, make between first strut the 7242, second strut 7243 and 7,245 3 components of slide block Chain connection, the second strut 7243 and plate shape entablature 7240 chain connection, form servo-actuated Equipoising support apparatus 724；

First laser displacement sensor 725 symmetry is fixed on below entablature 71, forms lowering or hoisting gear 72；

Described nut assembling and disassembling device 73 be by two suspension rods the 731, first spiral rotary actuator 732, upper cover 733, Circular connecting plate the 734, second hex nut 735, internal gear 737, two gears 738 of 736, two power transmission shafts, housing 739, two 740, two second thrust bearing the 741, the 3rd 742, two yielding couplings 743 of hex nut of individual first thrust bearing and two Interior wide-mouth magnetic coupling box 744 forms, and the first spiral rotary actuator 732 is provided with ring flange 7321, its output shaft is provided with Circular shaft section 7321 and six prism shaft parts 7322, upper cover 733 is provided with axis hole 7331, and circular connecting plate 734 is provided with six prism holes 7341, Power transmission shaft 737 is provided with the first axle journal 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 is provided with axle journal 7441；

Upper cover 733 is sheathed on the first spiral rotary actuator output shaft circular shaft section 7321, 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 7322, 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 square tube shape fixed arm, and sill 7221 is fixed on track Forming on two longeron 202 medial surface of car, sleeper four nut synchronizes assembling and disassembling device 7；

Referring to shown in Fig. 6 to Figure 10, described rail-lifting equipment 8 is by cmos image sensor the 80, first telescopic component 81,82, four connecting plates of the first retractable driving device, 84, two box connectors 85 of 83, two the first tumblers and two Carrying cylinder of rail 86 to form, box connector 85 is provided with semicylindrical opening 851, carries cylinder of rail 86 cylinder body and is provided with gusset 861, piston rod Free end is provided with fagging 862；

The first described telescopic component 81 is by 811, two first party tubular telescopic arm 812 and of first party tubular fixed arm Second laser displacement sensor 813 forms, and first party tubular telescopic arm 812 is provided with dividing plate 8121；

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

Two first party tubular telescopic arms 812 are sheathed on it from double rod hydraulic jack 821 two ends of dual Piston respectively On, make the double rod hydraulic cylinder piston rod ring flange of first party tubular telescopic arm dividing plate 8121 and dual Piston 8221 be connected, the One square tube shape fixed arm 811 is sheathed on two first party tubular telescopic arms 812, makes the double rod hydraulic jack of dual Piston square Ring flange 8211 symmetry is fixed on first party tubular fixed arm 811 endoporus upper surface, forms retractable driving device 82, the first laser Displacement transducer 813 symmetry is fixed on above first party tubular fixed arm 811；

The first described tumbler 84 be by first party tubular telescopic arm the 812, second spiral rotary actuator 841, The hollow multidiameter of cantilever the 842, first thrust bearing the 843, first casing the 844, second thrust bearing the 845, first hex nut 846, circular connecting plate the 847, second hex nut 848, end cap 849 and equi intensity cantilever 850 form, and the second spiral swings liquid Pressure motor 841 output shaft is provided with thread segment 8411 and six prism shaft parts 8412, and the hollow multidiameter of cantilever 842 is provided with thread segment 8421, the first axle journal the 8422, second axle journal the 8423, the 3rd axle journal 8424 and connecting plate 8425, connecting plate 8425 is provided with spacing circle Arc groove 84251, the first casing 844 is provided with cantilever ladder axle sleeve 8441 and spacer pin 8442, and cantilever ladder axle sleeve 8441 is provided with One axle sleeve the 84411, second axle sleeve 84412 and the 3rd axle sleeve 84413, end cap 849 is provided with bearing pin 8491, and circular connecting plate 847 sets Having six prism holes 8471, equi intensity cantilever 850 is provided with pin shaft hole 8501 and ring flange 8502；

Second spiral rotary actuator 841 is fixed on the base plate of first party tubular telescopic arm dividing plate 8121 front end, empty Heart cantilever multidiameter 842 is sheathed on the second spiral rotary actuator output shaft 841, makes cantilever hollow multidiameter connecting plate 8425 are fixed on first party tubular telescopic arm 812 end face, and the first thrust bearing 843 is sheathed on cantilever hollow multidiameter the 3rd axle journal On 8424, casing cantilever ladder axle sleeve 8441 is sheathed on the second spiral rotary actuator output shaft 841, makes the first thrust axis Holding 843 and insert casing cantilever ladder axle sleeve the 3rd axle sleeve section 84413, cantilever ladder axle sleeve the second axle sleeve section 84412 is sheathed on sky On heart multidiameter the second axle journal 8423, the second thrust bearing 845 is sheathed on cantilever hollow multidiameter the first axle journal 8422, inserts Cantilever ladder axle sleeve the first axle sleeve section 84411, the first hex nut 846 screws in cantilever hollow multidiameter thread segment 8421 pretension, The first casing 844 and cantilever hollow multidiameter 842 chain connection, circular connecting plate 847 is made to be sheathed on the second spiral and swing hydraulic pressure Motor output shaft six prism shaft part 8412, makes circular connecting plate 847 be fixed on the first casing cantilever ladder axle sleeve 8441 free end, Second hex nut 848 screws in the second spiral rotary actuator output shaft thread segment 8411 pretension, makes the second spiral swing liquid Pressure motor 841 output shaft and the first casing 844 are connected, and end cap 849 is fixed on the first casing 844, equi intensity cantilever pin-and-hole 8501 are sheathed on end cap bearing pin 8491, and equi intensity cantilever ring flange 8502 is fixed on above first party tubular telescopic arm 812, Forming the first tumbler 84, two connecting plates 83 make the first casing 844 be fixed with one with box connector 85, carry rail by two Oil cylinder 86 cylinder body is respectively fixedly connected with in two box connector semicylindrical openings 851, and cmos image sensor 80 is fixed on railcar Outside longeron 202, form rail-lifting equipment 8；

Referring to shown in Figure 11 to Figure 13, described swivel block and push-and-pull sleeper device 9 are by the second telescopic component 90, second 92, two connecting plates 93 of retractable driving device the 91, second tumbler and crawl and swivel block device 94 form；

The second described telescopic component 90 is by second party tubular fixed arm 901, second party tubular telescopic arm 902 and the 3rd Laser displacement sensor 903 forms, and second party tubular fixed arm 901 is provided with blind end 9011, and second party tubular telescopic arm 902 sets There is blind end 9021；

The second described retractable driving device 91 is by second party tubular fixed arm 901, two-way ram oil cylinder 911 and Two square tube shape telescopic arms 902 form, and two-way ram oil cylinder 911 cylinder body is provided with square slider 9111 and ring flange 9112, piston Bar is provided with ring flange 9113；

Second party 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 second party tubular telescopic arm blind end 9021, then second party tubular fixed arm 901 is sheathed on second party On tubular telescopic arm 902, two-way ram cylinder flange dish 9112 is made to be connected with second party tubular fixed arm blind end 9011, group Becoming the second retractable driving device 91, two-way ram oil cylinder 911 and second party tubular telescopic arm 902 to form moving sets, the 3rd swashs Optical displacement sensor 903 symmetry is fixed on above second party tubular fixed arm 901；

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

Described crawl and swivel block device 94 are by the second casing the 941, the 3rd spiral rotary actuator 942, hydraulic oil Cylinder the 943, first thrust bearing the 944, second thrust bearing the 945, second hex nut 946, piston 947, piston rod 948, ladder U Shape support 949, first connecting rod 950, second connecting rod 952, two rollers 953 of 951, two the first forks, end cap 954 and two machines 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 3rd 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 3rd 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 3rd 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 3rd 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, Second 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 844 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 invention 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 interior wide-mouth magnetic coupling boxs are positioned at directly over four bolts of bad sleeper, position shown in Fig. 1, oil Pump is started working, and hydraulic oil makes the double sleeve stretching out oil cylinder of double multi-stage expansion shell type start to stretch out, and both sides synchronize to stretch out successively Multi-stage sleeve promotes two first connecting rod translations respectively, makes the most each of symmetrically arranged two first series connection parallelogram lindages Two pairs of fork synchronous hunting dorsad, lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is declined, by the first laser displacement sensor Measure its displacement signals of stretching out oil cylinder double with double multi-stage expansion shell types, control that double multi-stage expansion shell type is double stretches out oil cylinder and the One spiral rotary actuator work, when interior wide-mouth magnetic coupling box is sheathed on nut, position shown in Fig. 2, double multistage stretch The double final stage sleeve stretching out oil cylinder of contracting shell type stops stretching out, and it is the most same that hydraulic oil makes two the first spiral rotary actuators start Step rotates, and drives two circular connecting plates to entrust two internal gears respectively and rotates, and each internal gear engages with two gears simultaneously, Drive two drive axis, make four interior wide-mouth magnetic coupling box reverse sync rotate, four interior wide-mouth magnetic plum-blossom sleeves Cylinder synchronizes to screw off four nuts, and the magnetic of interior wide-mouth magnetic coupling box makes the nut screwed off stay interior wide-mouth magnetic coupling box In, two the first spiral rotary actuators stop rotating backward, and hydraulic oil makes the double set stretching out oil cylinder of double multi-stage expansion shell type Cylinder starts to retract, and the multi-stage sleeve that both sides synchronize to retract successively pulls two first connecting rod translations, makes two symmetrically arranged the Two pairs of fork synchronous hunting in opposite directions up and down of one series connection parallelogram lindage, lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is risen To position shown in Fig. 1, the double chopped-off head sleeve stretching out oil cylinder of double multi-stage expansion shell types stops retracting, and dismantles nut end-of-job；

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 the second square tube telescopic arm to stretch out, the second square tube telescopic arm Entrust the second tumbler and crawl and swivel block device moves out, measure itself and equal strength by the 3rd laser displacement sensor The displacement signal of cantilever beam, controls two-way ram oil cylinder, the second spiral rotary actuator and the 3rd spiral and swings hydraulic pressure Motor operations, the second tumbler and crawl and swivel block device move out to correct position, two-way ram cylinder piston rod Stopping is stretched out, and its piston rod starts to retract, and pulls the second square tube telescopic arm to retract, and the second square tube telescopic arm entrusts the second rotation dress Putting and capture and swivel block device inward, hydraulic oil makes the second 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 is entrusted crawl and turns Pillow device rotates forward, when the first casing rotates forward to its spacer pin and the cantilever hollow multidiameter spacing arc groove of connecting plate one During end in contact, crawl entrusted by the second casing and swivel block device rotates forward 90 °, and the second spiral rotary actuator stops forward and turns Dynamic, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, when two pressing plate inward of gripper are to bad During appropriate location, sleeper both sides, two-way ram cylinder piston rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod stretch out, pushes away Dynamic first connecting rod and second connecting rod motion, make two symmetrically arranged 3rd forks swing in opposite directions, be articulated with the 3rd fork ears The roller of ring 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-parallels Four-bar mechanism forward swings, and when two platen clamp sleepers, the middle position of solenoid directional control valve makes hydraulic jack pressurize；

Hydraulic oil makes the double rod hydraulic cylinder piston rod of dual Piston start to stretch out, and promotes respectively and its two be connected the One square tube shape telescopic arm synchronizes to stretch out, and is measured the displacement signal of itself and equi intensity cantilever by the second laser displacement sensor, Controlling the double rod hydraulic jack of dual Piston and the work of the second spiral rotary actuator, two first party tubular telescopic arms divide Do not entrust two the first tumblers and carry cylinder of rail and move out to appropriate location, the double rod hydraulic cylinder piston of dual Piston Bar stop stretch out, its piston rod start retract, pull respectively with its be connected two first party tubular telescopic arms Tong Bus retraction, two Individual first party tubular telescopic arm is entrusted two the first tumblers respectively and carries cylinder of rail inward, and hydraulic oil makes second simultaneously Spiral rotary actuator starts to rotate forward, and drives the first casing to rotate forward, the first casing entrust with its be connected carry rail Oil cylinder rotates forward, when the first casing rotates forward to its spacer pin and cantilever hollow multidiameter connecting plate spacing arc groove one end During contact, carrying cylinder of rail and rotate forward 90 °, the second spiral rotary actuator stops rotating forward, the middle position of solenoid directional control valve Make the second spiral rotary actuator pressurize, when carrying cylinder of rail inward to its cylinder body and rail lower flange contacts side surfaces, Its gusset upper surface contacts with below rail, and the double rod hydraulic cylinder piston rod of dual Piston stops retracting；

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

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, and makes hydraulic jack entrust gripper forward and turns Dynamic, gripper makes sleeper rotate forward, when the 3rd 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 3rd 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 3rd spiral rotary actuator start to rotate backward, and makes hydraulic jack entrust gripper reverse Rotating, gripper makes sleeper rotate backward, when the 3rd 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. 6, the Three 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 second party tubular telescopic arm entrusts the second tumbler Moving out to appropriate location with crawl and swivel block device, two-way ram cylinder piston rod stops stretching out, and hydraulic oil makes second Spiral rotary actuator starts to rotate backward, and drives the first casing to rotate backward, the first casing entrust with its be connected second Casing rotates backward, and crawl entrusted by the second casing and swivel block device rotates backward, when the first casing rotates backward to its spacer pin When multidiameter connecting plate hollow with the cantilever spacing arc groove other end contacts, crawl entrusted by the second casing and swivel block device reversely turns Dynamic 90 °, the second spiral rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes the 3rd spiral rotary actuator Pressurize, hydraulic oil make two-way ram cylinder piston rod start retract, second party tubular telescopic arm entrust the second tumbler and Capturing and swivel block device inward is to position shown in Fig. 1, 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 so that it is upper surface is parallel with two rail lower surfaces, carries cylinder of rail piston rod and is retracted to stop, high Force feed makes the double rod hydraulic cylinder piston rod of dual Piston start to stretch out, and makes two first party tubular telescopic arms entrust the first rotation Device and carry cylinder of rail and move out to appropriate location, the double rod hydraulic cylinder piston rod of dual Piston stops stretching out, hydraulic oil Making the second spiral rotary actuator start to rotate backward, drive the first casing to rotate backward, two the first casings are entrusted respectively Carry cylinder of rail with its two be connected to rotate backward, when the first casing rotates backward to its spacer pin with the hollow multidiameter of cantilever even During the contact of the fishplate bar spacing arc groove other end, carrying cylinder of rail and rotate backward 90 °, the second spiral rotary actuator stops reversely turning Dynamic, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize；The double rod hydraulic cylinder piston rod of dual Piston is opened Begin to retract, make two the first tumblers and carry cylinder of rail inward to position shown in Fig. 1, the double rod hydraulic oil of dual Piston Cylinder piston rod stops retracting, and oil pump quits work, and pulls out bad sleeper end-of-job, and tractor traction track car is removed, and uses people Bad sleeper is removed by work or machinery；

3. advanced sleeper to work: using after manually or mechanically being set by good sleeper, engineering truck traction track car runs Time near sleeper, the image information that cmos image sensor gathers, automatically identified by pattern recognition system, make engineering truck be parked in Cmos image sensor and the position 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, position shown in Fig. 1, oil pump starts working, and hydraulic oil makes two-way ram Cylinder piston rod starts to stretch out, and the second tumbler and crawl and swivel block device move out, when second party tubular telescopic arm is stretched When going out to stop, two-way ram cylinder piston rod stops stretching out；

Hydraulic oil makes the second spiral rotary actuator start to rotate forward, and makes the second casing entrust crawl and swivel block device Rotating forward 90 °, the second spiral rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes the second spiral swing liquid Pressure motor pressurize, hydraulic oil makes two-way ram cylinder piston rod start to retract, and makes the second tumbler and crawl and swivel block dress Putting inward, when two presser motion most intimate friend's sleeper appropriate locations, both sides of gripper, position shown in Fig. 6, double acting is lived Plug cylinder piston rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod stretch out, when two platen clamp sleepers, and electromagnetic switch The middle position of valve makes hydraulic jack pressurize；

Hydraulic oil makes the double rod hydraulic cylinder piston rod of dual Piston start to stretch out, and makes two first party tubular telescopic arms divide Do not entrust two the first tumblers and carry cylinder of rail and move out to appropriate location, the double rod hydraulic cylinder piston of dual Piston Bar stop stretch out, its piston rod start retract, make two first party tubular telescopic arms entrust respectively two the first tumblers and Carrying cylinder of rail inward, hydraulic oil makes the second spiral rotary actuator start to rotate forward simultaneously, makes to carry cylinder of rail forward When rotating 90 °, the second spiral rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes the second spiral swing hydraulic pressure Motor pressurize, when carrying cylinder of rail inward to its cylinder body and rail lower flange contacts side surfaces, its gusset upper surface and steel Contacting below rail, the double rod hydraulic cylinder piston rod of dual Piston stops retracting；

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

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, when making gripper make sleeper rotate forward 90 °, 3rd spiral rotary actuator stops rotating forward, and hydraulic oil makes two-way ram cylinder piston rod start to retract, and makes machinery Pawl has promoted sleeper inward, is a good sleeper inward to shown in Fig. 1 during position, and hydraulic oil makes two-way ram oil cylinder live Stopper rod stops retracting, and hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and makes gripper make sleeper rotate backward When 90 °, the 3rd 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 second party tubular telescopic arm entrusts the second tumbler With capture and swivel block device moves out to appropriate location, make two-way ram cylinder piston rod stop stretching out, hydraulic oil makes the Two spiral rotary actuators start to rotate backward, and make the second casing entrust crawl and swivel block device rotates backward 90 °, the second spiral shell Rotation rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, hydraulic oil Making two-way ram cylinder piston rod start to retract, second party tubular telescopic arm entrusts the second tumbler and crawl and swivel block dress Putting inward to position shown in Fig. 1, 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 double rod hydraulic cylinder piston rod of dual Piston start to stretch out, makes two first party tubular telescopic arms entrust First tumbler and carry cylinder of rail and move out to appropriate location, the double rod hydraulic cylinder piston rod of dual Piston stops stretching Going out, hydraulic oil makes the second spiral rotary actuator start to rotate backward, and makes to carry cylinder of rail when rotating backward 90 °, the second spiral Rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize；Dual Piston Double rod hydraulic cylinder piston rods start to retract, and make two the first tumblers and carry cylinder of rail inward to position shown in Fig. 1 Putting, the double rod hydraulic cylinder piston rod of dual Piston stops retracting, and has 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 and four in nut The individual bolt being fixed on sleeper is coaxial, position shown in Fig. 1, and hydraulic oil makes the double sleeve stretching out oil cylinder of double multi-stage expansion shell type open Beginning stretches out, and lowering or hoisting gear is entrusted two nut assembling and disassembling devices and declined, the nut in it drops to interior wide-mouth magnetic coupling box With the pillow threaded bolt contacts that switches tracks, position shown in Fig. 2, the double final stage sleeve stretching out oil cylinder of double multi-stage expansion shell types stops stretching out, high Force feed makes two the first spiral rotary actuator forward synchronous axial system, drives two circular connecting plates to entrust two internal tooths respectively Wheel rotates forward, and each internal gear engages with two gears simultaneously, drives two drive axis, makes four interior wide-mouth magnetic prunus mume (sieb.) sieb.et zucc.s Flower sleeve forward synchronous axial system, the nut in four interior wide-mouth magnetic coupling boxs synchronizes to screw in four bolts of sleeper pretension, Two the first spiral rotary actuators stop rotating forward, and hydraulic oil makes the double sleeve stretching out oil cylinder of double multi-stage expansion shell type open Beginning to retract, lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is risen to position shown in Fig. 1, and double multi-stage expansion shell types are double stretches out oil cylinder Chopped-off head sleeve stop retract, oil quits work, install nut end-of-job, engineering truck traction track car travels away from.

Symmetrically arranged two the first series connection parallelogram lindages of lowering or hoisting gear, make entablature the most parallel with sill, Second series connection parallelogram lindage makes plate shape entablature parallel with sill all the time, 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, make interior wide-mouth nut hold Easily screw on sleeper bolt；

In position shown in Fig. 1, two linear Stiffness tower springs compress in right amount, the most symmetrically arranged 6th fork and second Strut and the second entablature angle are maximum, and two tower springs are respectively acting on the 6th fork and the second strut by two slide blocks Power is more than its more small power, and it is big that tower spring acts on the power vertical component on the 6th fork and the second strut, makes to prop up with dynamic balancing Support arrangement bears the double oil cylinder that stretches out of double multi-stage expansion shell type and conducts oneself with dignity and balance, and servo-actuated Equipoising support apparatus is with lowering or hoisting gear lifting Lifting, in position shown in Fig. 2, two linear Stiffness tower spring decrements are maximum, the most symmetrically arranged 6th fork and second Strut and the second entablature angle are minimum, and two tower springs are respectively acting on the 6th fork and the second fork by two slide blocks Power is less than maximum flexibility power, and the power vertical component that tower spring acts on the 6th fork and the second strut is little, makes servo-actuated balanced support Device bears the double oil cylinder that stretches out of double multi-stage expansion shell type and conducts oneself with dignity and balance, it is to avoid double multi-stage expansion shell types are double stretches out the multistage of oil cylinder Extension sleeve bears moment of flexure.

Claims (1)

1. a 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 Device, swivel block and push-and-pull sleeper device, electromotor, Hydraulic system and control System cabine and railcar composition, railcar is provided with four Individual castor and two longerons, sleeper four nut synchronize assembling and disassembling device, rail-lifting equipment, swivel block and push-and-pull sleeper device, electromotor and Hydraulic system and control System cabine is arranged on two longerons of railcar, and railcar is drawn by engineering truck, and electromotor is oil pump There is provided power with control system, be provided with fuel tank, oil pump, hydraulic control system in Hydraulic system and control System cabine and automatically control System；

Described sleeper four nut synchronizes assembling and disassembling device and is made up of entablature, lowering or hoisting gear and two nut assembling and disassembling devices；

Described lowering or hoisting gear is by two first series connection parallelogram lindage, lifting drive, servo-actuated Equipoising support apparatus With the first laser displacement sensor composition；

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

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

Described servo-actuated Equipoising support apparatus is 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 bolt compositions, slide bar is provided with fixed disc, is arranged with two light bar segment and two thread segments；Slide block is provided with circular hole and 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；

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

Two turriform linear Stiffness springs are sheathed on respectively two light bar segment of slide bar, then two slide blocks are sheathed on respectively Two light bar segment of slide bar, two the first hex nut pretensions respectively, make two slide blocks make turriform linear Stiffness spring respectively Suitably compression, by the 5th fork and sill chain connection, make the left side monaural ring of two third connecting rods respectively with the 4th fork A pair tapped blind hole of ears ring, the 6th fork ears ring and slide block coaxial, two the first bolts pretensions respectively, make the 4th pendulum Chain connection between bar, the 6th fork and three components of slide block, by the right monaural ring of two third connecting rods respectively with the 5th fork Ears ring, the 7th fork ears ring coaxial, two bearing pins respectively penetrate, and make third connecting rod, the 5th fork and the 7th fork three Chain connection between individual component, the 6th fork and the 7th fork respectively with plate shape entablature chain connection, composition second series connection parallel Four-bar mechanism；

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

First laser displacement sensor symmetry is fixed on below entablature, forms 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 the other end symmetry of two suspension rods is fixed on square tube shape fixed arm Two sides, sill is fixed on two side rail inner faces of railcar composition, and sleeper four nut synchronizes assembling and disassembling device；

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

The first described telescopic component is by first party tubular fixed arm, two first party tubular telescopic arms and the second laser displacement Sensor forms, and first party tubular telescopic arm is provided with dividing plate；

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

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 dividing plate 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 hydraulic jack square flange symmetry of dual Piston is made to be fixed on first party tubular Fixed arm endoporus upper surface, forms retractable driving device, and the first laser displacement sensor symmetry is fixed on first party tubular and fixes Above arm；

The first described tumbler is by first party tubular telescopic arm, the second 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 second spiral rotary actuator output shaft is provided with thread segment and six prism shaft parts, and cantilever is empty Heart multidiameter is provided with thread segment, the first axle journal, the second axle journal, the 3rd axle journal and connecting plate, and connecting plate is provided with spacing arc groove, the One casing is provided with cantilever ladder axle sleeve and spacer pin, and cantilever multidiameter is arranged with the first axle sleeve, the second axle sleeve and the 3rd axle sleeve, end Being covered with bearing pin, circular connecting plate is provided with six prism holes, and equi intensity cantilever is provided with pin shaft hole and ring flange；

Second spiral rotary actuator is fixed on the base plate of first party tubular telescopic arm dividing plate front end, hollow cantilever multidiameter It is sheathed on the second spiral rotary actuator output shaft, makes cantilever hollow multidiameter connecting plate be fixed on first party tubular and stretch Arm end face, the first thrust bearing is sheathed on cantilever hollow multidiameter the 3rd axle journal, and casing cantilever ladder axle sleeve is sheathed on second On spiral rotary actuator output shaft, the first thrust bearing is made to insert casing cantilever ladder axle sleeve the 3rd axle sleeve section, cantilever rank Ladder axle sleeve the second axle sleeve section is sheathed on hollow multidiameter the second axle journal, and the second thrust bearing is sheathed on the hollow multidiameter of cantilever the On one axle journal, inserting cantilever ladder axle sleeve the first axle sleeve section, the first hex nut screws in cantilever hollow multidiameter thread segment pretension, The first casing and cantilever hollow multidiameter chain connection, circular connecting plate is made to be sheathed on the second spiral rotary actuator output shaft Six prism shaft parts, make circular connecting plate be fixed on the first casing cantilever ladder axle sleeve free end, and the second hex nut screws in second Spiral rotary actuator output shaft thread segment pretension, makes the second spiral rotary actuator output shaft and the first casing be connected, End cap is fixed on the first casing, and equi intensity cantilever pin-and-hole is sheathed on end cap bearing pin, and equi intensity cantilever ring flange is connected Above first party tubular telescopic arm, forming the first tumbler, two connecting plates make the first casing be connected with box connector Integrally, carrying cylinder of rail cylinder body by two and be respectively fixedly connected with in two box connector semicylindrical openings, cmos image sensor is connected Outside railcar longeron, form rail-lifting equipment；

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

The second described telescopic component is to be sensed by second party tubular fixed arm, second party tubular telescopic arm and the 3rd laser displacement Device forms, and second party tubular fixed arm is provided with blind end, and second party tubular telescopic arm is provided with blind end；

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

Second party tubular telescopic arm is sheathed on two-way ram oil cylinder, two-way ram cylinder piston rod ring flange and second Square tube shape telescopic arm blind end is connected, then is sheathed on second party tubular telescopic arm by second party tubular fixed arm, makes double acting Piston oil-cylinder ring flange is connected with second party tubular fixed arm blind end, forms the second retractable driving device, two-way ram oil Cylinder forms moving sets with second party tubular telescopic arm, and the 3rd laser displacement sensor symmetry is fixed on second party tubular fixed arm Face；

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

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 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 3rd 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 3rd 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 3rd 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 3rd 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 second hex nut pretension, piston is inserted liquid In compressing cylinder cylinder barrel, ladder U-bracket flange is penetrated hydraulic jack cylinder barrel and is connected, make oil cylinder 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.