CN106283986A - There is the automatic exchange sleeper machine of tamping flat quarrel device - Google Patents

Abstract

The invention discloses the automatic exchange sleeper machine with tamping flat quarrel device, synchronized assembling and disassembling device, the first rail-lifting equipment, transition and push-and-pull sleeper device, handling sleeper device, railcar, electromotor and Hydraulic system and control System cabine formed by tamping flat quarrel device, road shoulder and railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, pillow end clear stone device, sprocket calculus device, four nuts.Equipment quickly can be directed at operating position by the present invention；Being automatically drained out between sleeper, rest the head on outside end and the ballast of railway roadbed, the sandy soil being automatically separated in rock ballast below rail, the tamping between the sleeper of pillow both sides that is automatically backfilled to rock ballast switch tracks is shaken flat, repairs road shoulder and the shape of railway roadbed；Realize four nuts and synchronize mounting or dismounting, improve the fatigue life of bolt, it is ensured that the reliability that sleeper is connected with rail；Swivel block and push-and-pull sleeper are integrating device, compact conformation, and the work in every of pillow is changed in adaptation straight line and curved rail length section, change pillow work efficiency high.

Description

There is the automatic exchange sleeper machine of tamping flat quarrel device

Technical field

The present invention relates to a kind of railway maintenance machinery, particularly to the automatic exchange sleeper with tamping flat quarrel device Machine.

Background technology

Railroad sleeper is during using for a long time, due to natural subsidence and vibration, under the sleeper of railway local Heavy, need to carry out maintenance, indivedual sleepers damage, and need to change in time, during sleeper replacement, use manual work, take Time laborious, inefficiency, it is impossible to complete work in effective train passage gap (being commonly called as: skylight).

Summary of the invention

It is an object of the invention to provide the automatic exchange sleeper machine with tamping flat quarrel device.

The present invention be by tamping flat quarrel device, road shoulder and railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, Pillow end clear stone device, sprocket calculus device, four nuts synchronization assembling and disassembling devices, the first rail-lifting equipment, transition and push-and-pull sleeper device, Handling sleeper device, electromotor, Hydraulic system and control System cabine and railcar composition.Railcar is provided with multiple castor and two Longeron, tamping flat quarrel device, road shoulder and railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, pillow end clear stone device, Sprocket calculus device, four nuts synchronize assembling and disassembling devices, the first rail-lifting equipment, transition and push-and-pull sleeper device, handling sleeper device, Electromotor and Hydraulic system and control System cabine are arranged on two longerons of railcar, and railcar is drawn by engineering truck, generating Machine is that oil pump and control system provide power, be provided with in Hydraulic system and control System cabine fuel tank, oil pump, hydraulic control system and Automatic control system；

Described tamping flat quarrel device is made up of entablature, the first lowering or hoisting gear and the assembly that vibrates, and entablature is provided with two Individual connecting plate, connecting plate is provided with several bolt hole；

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

Described sill 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 it is recessed with symmetrical two that first party tubular telescopic arm is provided with two monaural rings Groove, groove is provided with bolt hole；

The first described lifting drive is by first party tubular fixed arm, double output shaft hydraulic motor, two elasticity Shaft coupling, two monaural ring bearings, left-handed screw, left-handed square nut, right handed screw, dextrorotation square nut, two first party Tubular telescopic arm, two square sliders, four the first bolts and two the first hex nut compositions, right handed screw is provided with the first axle Neck, the second axle journal and the 3rd axle journal, left-handed screw is the same with right handed screw version, and dextrorotation square nut is provided with two symmetries Tapped blind hole, left-handed square nut is the same with dextrorotation square nut version, and square slider is provided with axis hole；

Described parallelogram lindage is made up of first party tubular telescopic arm, two forks and entablature；

Being sheathed on right handed screw the second axle journal by monaural ring bearing, dextrorotation square nut screws on the suitable position of right handed screw Putting, square slider is sheathed on right handed screw the 3rd axle journal, the first hex nut pretension, and yielding coupling makes double output shaft hydraulic pressure On the right side of motor, output shaft is coaxially connected with right handed screw the first axle journal, and first party tubular telescopic arm is sheathed on from right handed screw right-hand member On it, making first party tubular telescopic arm groove bolt hole coaxial with dextrorotation square nut tapped blind hole, two the first bolts are respectively Screw in the tapped blind hole pretension of dextrorotation square nut, repeat aforementioned assembly operation, by monaural ring bearing, left-handed screw, left-handed side Shape nut, square slider, the first hex nut, yielding coupling, double output shaft hydraulic motor and first party tubular telescopic arm group Dress one, is sheathed on first party tubular fixed arm on two first party tubular telescopic arms, makes double output shaft hydraulic motor symmetrical Being fixed on first party tubular fixed arm endoporus upper surface, two monaural ring bearings are fixed on table on first party tubular fixed arm endoporus Face, forms the first lifting drive, and square slider forms moving sets with first party tubular telescopic arm；

By one end of two forks respectively with first party tubular telescopic arm chain connection, the other end of two forks respectively with Entablature chain connection, forms parallelogram lindage, repeats aforementioned assembly operation, be symmetrical in entablature and first party tubular is fixed The vertical plane of symmetry of arm assembles another parallelogram lindage, and the first laser displacement sensor symmetry is fixed on first party tubular Above fixed arm, form the first lowering or hoisting gear；

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

By bolt through entablature connecting plate bolt hole, helical spring is sheathed on bolt, then passes through oscillating plate spiral shell Keyhole, then another helical spring is sheathed on bolt, pad is sheathed on bolt, hex nut pretension, and oscillating plate is with upper Crossbeam realizes elasticity and connects；Vibrating spear passes oscillating plate circular hole, the second hex nut pretension, and the first dither motor symmetry is solid Being connected in above oscillating plate, first party tubular fixed arm symmetry is fixed on two longerons of railcar, composition tamping flat quarrel device；

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

The first described entablature assembly is by second party tubular fixed arm, second party tubular telescopic arm, the second laser position Displacement sensor and the second range finding reference plate composition, second party tubular fixed arm is provided with four ears rings, second party tubular telescopic arm Being provided with two symmetrical grooves, groove is provided with bolt hole；

The first described retractable driving device be by second party tubular fixed arm, hydraulic motor, the first yielding coupling, One monaural ring bearing, screw rod, square nut, square slider, the first hex nut, two the first bolts and second party tubular are flexible Arm forms, and screw rod is provided with the first axle journal, the second axle journal and the 3rd axle journal, and square nut is provided with two coaxial threaded blind holes；

Being sheathed on the second axle journal of screw rod by first monaural ring bearing, the first yielding coupling is by the first axle journal of screw rod With the output shaft fixed connection of hydraulic motor, square nut screws on screw rod appropriate location, and square slider is sheathed on screw rod the 3rd axle journal, First hex nut pretension, second party tubular telescopic arm is sheathed thereon from screw rod left end, makes two tapped blind holes of square nut Coaxial with two bolts hole of second party tubular telescopic arm, two the first tools for bolts ' pretensions, second party tubular fixed arm is from hydraulic motor Right-hand member is sheathed thereon, and hydraulic motor is fixed on second party tubular fixed arm endoporus upper surface, forms the first telescopic drive Device, square slider forms moving sets with second party tubular telescopic arm, the second laser displacement sensor is fixed on the second square tube Above shape fixed arm, the second range finding reference plate is fixed on above second party tubular telescopic arm；

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

Described first series connection parallelogram lindage be by sill, the first fork, the second fork, two the 3rd forks, First connecting rod and four the second bolt compositions, first connecting rod is provided with two pairs of coaxial threaded blind holes and left handed threaded hole,

As the second described series connection parallelogram lindage and the first series connection parallelogram lindage composition, second connecting rod is provided with Two pairs of coaxial tapped blind holes and right-handed thread hole, except aforesaid second connecting rod and first connecting rod version are different, remaining All component structural forms are the same；

The second described lifting drive is by double output shaft hydraulic motor, two the second yielding couplings, left-handed spiral shells Bar, first connecting rod, right handed screw, second connecting rod and two second monaural ring bearings composition, right handed screw be provided with the first axle journal and Second axle journal, left-handed screw is the same with right handed screw version；

Described servo-actuated Equipoising support apparatus be by plate shape entablature, the 3rd series connection parallelogram lindage, the first strut, the Two struts, slide bar, two slide blocks, two turriform linear Stiffness springs, two the second hex nuts, two the 3rd bolts and two Individual 4th 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 3rd series connection parallelogram lindage be by plate shape entablature, sill, the 4th fork, the 5th fork, the Six forks, the 7th fork, two third connecting rods and two bearing pin compositions；

By the first fork and sill chain connection, between the second fork, the 4th fork and three components of sill, hinge is even Connecing, the first fork ears ring and the 3rd fork ears ring are coaxial with a pair of first connecting rod left side tapped blind hole, two the second bolts Respectively pretension, makes chain connection between the first fork, the 3rd fork and three components of first connecting rod, the second fork ears ring and another On the right of individual 3rd fork ears ring and first connecting rod, a pair tapped blind hole is coaxial, two the second bolts pretensions respectively, makes the second pendulum Chain connection between bar, another the 3rd fork and three components of first connecting rod, two the 3rd forks are solid with second party tubular respectively Arms chain connection, composition the first series connection parallelogram lindage, repeats aforementioned assembly operation, is symmetrical in sill and the second square tube The vertical plane of symmetry of shape fixed arm assembles the second series connection parallelogram lindage；

Being sheathed on the second axle journal of right handed screw by second monaural ring bearing, the second yielding coupling is by right handed screw The right-hand member output shaft fixed connection of the first axle journal and double output shaft hydraulic motor, then another the second monaural ring bearing is sheathed on left-handed On second axle journal of screw rod, another second yielding coupling is by the first axle journal of left-handed screw and double output shaft hydraulic motor Left end output shaft fixed connection, makes left-handed screw and first connecting rod left handed threaded hole axial contact, makes right handed screw right with second connecting rod Rotation screwed hole axial contact, rotates the output shaft of double output shaft hydraulic motor, makes left-handed screw screw in first connecting rod left hand thread Kong Zhong, during right handed screw screws in second connecting rod right-handed thread hole simultaneously, forms the second lifting drive；

Two turriform linear Stiffness springs are sheathed on respectively two light bar segment of slide bar, then two slide blocks are overlapped respectively Being located at two light bar segment of slide bar, two the second hex nut pretensions respectively, two slide blocks make turriform linear Stiffness bullet respectively Spring suitably compresses, by the 5th fork and sill chain connection, make the left side monaural ring of two third connecting rods respectively with the 4th pendulum A pair tapped blind hole of the ears ring of bar, the 6th fork ears ring and slide block is coaxial, two the 3rd bolt pretensions respectively, makes the 4th Chain connection between fork, the 6th fork and three components of slide block, puts with the 5th respectively by the right monaural ring of two third connecting rods The ears ring of bar, the 7th fork ears ring are coaxial, and two bearing pins respectively penetrate, and make third connecting rod, the 5th fork and the 7th fork Chain connection between three components, the 6th fork and the 7th fork respectively with plate shape entablature chain connection, composition the 3rd series connection is flat Row four-bar mechanism；

A pair tapped blind hole of the first strut ears ring, the second strut ears ring and slide block is coaxial, two the 4th 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；

Double output shaft hydraulic motor symmetry is fixed on plate shape entablature, two the second monaural ring bearings are fixed on plate On shape entablature, the 3rd laser displacement sensor symmetry is fixed on below second party tubular fixed arm, forms the second lowering or hoisting gear；

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

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

With arm the second ears ring, cylinder body of hydraulic oil cylinder monaural ring is coaxially penetrated pin hinge be connected, strut monaural ring with Arm the first ears ring coaxially penetrates pin hinge and connects, and bucket body the second ears ring and arm monaural ring coaxially penetrate pin hinge Connecting, connecting rod monaural ring coaxially penetrates pin hinge with bucket body the first ears ring and is connected, connecting rod ears ring, strut ears ring and liquid Oil pressuring cylinder piston bar monocycle coaxially penetrates pin hinge and connects, and forms the first bucket assembly, and U-shaped suspension rod is solid with arm ring flange Even, form bucket device, U-shaped suspension rod is fixed on second party tubular telescopic arm, composition road shoulder and railway roadbed modification device；

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

The 3rd described lowering or hoisting gear and the composition of the first lowering or hoisting gear and version are the same, carry out and the first lifting dress Put identical assembly operation, form the 3rd lowering or hoisting gear；

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

Second bucket assembly and the first bucket assembly form and version is the same；

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

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

Described casing be provided with base plate, flechette-type bottom, two the first Ji Shicang, the second Ji Shicang, two square cylindrical, two Individual gradual change isosceles trapezoid groove, four first convex stupefied and two second convex stupefied, base plate is provided with several bolt hole, and flechette-type bottom is provided with Several sieve apertures, the first Ji Shicang is provided with two symmetrical calculus mouths and two Ji Shikou, the second Ji Shicang are provided with symmetrical two Calculus mouth and two Ji Shikou, the first convex stupefied top and bottom are provided with two ears rings of symmetry, and the second convex stupefied top and bottom are provided with symmetry Two ears rings, stone removing door is provided with two the first monaural rings and four the second monaural rings, and collection crossdrift is provided with two the first monaurals Ring, four the second monaural rings and six spill plates；

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

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

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

By two drive hydraulic cylinder piston rod monaural rings respectively with the first push-pull bar the first ears ring and the second push-pull bar First ears ring coaxially penetrates pin hinge and connects, and forms stone removing door driving means；

By two drive hydraulic cylinder piston rod monaural rings respectively with the 3rd push-pull bar the first ears ring and the 4th push-pull bar First ears ring coaxially penetrates pin hinge and connects, composition collection crossdrift driving means；

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

Two driving hydraulic jacks are respectively fixedly connected with on the medial wall of two square cylindrical, two the first push-pull bars second Ears ring is co-axially inserted pin hinge with two the first monaural rings of stone removing door respectively and is connected, two second push-pull bar the second ears rings It is co-axially inserted pin hinge with two the first monaural rings of another stone removing door respectively to be connected, drives two hydraulic jack solid respectively Be connected on the lateral wall of two square cylindrical, two the 3rd push-pull bar the second ears rings respectively with collection two the first monaural rings of crossdrift Be co-axially inserted pin hinge to connect, two the 4th push-pull bar the second ears rings respectively with two the first monaural rings of another stone removing door Being co-axially inserted pin hinge to connect, two end caps are respectively fixedly connected with on casing；

By bolt through sill bolt hole, helical spring is sheathed on bolt, then passes through box bottom bolt hole, Being sheathed on bolt by another helical spring, pad is sheathed on bolt again, hex nut pretension, and casing and crossbeam realize bullet Property connect；Second dither motor symmetry is fixed on box bottom, and crossbeam symmetry is fixed on two longerons of railcar, Cmos image sensor is fixed on below crossbeam, forms ballast collection arranging device；

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

The second described entablature assembly and the first entablature assembly composition and version are the same, carry out with first on horizontal The assembly operation that beam assembly is identical, forms the second entablature assembly；

The second described retractable driving device is the same with the first retractable driving device composition and version, carries out and first The assembly operation that retractable driving device is identical, forms two retractable driving device；

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

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

Being connected with U-shaped bar by arm ring flange, then be fixed on by U-shaped bar on second party tubular telescopic arm, composition pillow end is clear Stone device；

Described sprocket calculus device be by the 3rd entablature assembly, the 3rd retractable driving device, the 5th lowering or hoisting gear and Two sprocket calculus device compositions；

Described upper 3rd transverse beam assembly is by third party's tubular fixed arm, two third party's tubular telescopic arms, the 4th swashs Optical displacement sensor and the 4th range finding reference plate composition, third party's tubular fixed arm is provided with four ears rings, and third party's tubular is stretched Contracting arm is provided with two grooves of symmetry, and groove is provided with bolt hole；

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

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

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

Described sprocket calculus assembly is by double output shaft hydraulic motor, two yielding couplings, two sprocket calculus portions Part, U-shaped bar, eight C-shaped-rod and suspension bracket composition, U-shaped bar is provided with two circular flange dishes and square flange, and C-shaped-rod is provided with the One ring flange and the second ring flange, suspension bracket is provided with two the first ring flanges and eight the second ring flanges；

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

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

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

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

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

Double output shaft hydraulic motor double output shaft, two yielding couplings and two sprocket wheel wheel shafts being connected, U-shaped bar is square Ring flange is fixed on double output shaft hydraulic motor, and eight C-shaped-rod the second ring flanges are respectively symmetrically and are fixed on two square beams On, eight the second ring flanges of suspension bracket are connected with eight C-shaped-rod the first ring flanges respectively, two circular flange dishes of U-shaped bar and suspension bracket Two the first ring flanges are respectively fixedly connected with on third party's tubular telescopic arm, form sprocket calculus device；

It is by the 4th entablature assembly, the 6th lowering or hoisting gear and two nuts that described sleeper four nut synchronizes assembling and disassembling device Assembling and disassembling device forms；

The 4th described entablature assembly is made up of four directions tubular fixed arm and two four directions tubular telescopic arms, the Four directions tubular fixed arm is provided with two long slot bores of symmetry, and four directions tubular telescopic arm is provided with two of two monaural rings and symmetry Groove, groove is provided with bolt hole；

The 4th described entablature assembly is the same with sill assembly composition, except tubular fixed arm orientation, aforesaid four directions , the four directions tubular telescopic arm orientation different with first party tubular fixed arm orientation and first party tubular telescopic arm orientation differ Sample, remaining all component structural form is the same；

The 6th described lowering or hoisting gear is by the 6th lifting drive, symmetrically arranged two parallelogram lindages and Five laser displacement sensor compositions；

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

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

Carry out the assembly operation identical with the first lifting drive, form the 6th lifting drive；

By one end of two forks respectively with the four directions tubular telescopic arm chain connection, the other end of two forks respectively with Sill chain connection, forms parallelogram lindage, is symmetrical in four directions tubular fixed arm and the vertical plane of symmetry group of sill Fill another parallelogram lindage, the 5th laser displacement sensor symmetry is fixed on below the tubular fixed arm of four directions, composition 6th 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, First hex nut, internal gear, two power transmission shafts, two gears, housing, two the first thrust bearings, two the second thrust axis Hold, two the second hex nuts, two yielding couplings and two interior wide-mouth magnetic coupling boxs composition, the first spiral swings liquid Pressure motor is provided with ring flange, its output shaft is provided with circular shaft section and six prism shaft parts, is above covered with axis hole, and circular connecting plate is provided with six Prism hole, power transmission shaft is provided with the first axle journal, the second axle journal, the 3rd axle journal, the 4th axle journal and thread segment, housing be provided with ring flange and Two axis holes, interior wide-mouth magnetic coupling box 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 Motor ring flange is connected, then circle connecting plate is sheathed on the first spiral rotary actuator six prism shaft part, the first hexagonal spiral shell Female pretension, internal gear is coaxially connected with circular connecting plate, and geared sleeve is located at power transmission shaft the first axle journal and is connected, the first thrust axis bearing sleeve Being located on power transmission shaft the second axle journal, power transmission shaft makes the first thrust bearing contact with housing through housing axis hole, the second thrust bearing Being sheathed on power transmission shaft the 3rd axle journal, the second hex nut screws on power transmission shaft thread segment pretension, and yielding coupling makes power transmission shaft Four axle journals are coaxially connected with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, and the gear teeth flank of tooth of two gears divides Not being connected with the gear teeth face of internal gear, upper cover and shell flange dish, one end symmetry of two suspension rods is fixed on housing two Side, forms nut assembling and disassembling device, and the other end symmetry of two suspension rods is fixed on two sides of the 4th fixed arm, and sill is fixed on On two side rail inner faces of railcar, composition sleeper four nut synchronizes assembling and disassembling device；

The first described rail-lifting equipment is by entablature, the 7th lowering or hoisting gear and carries rail assembly and forms,

The 7th described lowering or hoisting gear and the first lowering or hoisting gear form and version is the same, carries out and the first lowering or hoisting gear Identical assembly operation, forms the 7th lowering or hoisting gear；

The described rail assembly that carries is by two suspension rods, the 5th square tube shape fixed arm, double output shaft hydraulic motor, two elasticity Shaft coupling, two monaural ring bearings, left-handed screw, the first box type telescopic arm, right handed screw, the second box type telescopic arm and two carry Rail hydraulic jack forms, and suspension rod is provided with the first ring flange and the second ring flange, the 5th square tube shape fixed arm be provided with two symmetrical Semicylindrical opening, left-handed screw is provided with the first axle journal and the second axle journal, and the second right handed screw is the same with left-handed screw version, the One box type telescopic arm is provided with semicylindrical opening and left-handed motion thread hole, and the second box type telescopic arm is provided with semicylindrical opening and clockwise drive Screwed hole, carries that rail cylinder body of hydraulic oil cylinder is provided with gusset, piston rod free end is provided with fagging；

Monaural ring bearing is sheathed on left-handed screw the second axle journal, left-handed screw precession the first box type telescopic left-handed biography of arm Dynamic screwed hole appropriate location, yielding coupling makes output shaft on the left of double output shaft hydraulic motor coaxial with left-handed screw the first axle journal Be connected, repeat aforementioned assembly operation, by another monaural ring bearing, right handed screw, the second box type telescopic arm, yielding coupling and Double output shaft hydraulic motor is assembled into one, and the 5th square tube shape fixed arm is sheathed on the first box type telescopic arm and the second box type telescopic On arm, making double output shaft hydraulic motor symmetry be fixed on the 5th square tube shape fixed arm endoporus upper surface, two monaural ring bearings are solid Being connected in above the 5th square tube shape fixed arm endoporus, two carry rail hydraulic jack and are respectively fixedly connected with in the first box type telescopic arm semicylindrical opening In and the second box type telescopic arm semicylindrical opening in, make two to carry rail hydraulic jack and be symmetrical arranged, two suspension rod the second ring flanges pair Claiming to be fixed on above the 5th square tube shape fixed arm, composition carries rail assembly, and two suspension rod the first ring flange symmetries are fixed on entablature Two sides, form the first rail-lifting equipment；

Described swivel block and push-and-pull sleeper device be by first crossbeam telescopic component, first crossbeam retractable driving device, One pendulous device, four the first forks, crawl and swivel block device, four the first hex nuts and four bolts compositions, the first pendulum Bar is provided with six prism hole monaural ring and monaural rings；

Described first crossbeam telescopic component is by the 6th square tube shape fixed arm, the 6th square tube shape telescopic arm, the 6th laser Displacement transducer and the 6th range finding reference plate composition, the 6th square tube shape telescopic arm is provided with blind end and two symmetrical grooves, groove It is provided with bolt hole；

Described first crossbeam retractable driving device is as the first retractable driving device composition, except aforementioned 6th square tube shape Fixed arm and second party tubular fixed arm version is different, the 6th square tube shape telescopic arm and second party tubular telescopic arm structure Form is different, and remaining all component structural form is the same；

Carrying out the assembly operation identical with the first retractable driving device, form the first reciprocating movement driving device, the 6th swashs Optical displacement sensor symmetry is fixed on above the 6th square tube shape fixed arm, and the 6th range finding is fixed on the 6th square tube shape with reference to version and stretches Above arm；

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

By on two the most sheathed first diameters of axle being fixed on two multidiameters of sector gear, two multidiameters are each passed through First casing two axis hole, makes multidiameter the second axle journal and the first casing axis hole form revolute pair, by sheathed for partial gear solid It is connected on the second spiral rotary actuator output shaft, is placed in the first casing, make the gear teeth of partial gear respectively with two The gear teeth of individual sector gear contact along the facewidth, and the second spiral rotary actuator is fixed on the first box bottom, embedded lid Two axis holes of plate are sheathed on two multidiameter the 3rd axle journals respectively, make embedded cover plate and the first casing be connected, composition the One pendulous device；

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 second 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 second fork sets There are monaural ring, pin-and-hole and ears ring；

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

By 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, makes the spacing fan-shaped boss of the 3rd spiral rotary actuator output shaft ring flange and the spacing fan-shaped boss of hydraulic jack ring flange Insert in scallop hole section, make two spacing fan-shaped boss left surfaces contact with scallop hole section the first confined planes, make the first thrust axis Bearing enters second casing the second circular hole portion, makes the 3rd spiral rotary actuator be fixed on the second box bottom, make end cap with Second casing is 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 second 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 second fork monaural rings respectively Axle penetrates pin hinge and connects；

The ears ring of four the 3rd forks is coaxially penetrated pin hinge with four the second monaural rings of ladder U-bracket respectively Connecting, another ears ring of four the 3rd forks coaxially penetrates pin hinge with four the second monaural rings of pressing plate respectively and is connected, Two 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 second fork Roller contacts with pressing plate all the time, repeats aforementioned assembly operation, assembles another gripper, and composition captures and swivel block device；

Two the first fork six prism hole monaural rings are sheathed on respectively two multidiameter the one or six prism shaft parts, two One hex nut pretension respectively, more other two the first fork six prism hole monaural rings are sheathed on two multidiameters second respectively Six prism shaft parts, other two the first hex nuts respectively pretensions, make one end of four the first forks respectively with two multidiameters Two ends be connected, four the first fork monaural rings are coaxial with four screwed holes of the second casing respectively, and pretensions distinguished by four bolts, make Four the first forks are connected with the second chest hinge respectively, form in-parallel four-bar mechanism；

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

Described handling sleeper device is by the second rail-lifting equipment, moves back and forth storage sleeper device and rigid hanger lifting Device forms；

The second described rail-lifting equipment be by second cross beam telescopic component, second cross beam retractable driving device, two second Pendulous device, eight forks, eight the first hex nuts, two box connecting rods, eight the first bolts and two flexible shell types carry Cylinder of rail forms, and fork is provided with six prism hole monaural ring and monaural rings, and box connecting rod is arranged with four bolts hole and semicolumn Hole, flexible shell type carries that cylinder of rail cylinder body is provided with gusset, piston rod free end is provided with fagging；

Described second cross beam telescopic component be by the 7th square tube shape fixed arm, two the 7th square tube shape telescopic arms, the 7th Laser displacement sensor and the 7th range finding reference plate composition, the 7th square tube shape telescopic arm is provided with blind end, two symmetrical grooves, recessed Groove is provided with bolt hole；

Described second cross beam retractable driving device is the same with the composition of the first lifting drive, except aforesaid 7th side Tubular fixed arm and first party tubular fixed arm version is different, the 7th square tube shape telescopic arm and first party tubular telescopic arm Version is different, and remaining all component structural form is the same；

Carrying out the assembly operation identical with the first lifting drive, form second cross beam retractable driving device, the 7th swashs Optical displacement sensor symmetry is fixed on the 7th square tube shape fixed arm side, and the 7th range finding reference plate is fixed on the 7th square tube shape and stretches Arm side；

Second pendulous device and the first pendulous device form and version is the same, carries out identical with the first pendulous device Assembly operation, forms the second pendulous device；

Two fork six prism hole monaural rings are sheathed on respectively two multidiameter the one or six prism shaft parts, two the one or six Angle nut pretension respectively, more other two fork six prism hole monaural rings are sheathed on two multidiameter the two or six prism axles respectively Section, other two the first hex nuts pretension respectively, the one end making four forks is connected with the two ends of two multidiameters respectively, and four Four screwed holes of individual fork monaural ring and box connecting rod are coaxial, four the first bolts respectively pretensions, make four forks respectively with case Type connecting rod link connects, and forms in-parallel four-bar mechanism, is respectively fixedly connected with two casings in two the 7th square tube shape telescopic arms Blind end, make two the second pendulous devices be symmetrical arranged, two flexible shell types carried cylinder of rail cylinder body and is respectively fixedly connected with in two In box connecting rod semicylindrical opening, form the second rail-lifting equipment, the 7th square tube shape fixed arm symmetry is fixed on two of railcar On longeron；

Described reciprocating motion storage sleeper device is made up of reciprocator and storage sleeper case, stores sleeper case Being provided with roller and several sleeper storehouse, wherein half sleeper storehouse, left side is used for having stored sleeper, and half sleeper storehouse, right side is used for storing Bad sleeper.

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

The 3rd described crossbeam telescopic component is made up of eighth tubular fixed arm and two eighth tubular telescopic arms, Eighth tubular fixed arm is provided with two long slot bores of symmetry, and eighth tubular telescopic arm is provided with two monaural rings and symmetrical two Individual groove, groove is provided with bolt hole；

As the composition of described reciprocating movement driving device and the first lifting drive, except aforesaid eighth tubular Fixed arm orientation and first party tubular fixed arm orientation is different, eighth tubular telescopic arm orientation and first party tubular telescopic arm Orientation is different；Remaining all component structural form is the same；

Described parallelogram lindage is made up of eighth cylinder telescopic arm, two forks and moving beam, and moving beam sets There are two rollers；

Carry out the assembly operation identical with the first lifting drive, form reciprocating movement driving device；

By one end of two forks respectively with eighth tubular telescopic arm chain connection, the other end of two forks respectively with Moving beam chain connection, forms parallelogram lindage, repeats aforementioned assembly operation, be symmetrical in eighth tubular fixed arm and shifting The vertical plane of symmetry of dynamic crossbeam assembles another parallelogram lindage, and base plate is fixed on below eighth tubular fixed arm, makes shifting Two rollers of dynamic crossbeam contact with plate upper surface, the 8th laser displacement sensor symmetry is fixed on eighth tubular and fixes Arm side, forms reciprocator；

Being fixed on by base plate on railcar crossbeam and the 7th square tube shape fixed arm, storage sleeper case is fixed on moving beam On, make the roller of storage sleeper case contact with substrate, composition moves back and forth storage sleeper device；

Described rigid hanger hoisting apparatus be by two telescopic cantilever boom devices, telescoping crossbeam device, rigid hanger, two Individual pick-and-place sleeper device and the 9th laser displacement sensor composition；

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

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

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

End cap symmetry is fixed on second multi-stage expansion shell type oil cylinder the first ring flange, the 3rd ladder square tube shape telescopic arm set It is located on the second multi-stage expansion shell type oil cylinder, makes second multi-stage expansion shell type oil cylinder the second ring flange and the 3rd ladder square tube shape stretch Contracting arm blind end is connected, and the second ladder square tube shape telescopic arm is sheathed on the 3rd ladder square tube shape telescopic arm, then by the second ladder Square tube shape fixed arm is sheathed on the second ladder square tube shape telescopic arm, makes end cap be connected with ladder square tube shape fixed arm ring flange, Push pedal is fixed on the 3rd ladder square tube shape telescopic arm blind end, and the 9th laser displacement sensor symmetry is fixed on the second ladder side Tubular fixed arm side, forms telescoping crossbeam device；

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

Being fixed on below entablature by one end symmetry of two pull bars, the other end symmetry of two pull bars is fixed on sill Above, composition rigid hanger；

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

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

Two telescopic cantilever boom device symmetries are fixed on two longerons of railcar, telescoping crossbeam device the second ladder side Tubular fixed arm is fixed on below two cantilever beam cantilevers, and two ears rings of entablature stretch with the 3rd ladder square tube shape respectively Two monaural ring coaxial bolts of arm connect, and form sleeper handling apparatus.

The invention has the beneficial effects as follows:

1. quickly equipment can be directed at operating position；

2. can quickly discharge the ballast between sleeper, the most automatically remove the sandy soil in rock ballast；

3. can quickly remove railway roadbed ballast outside pillow end；

4. can quickly remove railway roadbed ballast below rail；

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

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

7. can quickly handling and put sleeper work；

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

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

10. can by be backfilling into switch tracks pillow between ballast quickly consolidate shake flat；

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

12. are capable of automatically controlling, easy to operate, change pillow work efficiency high.

Accompanying drawing explanation

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Figure 15 is the grab bucket clear stone device calculus duty schematic perspective view of the present invention.

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

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

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

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

Figure 20 is the ballast collection arranging device calculus duty schematic perspective view of the present invention.

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

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

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

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

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

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

Figure 27 is the sprocket calculus device duty schematic perspective view of the present invention.

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

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

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

Figure 31 is the sprocket calculus device schematic perspective view of the present invention.

Figure 32 is the sprocket calculus assembly exploded perspective schematic diagram of the present invention.

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

Figure 34 is that sleeper four nut of the present invention synchronizes assembling and disassembling device duty schematic perspective view.

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

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

Figure 37 is first rail-lifting equipment of the present invention and swivel block and push-and-pull sleeper device duty schematic perspective view.

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

Figure 39 is the 7th lifting drive exploded perspective schematic diagram of the present invention.

Figure 40 be the present invention carry rail assembly exploded perspective schematic diagram.

Figure 41 is the first crossbeam retractable driving device exploded perspective schematic diagram of the present invention.

Figure 42 is the first pendulous device exploded perspective schematic diagram of the present invention.

Figure 43 is crawl and the swivel block device exploded perspective schematic diagram of the present invention.

Figure 44 is the handling sleeper device off working state schematic perspective view of the present invention.

Figure 45 is close-up schematic view at the D in Figure 44.

Figure 46 is the second rail-lifting equipment duty schematic perspective view of the present invention.

Figure 47 is the second cross beam retractable driving device exploded perspective schematic diagram of the present invention.

Figure 48 is the second pendulous device exploded perspective schematic diagram of the present invention.

Figure 49 is the reciprocator schematic perspective view of the present invention.

Figure 50 is the reciprocating movement driving device exploded perspective schematic diagram of the present invention.

Figure 51 is the storage sleeper case schematic perspective view of the present invention.

Figure 52 is the handling sleeper device duty schematic perspective view of the present invention.

Figure 53 is the telescopic cantilever boom device exploded perspective schematic diagram of the present invention.

Figure 54 is the telescoping crossbeam device exploded perspective schematic diagram of the present invention.

Figure 55 is the left view of Figure 44.

Figure 56 is close-up schematic view at the E in Figure 55.

Detailed description of the invention

Referring to Fig. 1 and Fig. 2, the present invention is by tamping flat quarrel device 1, road shoulder and railway roadbed modification device 2, clear stone of grabbing bucket dress Put 3, ballast collection arranging device 4, pillow end clear stone device 5, sprocket calculus device 6, four nut synchronize assembling and disassembling device 7, first carry rail dress Put 8, transition and push-and-pull sleeper device 9, handling sleeper device 15, electromotor 18 and Hydraulic system and control System cabine 19 and track Car 20 forms.Railcar is provided with multiple castor 201 and two longerons 202, tamping flat quarrel device 1, road shoulder and railway roadbed modification device 2, grab bucket clear stone device 3, ballast collection arranging device 4, pillow end clear stone device 5, sprocket calculus device 6, four nut synchronize assembling and disassembling device 7, the first rail-lifting equipment 8, transition and push-and-pull sleeper device 9, handling sleeper device 15, electromotor 18, Hydraulic system and control system System case 19 is arranged on two longerons 202 of railcar, and railcar 20 is drawn by engineering truck, and electromotor 18 is oil pump and controls system System provides power, is provided with fuel tank, oil pump, hydraulic control system and automatic control system in Hydraulic system and control System cabine 19；

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

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

Described sill assembly 121 is by first party tubular fixed arm 1211 and two first party tubular telescopic arms 1212 Composition, first party tubular fixed arm 1211 is provided with two long slot bores 12111 of symmetry, and first party tubular telescopic arm 1212 is provided with two Individual monaural ring 12121 and two symmetrical grooves 12122, groove 12122 is provided with bolt hole 12123；

The first described lifting drive 122 is by first party tubular fixed arm 1211, double output shaft hydraulic motor 1221,1222, two monaural ring bearings 1223, left-handed screw 1224, left-handed square nut 1225, dextrorotation of two yielding couplings Screw rod 1226, dextrorotation square nut 1212, two square sliders of 1227, two first party tubular telescopic arms 1228, four first Bolt 1229 and two the first hex nuts 1230 form, and right handed screw 1226 is provided with first axle journal the 12261, second axle journal 12262 and the 3rd axle journal 12263, left-handed screw 1224 is the same with right handed screw 1226 version, dextrorotation square nut 1227 Being provided with two symmetrical tapped blind holes 12271, left-handed square nut 1225 is the same with dextrorotation square nut 1227 version, square Slide block 1228 is provided with axis hole 12281；

Described parallelogram lindage 123 is by 1212, two forks 1231 of first party tubular telescopic arm and entablature 11 Composition；

Being sheathed on right handed screw the second axle journal 12262 by monaural ring bearing 1223, dextrorotation square nut 1227 screws on the right side Rotation screw rod 1226 appropriate location, square slider 1228 is sheathed on right handed screw the 3rd axle journal 12263, the first hex nut 1230 Pretension, yielding coupling 1222 makes output shaft and right handed screw 1,226 first axle journal on the right side of double output shaft hydraulic motor 1221 12261 are coaxially connected, and first party tubular telescopic arm 1212 is sheathed thereon from right handed screw 1226 right-hand member, make first party tubular stretch Contracting arm groove bolt hole 12123 is coaxial with dextrorotation square nut 1227 tapped blind hole 12271, and two the first bolts 1229 revolve respectively Enter tapped blind hole 12271 pretension of dextrorotation square nut 1227, repeat aforementioned assembly operation, by monaural ring bearing 1223, left-handed Screw rod 1224, left-handed square nut 1225, square slider the 1228, first hex nut 1230, yielding coupling 1222, dual output Axle hydraulic motor 1221 and first party tubular telescopic arm 1212 are assembled into one, and first party tubular fixed arm 1211 is sheathed on two On first party tubular telescopic arm 1212, double output shaft hydraulic motor 1221 symmetry is made to be fixed in first party tubular fixed arm 1211 Hole upper surface, two monaural ring bearings 1223 are fixed on first party tubular fixed arm 1211 endoporus upper surface, composition the first lifting Driving means 122, square slider 1228 and first party tubular telescopic arm 1212 form moving sets；

By one end of two forks 1231 respectively with first party tubular telescopic arm 1212 chain connection, two forks 1231 The other end respectively with entablature 11 chain connection, form parallelogram lindage 123, repeat aforementioned assembly operation, be symmetrical in horizontal stroke The vertical plane of symmetry of beam 11 and first party tubular fixed arm 1211 assembles another parallelogram lindage 123, by the first laser position Displacement sensor 124 symmetry is fixed on above first party tubular fixed arm 1211, forms the first lowering or hoisting gear 12；

The described assembly 13 that vibrates is to be shaken by entablature 11, several first elastic connecting component 131, oscillating plate 132, eight 133, eight the second hex nuts 134 of tamper and the first dither motor 135 form, the first elastic connecting component 131 be by 1311, two helical springs 1312 of bolt, pad 1313 and hex nut 1314 form, and oscillating plate 132 is provided with several bolt hole 1321 and eight circular holes 1322；

By bolt 1311 through entablature connecting plate bolt hole 1111, helical spring 1312 is sheathed on bolt 1311, Then passing through oscillating plate bolt hole 1321, then be sheathed on bolt 1311 by another helical spring 1312, pad 1313 is sheathed On bolt 1311, hex nut 1314 pretension, oscillating plate 132 realizes elastic connection with entablature 11；Vibrating spear 133 is through shaking Dynamic plate circular hole 1322, the second hex nut 134 pretension, the first dither motor 135 symmetry is fixed on above oscillating plate, and first Square tube shape fixed arm 1211 symmetry is fixed on two longerons 202 of railcar, composition tamping flat quarrel device 1；

Referring to Fig. 8 to Figure 12, described road shoulder and railway roadbed modification device 2 are by the first entablature assembly 21, first stretch Contracting driving means the 22, second lowering or hoisting gear 23 and bucket device 24 form；

The first described entablature assembly 21 be by second party tubular fixed arm 211, second party tubular telescopic arm 212, Dual-laser displacement transducer 213 and the second range finding reference plate 214 form, and second party tubular fixed arm 211 is provided with four ears rings 2111, second party tubular telescopic arm 212 is provided with two symmetrical grooves 2121, and groove 2121 is provided with bolt hole 21211；

The first described retractable driving device 22 is by second party tubular fixed arm 211, hydraulic motor the 221, first elasticity Shaft coupling the 222, first monaural ring bearing 223, screw rod 224, square nut 225, square slider the 226, first hex nut 227, Two the first bolts 228 and second party tubular telescopic arm 212 form, and screw rod 224 is provided with first axle journal the 2241, second axle journal 2242 With the 3rd axle journal 2243, square nut 225 is provided with two coaxial threaded blind holes 2251；

Being sheathed on the second axle journal 2242 of screw rod by first monaural ring bearing 223, the first yielding coupling 222 is by screw rod The first axle journal 2241 and the output shaft fixed connection of hydraulic motor 221, square nut 225 screws on screw rod 224 appropriate location, square cunning Block 226 is sheathed on screw rod the 3rd axle journal 2243, and the first hex nut 227 pretension, second party tubular telescopic arm 212 is from screw rod 224 left ends are sheathed thereon, make 225 2 tapped blind holes of square nut 2252 and two bolts hole of second party tubular telescopic arm 21211 is coaxial, two the first bolt 228 pretensions, and second party tubular fixed arm 211 is sheathed thereon from hydraulic motor 221 right-hand member, And hydraulic motor 221 is fixed on second party tubular fixed arm 211 endoporus upper surface, form the first retractable driving device 21, side Shape slide block 226 and second party tubular telescopic arm 212 form moving sets, and the second laser displacement sensor 213 is fixed on second party Above tubular fixed arm 211, the second range finding reference plate 214 is fixed on above second party tubular telescopic arm 212；

The second described lowering or hoisting gear 23 is by first series connection parallelogram lindage the 231, second series connection parallelogram lindage 232, the second lifting drive 233, servo-actuated Equipoising support apparatus 234 and the 3rd laser displacement sensor 235 form；

The first described series connection parallelogram lindage 231 is by sill the 2311, first fork the 2312, second fork 2313, two the 3rd forks 2314, first connecting rod 2315 and four the second bolts 2316 form, and first connecting rod 2315 is provided with two To coaxial threaded blind hole 23151 and left handed threaded hole 23152,

Described second series connection parallelogram lindage 232 is connected as parallelogram lindage 231 forms with first, the second company Bar 2325 is provided with two to coaxial tapped blind hole 23251 and right-handed thread hole 23252, except aforesaid second connecting rod 2325 and first Connecting rod 2315 version is different, and remaining all component structural form is the same；

The second described lifting drive 233 is by 2331, two the second yielding couplings of double output shaft hydraulic motor 2332, left-handed screw 2333, first connecting rod 2315, right handed screw 2334, second connecting rod 2325 and two the second monaural ring bearings 2335 compositions, right handed screw 2334 is provided with the first axle journal 23341 and the second axle journal 23342, left-handed screw 2333 and right handed screw 2334 versions are the same；

Described servo-actuated Equipoising support apparatus 234 be by plate shape entablature the 2340, the 3rd series connection parallelogram lindage 2341, First strut the 2342, second strut 2343, slide bar 2345, two turriform linear Stiffness springs 2346, two of 2344, two slide blocks Individual second 2347, two the 3rd bolts 2348 of hex nut and two the 4th bolts 2349 form, and slide bar 2344 is provided with fixing Disk 23441, it is arranged with two light bar segment 23442 and two thread segments 23443；Slide block 2345 is provided with circular hole 23451 and To coaxial threaded blind hole 23452；

The 3rd described series connection parallelogram lindage 2341 is by plate shape entablature 2340, sill the 2311, the 4th fork 23412, the 5th fork the 23413, the 6th fork the 23414, the 7th 23415, two third connecting rods 23416 of fork and two bearing pins 23417 compositions；

By the first fork 2312 and sill 2311 chain connection, the second fork the 2313, the 4th fork 23412 and sill Chain connection between 2311 3 components, the first fork 2312 ears ring and the 3rd fork 2314 ears ring are left with first connecting rod 2315 A pair of limit tapped blind hole 23151 is coaxial, two the second bolt 2316 pretensions respectively, makes the first fork the 2312, the 3rd fork 2314 And chain connection between 2,315 3 components of first connecting rod, the second fork 2313 ears ring and another the 3rd fork 2314 ears ring Coaxial with a pair tapped blind hole 23151 on the right of first connecting rod 2315, two the second bolt 2316 pretensions respectively, make the second fork 2313, chain connection between another the 3rd fork 2314 and 2,315 3 components of first connecting rod, two the 3rd forks 2314 are respectively With second party tubular fixed arm 211 chain connection, composition the first series connection parallelogram lindage 231, repeat aforementioned assembly operation, right Claim to assemble the second series connection parallelogram lindage 232 in the vertical plane of symmetry of sill 2311 and second party tubular fixed arm 211；

Second monaural ring bearing 2335 is sheathed on the second axle journal 23342 of right handed screw, the second yielding coupling 2332 by the first axle journal 23341 of right handed screw and the right-hand member output shaft fixed connection of double output shaft hydraulic motor 2331, then by another Individual second monaural ring bearing 2335 is sheathed on the second axle journal of left-handed screw 2333, and another second yielding coupling 2332 will First axle journal of left-handed screw 2333 and the left end output shaft fixed connection of double output shaft hydraulic motor 2331, make left-handed screw 2333 with First connecting rod left handed threaded hole 23152 axial contact, makes right handed screw 2334 coaxially connect with second connecting rod right-handed thread hole 23252 Touch, rotate the output shaft of double output shaft hydraulic motor 2331, make left-handed screw 2333 screw in first connecting rod left handed threaded hole 23152 In, during right handed screw 2334 screws in second connecting rod right-handed thread hole 23252 simultaneously, form the second lifting drive 233；

Two turriform linear Stiffness springs 2346 are sheathed on respectively two light bar segment 23442 of slide bar, then by two Slide block 2345 is sheathed on two light bar segment 23442 of slide bar, two the second hex nuts 2347 pretension, two slide blocks respectively respectively 2345 make turriform linear Stiffness spring 2346 suitably compress respectively, by the 5th fork 23413 and sill 2311 chain connection, Make the left side monaural ring of two third connecting rods 23416 respectively with ears ring, the 6th fork 2314 ears ring of the 4th fork 23412 Coaxial with a pair tapped blind hole 23452 of slide block, two the 3rd bolt 2348 pretensions respectively, make the 4th fork the 23412, the 6th pendulum Chain connection between bar 23414 and 2,345 3 components of slide block, by the right monaural ring of two third connecting rods 23416 respectively with the 5th The ears ring of fork 23413, the 7th fork 23415 ears ring are coaxial, and two bearing pins 23417 respectively penetrate, and make third connecting rod 23416, chain connection between the 5th fork 23413 and 23,415 3 components of the 7th fork, the 6th fork 23414 and the 7th fork 23415 respectively with plate shape entablature 2340 chain connection, composition the 3rd series connection parallelogram lindage 2341；

By the first strut 2342 ears ring, the second strut 2343 ears ring and a pair tapped blind hole 23452 of slide block 2345 Coaxially, two the 4th bolt 2349 pretensions respectively, make between first strut the 2342, second strut 2343 and 2,345 3 components of slide block Chain connection, the second strut 2343 and plate shape entablature 2340 chain connection, form servo-actuated Equipoising support apparatus 234；

Double output shaft hydraulic motor 2331 symmetry is fixed on plate shape entablature 2340, by two the second monaural ring bearings 2335 are fixed on plate shape entablature 2340, and the 3rd laser displacement sensor 235 symmetry is fixed on second party tubular fixed arm 211 Below, the second lowering or hoisting gear 23 is formed；

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

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

With arm the second ears ring 263, cylinder body of hydraulic oil cylinder monaural ring 2512 is coaxially penetrated pin hinge be connected, strut Monaural ring 2522 coaxially penetrates pin hinge with arm the first ears ring 262 and is connected, bucket body the second ears ring 2542 and arm list Earrings 261 coaxially penetrates pin hinge and connects, and connecting rod monaural ring 2531 and bucket body the first ears ring 2541 coaxially penetrate bearing pin hinge Chain connects, and connecting rod ears ring 2532, strut ears ring 2521 and hydraulic cylinder piston rod monocycle 2511 coaxially penetrate pin hinge Connect, form the first bucket assembly 25, U-shaped suspension rod 27 is connected with arm ring flange 264, form bucket device 24, U-shaped is hung Bar 27 is fixed on second party tubular telescopic arm 222, composition road shoulder and railway roadbed modification device 2；

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

The 3rd described lowering or hoisting gear 32 is the same with the composition of the first lowering or hoisting gear 12 and version, carries out and first liter The assembly operation that falling unit 12 is identical, forms the 3rd lowering or hoisting gear 32；

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

Second bucket assembly 34 forms with the first bucket assembly 25 and version is the same；

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

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

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

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

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

The second described elastic connecting component 47 forms with the first Flexible Connector 131 and version is the same；

Will drive hydraulic jack 441 piston rod monaural ring respectively with two first push-pull bar the first ears rings 4421 and second Push-pull bar the first ears ring 4431 coaxially penetrates pin hinge and connects, and forms stone removing door driving means 44；

Will drive hydraulic jack 451 piston rod monaural ring respectively with the 3rd push-pull bar the first ears ring 4521 and the 4th push-and-pull Bar the first ears ring 4531 coaxially penetrates pin hinge and connects, composition collection crossdrift driving means 45；

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

Two driving hydraulic jacks 441 are respectively fixedly connected with on the medial wall of two square cylindrical 415, two the first push-and-pulls Bar the second ears ring 4422 is co-axially inserted pin hinge with two the first monaural rings 421 of stone removing door respectively and is connected, and two second push away Pull bar the second ears ring 4432 is co-axially inserted pin hinge with two the first monaural rings 421 of another stone removing door respectively and is connected, will Two drive hydraulic jack 451 to be respectively fixedly connected with on the lateral wall of two square cylindrical 415, two the 3rd push-pull bar the second ears Ring 4522 is co-axially inserted pin hinge is connected with collection two the first monaural ring 431 of crossdrift respectively, two the 4th push-pull bars second pair Earrings 4432 is co-axially inserted pin hinge with two the first monaural rings 431 of another stone removing door respectively and is connected, two end caps 49 points It is not fixed on casing 41；

By bolt 1311 through sill bolt hole 461, helical spring 1312 is sheathed on bolt 1311, then passes through Box bottom bolt hole 4111, then another helical spring 1312 is sheathed on bolt 1311, pad 1313 is sheathed on bolt On 1311, hex nut 1314 pretension, casing 41 realizes elastic connection with crossbeam 46；Second dither motor 48 is symmetrical to be connected On box bottom 411, crossbeam 46 symmetry is fixed on two longerons 202 of railcar, and cmos image sensor 40 is fixed on Below crossbeam 46, form ballast collection arranging device 4；

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

The second described entablature assembly 52 forms with the first entablature assembly 21 and version is the same, carries out and first The assembly operation that entablature assembly 21 is identical, forms the second entablature assembly 52；

The second described retractable driving device 52 forms with the first retractable driving device 22 and version is the same, carry out with The assembly operation that first retractable driving device 22 is identical, forms two retractable driving device 52；

The 4th described lowering or hoisting gear 53 forms with the second lowering or hoisting gear 23 and version is the same, carries out and the second lifting The assembly operation that device 23 is identical, forms the 4th lowering or hoisting gear 53；

The second described grab mechanisms 54 forms with the first grab mechanisms 33 and version is the same, carries out and the first grab bucket The assembly operation that device 33 is identical, forms the second grab mechanisms 54；

Arm ring flange 354 is connected with U-shaped bar 55, then U-shaped bar 55 is fixed on second party tubular telescopic arm 222, Composition pillow end clear stone device 5；

Referring to Figure 27 to Figure 33, described sprocket calculus device 6 is by the 3rd entablature assembly the 61, the 3rd telescopic drive Device the 62, the 5th lowering or hoisting gear 63 and two sprocket calculus devices 64 form；

Described upper 3rd transverse beam assembly 61 is by 611, two third party's tubular telescopic arms of third party's tubular fixed arm 612, the 4th laser displacement sensor 613 and the 4th range finding reference plate 614 form, and third party's tubular fixed arm 611 is provided with four Ears ring 6111, third party's tubular telescopic arm 612 is provided with two grooves 6121 of symmetry, and groove 6121 is provided with bolt hole 61211；

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

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

The 5th described lowering or hoisting gear 63 forms with the second lowering or hoisting gear 23 and version is the same, carries out and the second lifting The assembly operation that device 23 is identical, forms the 5th lowering or hoisting gear 63；

Described sprocket calculus assembly 64 is by double output shaft hydraulic motor 642, two chains of 641, two yielding couplings Tooth row Plumbum preparatium part 643,644, eight C-shaped-rod 645 of U-shaped bar and suspension bracket 646 form, and U-shaped bar 644 is provided with two circular flange dishes 6441 and square flange 6442, C-shaped-rod 645 is provided with the first ring flange 6451 and the second ring flange 6452, and suspension bracket 646 is provided with two Individual first ring flange 6461 and eight the second ring flanges 6462；

Described sprocket calculus parts 643 are by square beam 6431, sprocket wheel 6432, sprocket wheel wheel shaft 6433, inducer 6434,6436, four BOGEY WHEEL wheel shafts 6437 of 6435, four BOGEY WHEELs of inducer wheel shaft, several chain tooth assembly 6438 and several Bearing pin 6439 forms, and square beam 6431 is provided with the first ears ring the 64311, second ears ring 64312 and four the 3rd ears Ring 64313；

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

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

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

By coaxial to sprocket crab bolt hole 64386 and first carrier bar the second monaural ring 64390, penetrate bolt 64383, nut 64384 pretensions, another bolt hole 64386 of chain tooth plate and second carrier bar the second monaural ring 64394 are coaxial, penetrate bolt 64383, Nut 64384 pretension, forms chain link 64382, by first carrier bar the first monaural ring the 64389, second chain link first of the first chain link Carrier bar the 3rd monaural ring 64391, sleeve the 64381, second chain link the second carrier bar the 3rd monaural ring 64395 and first chain link the second chain Plate the first monaural ring 64393 coaxially penetrates bearing pin 6439 chain connection, repeats aforementioned operation, until being cut with scissors by several chain links 64382 Connect one, by placed on it to the square beam 6431 being assembled into one, sprocket wheel 6432, inducer 6434 and four BOGEY WHEELs 6436, By first carrier bar the first monaural ring the 64389, first chain link the first carrier bar the 3rd monaural ring 64391 of last chain link, sleeve 64381, first chain link the second carrier bar the 3rd monaural ring 64393 and last chain link the second carrier bar the first monaural ring 64395 are coaxially worn Enter bearing pin 6339 chain connection, make all chain tooth assembly 6438 chain connection annular integrative-structures, form sprocket calculus parts 643,

By solid to double output shaft hydraulic motor 641 double output shaft, two yielding couplings 642 and two sprocket wheel wheel shafts 6433 Even, U-shaped bar 644 square flange is fixed on double output shaft hydraulic motor 641, and eight C-shaped-rod the second ring flanges 6452 are respectively Symmetry is fixed on two square beams 6431, eight the second ring flanges 6462 of suspension bracket respectively with eight C-shaped-rod the first ring flanges 6451 are connected, and two circular flange dishes 6441 of U-shaped bar and two the first ring flanges 6461 of suspension bracket are respectively fixedly connected with in third party's tubular On telescopic arm 612, form sprocket calculus device 6；

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

The 4th described entablature assembly 71 is by four directions tubular fixed arm 711 and two four directions tubular telescopic arms 712 compositions, four directions tubular fixed arm 711 is provided with two long slot bores 7111 of symmetry, and four directions tubular telescopic arm 712 is provided with two Individual monaural ring 7121 and two symmetrical grooves 7122, groove 7122 is provided with bolt hole 71221；

The 4th described entablature assembly 71 forms the same with sill assembly 121, except aforesaid four directions tubular is fixed Arm 711 orientation and first party tubular fixed arm 1211 orientation is different, the tubular telescopic arm 712 orientation, four directions and first party tubular Telescopic arm 1212 orientation is different, and remaining all component structural form is the same；

The 6th described lowering or hoisting gear 72 is by the 6th lifting drive 721, symmetrically arranged two parallel four-bar machines Structure 722 and the 5th laser displacement sensor 723 form；

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

Described parallelogram lindage 722 is by 7221, two forks 7222 of sill and four directions tubular telescopic arm 712 Composition, sill 7221 is provided with four ears rings 72211 and two symmetrical long slot bores 72212；

Carry out the assembly operation identical with the first lifting drive 122, form the 6th lifting drive 721；

By one end of two forks 7222 respectively with the four directions tubular telescopic arm 712 chain connection, two forks 7222 The other end respectively with sill 7221 chain connection, form parallelogram lindage 722, be symmetrical in the four directions tubular fixed arm 711 Another parallelogram lindage 722 is assembled with the vertical plane of symmetry of sill 7221, the 5th laser displacement sensor 723 is symmetrical It is fixed on below the tubular fixed arm 711 of four directions, forms the 6th 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, first hex nut 735, internal gear 737, two gears 738 of 736, two power transmission shafts, housing 739, two 740, two the second thrust bearings of individual first thrust bearing, 742, two yielding coupling 743 and of 741, two the second hex nuts 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 Being provided with circular shaft section 7322 and six prism shaft parts 7323, 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 7322, makes upper cover 733 and the first spiral shell Rotation rotary actuator ring flange 7321 is connected, then circle connecting plate 734 is sheathed on the first spiral rotary actuator six rib Axis of a cylinder section 7323, the first hex nut 735 pretension, internal gear 736 is coaxially connected with circular connecting plate 734, and gear 738 is sheathed on Power transmission shaft the first axle journal 7371 is connected, and the first thrust bearing 740 is sheathed on power transmission shaft the second axle journal 7372, and power transmission shaft 737 is worn Crossing housing axis hole 7392 makes the first thrust bearing 740 contact with housing 739, and the second thrust bearing 741 is sheathed on power transmission shaft the 3rd On axle journal 7373, the second hex nut 742 screws on power transmission shaft thread segment 7375 pretension, and yielding coupling 743 makes power transmission shaft the 4th Axle journal 7374 is coaxially connected with interior wide-mouth magnetic coupling box axle journal 7441, and internal gear 736 is inserted in housing 739, two gears The gear teeth flank of tooth of 738 respectively with the gear teeth face of internal gear 736, upper cover 733 is connected with shell flange dish 7391, and two are hung One end symmetry of bar 731 is fixed on housing 739 both sides, forms nut assembling and disassembling device 73, and the other end symmetry of two suspension rods 731 is solid Being connected in 711 2 sides of the 4th fixed arm, sill 7221 is fixed on two longeron 202 medial surface of railcar, forms sleeper Four nuts synchronize assembling and disassembling device 7；

Referring to Figure 37 to Figure 43, the first described rail-lifting equipment 8 is by entablature the 81, the 7th lowering or hoisting gear 82 and to carry rail Assembly 83 forms,

The 7th described lowering or hoisting gear 82 forms and as version with the first lowering or hoisting gear 12, carries out and the first lifting The assembly operation that device 12 is identical, forms the 7th lowering or hoisting gear 82；

The described rail assembly 83 that carries is by two suspension rods the 830, the 5th square tube shape fixed arm 831, double output shaft hydraulic motor 832,833, two monaural ring bearings 834 of two yielding couplings, left-handed screw the 835, first box type telescopic arm 836, dextrorotation spiral shell Bar the 837, second box type telescopic arm 838 and two carry rail hydraulic jack 839 and form, and suspension rod 830 is provided with the first ring flange 8301 He Second ring flange 8302, the 5th square tube shape fixed arm 831 is provided with two symmetrical semicylindrical openings 8311, and left-handed screw 835 is provided with First axle journal 8351 and the second axle journal 8352, the second right handed screw 837 is the same with left-handed screw 835 version, the first box Telescopic arm 836 is provided with semicylindrical opening 8361 and left-handed motion thread hole 8362, and the second box type telescopic arm 838 is provided with semicylindrical opening 8381 and clockwise drive screwed hole 8382, carry that rail hydraulic jack 839 cylinder body is provided with gusset 8391, piston rod free end is provided with Fagging 8392；

Being sheathed on left-handed screw the second axle journal 8352 by monaural ring bearing 834, left-handed screw 835 precession the first box is stretched Appropriate location, contracting arm left-handed motion thread hole 8362, yielding coupling 833 make on the left of double output shaft hydraulic motor 832 output shaft with Left-handed screw the first axle journal 8351 is coaxially connected, and repeats aforementioned assembly operation, by another monaural ring bearing 834, right handed screw 837, the second box type telescopic arm 838, yielding coupling 833 and double output shaft hydraulic motor 832 are assembled into one, by the 5th square tube shape Fixed arm 831 is sheathed on the first box type telescopic arm 836 and the second box type telescopic arm 838, makes double output shaft hydraulic motor 832 right Claiming to be fixed on the 5th square tube shape fixed arm 831 endoporus upper surface, two monaural ring bearings 834 are fixed on the 5th square tube shape fixed arm Above 831 endoporus, two carry rail hydraulic jack 839 and are respectively fixedly connected with in the first box type telescopic arm semicylindrical opening 8361 and the second case In type telescopic arm semicylindrical opening 8381, make two to carry rail hydraulic jack 839 and be symmetrical arranged, two suspension rod 830 second ring flanges 8302 symmetries are fixed on above the 5th square tube shape fixed arm 831, and composition carries rail assembly 83, two suspension rod 830 first ring flanges 8301 symmetries are fixed on 81 2 sides of entablature, form the first rail-lifting equipment 8；

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

Described first crossbeam telescopic component 90 be by the 6th square tube shape fixed arm the 901, the 6th square tube shape telescopic arm 902, 6th laser displacement sensor 903 and the 6th range finding reference plate 904 form, and the 6th square tube shape telescopic arm 902 is provided with blind end 9021 and two symmetrical grooves 9022, groove 9022 is provided with bolt hole 90221；

As described first crossbeam retractable driving device 91 and the first retractable driving device 22 form, except aforementioned 6th side Tubular fixed arm 901 and second party tubular fixed arm 221 version is different, the 6th square tube shape telescopic arm 902 and second party Tubular telescopic arm 222 version is different, and remaining all component structural form is the same；

Carry out the assembly operation identical with the first retractable driving device 22, form the first reciprocating movement driving device 91, the Six laser displacement sensor 903 symmetries are fixed on above the 6th square tube shape fixed arm 901, and the 6th range finding is fixed on reference to version 904 Above 6th square tube shape telescopic arm 902；

The first described pendulous device 92 is by first casing the 921, second spiral rotary actuator 922, incomplete tooth Taking turns 924, two multidiameters 925 of 923, two sector gears and embedded cover plate 926 forms, the first casing 921 is provided with two axles Hole the 9211, first positive stop lug boss 9212 and the second positive stop lug boss 9213, multidiameter 925 is provided with first axle journal the 9251, second axle journal 9252, the 3rd axle journal the 9253, the 1st prism shaft part the 9254 and the 2nd 6 prism shaft part 9255, embedded cover plate 926 is provided with two Individual axis hole the 9261, first positive stop lug boss 9262 and the second positive stop lug boss 9263；

By on two the most sheathed first diameters of axle 9251 being fixed on two multidiameters of sector gear 924, two multidiameters 925 are each passed through two axis holes 9211 of the first casing, make multidiameter 925 second axle journal 9252 be formed with the first casing axis hole 9211 Revolute pair, is fixed on sheathed for partial gear 923 on the second spiral rotary actuator 922 output shaft, is placed into the first case In body 921, the gear teeth of partial gear 923 gear teeth respectively with two sector gears 924 are made to contact along the facewidth, the second spiral pendulum Hydrodynamic pressure motor 922 is fixed on the first casing 921 base plate, and two axis holes 9261 of embedded cover plate 926 are sheathed on two respectively On individual multidiameter the 3rd axle journal 9253, make embedded cover plate 926 and the first casing 921 be connected, form the first pendulous device 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 second 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 second fork 952 is provided with monaural ring 9521, pin-and-hole 9522 and double Earrings 9523；

Described gripper 955 is by ladder U-bracket 9551, two helical springs 9552 of 949, four the 3rd forks Forming with pressing plate 9553, the 3rd 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, makes the 3rd spiral rotary actuator spacing sector of output shaft ring flange Boss 94211 and the spacing fan-shaped boss 94311 of hydraulic jack ring flange are inserted in scallop hole section 9413, make two spacing sectors convex Platform left surface contacts with scallop hole section the first confined planes 94131, makes the first thrust bearing 944 insert second casing the second circular hole portion 9414, make the 3rd spiral rotary actuator 942 be fixed on the second casing 941 base plate, make end cap 954 and the second casing 941 It is 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 second 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 second forks Monaural ring 9521 coaxially penetrates pin hinge and connects；

The ears ring 95511 of four the 3rd forks 9551 is same with four the second monaural rings 9496 of ladder U-bracket respectively Axle penetrate pin hinge connect, another ears ring 95511 of four the 3rd 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 second 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；

Two the first fork six prism hole monaural rings 931 are sheathed on two multidiameter the one or six prism shaft parts respectively 9254, two the first hex nut 96 pretensions respectively, then by the most sheathed for other two the first fork six prism hole monaural rings 931 In two multidiameter the two or six prism shaft parts 9254, other two the first hex nuts 96 pretension respectively, make four the first forks One end of 93 is connected with the two ends of two multidiameters 925 respectively, four the first fork monaural rings 932 respectively with the second casing four Screwed hole 9411 is coaxial, four bolts 97 pretensions respectively, make four the first forks 93 respectively with the second casing 941 chain connection, Form in-parallel four-bar mechanism；

First casing 921 is fixed on the 6th square tube shape telescopic arm blind end 9021, composition swivel block and push-and-pull sleeper device 9；

Referring to Figure 44 to Figure 56, described handling sleeper device 15 is by the second rail-lifting equipment 150, reciprocating motion storage rail Pillow device 160 and rigid hanger hoisting apparatus 168 form；

The second described rail-lifting equipment 150 be by second cross beam telescopic component 151, second cross beam retractable driving device 152, 156, eight first, 153, eight forks of two the second pendulous devices, 155, two box connecting rods of 154, eight the first hex nuts Bolt 157 and two flexible shell types carry cylinder of rail 158 and form, and fork 154 is provided with six prism hole monaural ring 1541 and monaural rings 1542, box connecting rod 156 is arranged with four bolts hole 1561 and semicylindrical opening 1562, and flexible shell type carries cylinder of rail 158 cylinder body Be provided with gusset 861, piston rod free end is provided with fagging 862；

Described second cross beam telescopic component 151 is to be stretched by 1511, two the 7th square tube shapes of the 7th square tube shape fixed arm Arm the 1512, the 7th laser displacement sensor 1513 and the 7th range finding reference plate 1514 form, and the 7th square tube shape telescopic arm 1512 sets Having 15121, two symmetrical grooves 15122 of blind end, groove 15122 is provided with bolt hole 15123；

Described second cross beam retractable driving device 152 is the same with the composition of the first lifting drive 122, except aforesaid 7th square tube shape fixed arm 1511 and first party tubular fixed arm 1211 version is different, the 7th square tube shape telescopic arm 1512 Different with first party tubular telescopic arm 1212 version, remaining all component structural form is the same；

Carry out the assembly operation identical with the first lifting drive 122, form second cross beam retractable driving device 152, 7th laser displacement sensor 1513 symmetry is fixed on the 7th square tube shape fixed arm 1511 side, and the 7th range finding reference plate 1514 is solid It is connected in the 7th square tube shape telescopic arm 1512 side；

Second pendulous device 153 forms and as version with the first pendulous device 92, carries out and the first pendulous device 92 identical assembly operations, form the second pendulous device 153；

Two fork six prism hole monaural rings 1541 are sheathed on respectively two multidiameter the one or six prism shaft parts 9254, two Individual first hex nut 155 pretension respectively, more other two fork six prism hole monaural rings 1541 are sheathed on two rank respectively Ladder axle the two or six prism shaft part 9255, other two the first hex nuts 155 pretension respectively, make one end of four forks 154 divide The not two ends with two multidiameters 925 are connected, and four screwed holes 1561 of four fork monaural rings 1542 and box connecting rods are coaxial, and four Individual first bolt 157 respectively pretension, make four forks 154 respectively with box connecting rod 156 chain connection, form in-parallel four bar Two casings 1531 are respectively fixedly connected with in the blind end 15121 of two the 7th square tube shape telescopic arms by mechanism, make two second swings Device 153 is symmetrical arranged, and two flexible shell types carries cylinder of rail 158 cylinder body and is respectively fixedly connected with in two box connecting rod semicylindrical openings In 1562, form the second rail-lifting equipment 150, the 7th square tube shape fixed arm 1511 symmetry is fixed on two longerons of railcar On 202；

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

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

The 3rd described crossbeam telescopic component 163 is to be stretched by eighth tubular fixed arm 1631 and two eighth tubulars Arm 1632 forms, and eighth tubular fixed arm 1631 is provided with two long slot bores 16311 of symmetry, eighth tubular telescopic arm 1632 Being provided with two monaural rings 16321 and two symmetrical grooves 16322, groove 16322 is provided with bolt hole 16323；

Described reciprocating movement driving device 164 is the same with the composition of the first lifting drive 122, except the aforesaid 8th Square tube shape fixed arm 1631 orientation and first party tubular fixed arm 1211 orientation is different, eighth tubular telescopic arm 1632 orientation Different with first party tubular telescopic arm 1212 orientation；Remaining all component structural form is the same；

Described parallelogram lindage 165 is by 1632, two forks 1651 of eighth cylinder telescopic arm and moving beam 1652 Composition, moving beam 1652 is provided with two rollers 16521；

Carry out the assembly operation identical with the first lifting drive 122, form reciprocating movement driving device 164；

By one end of two forks 1651 respectively with eighth tubular telescopic arm 1632 chain connection, two forks 1651 The other end respectively with moving beam 1652 chain connection, form parallelogram lindage 165, repeat aforementioned assembly operation, be symmetrical in The vertical plane of symmetry of eighth tubular fixed arm 1631 and moving beam 1652 assembles another parallelogram lindage 165, base plate 162 are fixed on below eighth tubular fixed arm 1631, make two rollers 16521 of moving beam connect with base plate 162 upper surface Touch, the 8th laser displacement sensor 166 symmetry is fixed on eighth tubular fixed arm 1631 side, form reciprocator 161；

Being fixed on by base plate 162 on railcar 20 crossbeam and the 7th square tube shape fixed arm 1511, storage sleeper case 167 is connected On moving beam 1652, making the roller 1671 of storage sleeper case 167 be contacted over base plate 162, composition moves back and forth storage Sleeper device 160；

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

Described telescopic cantilever boom device 169 is to be stretched by first ladder square tube shape fixed arm the 1691, first ladder square tube shape Contracting arm 1692, square tube shape telescopic arm the 1693, first multi-stage expansion shell type oil cylinder 1694, cantilever beam 1695, end plate 1696, cantilever 1697 and the tenth laser displacement sensor 1698 form, the first ladder square tube shape fixed arm 1691 is provided with ring flange 16911 and cylinder Shoulder 16912, the first ladder square tube shape telescopic arm 1692 is provided with ring flange 16921 and cylinder shoulder 16922, and square tube shape telescopic arm 1693 sets Ring flange 16931 and blind end 16932, the first multi-stage expansion shell type oil cylinder 1694 is had to be provided with the first ring flange 16941, first stretch Contracting sleeve the 16942, second extension sleeve 16943 and the second ring flange 16944, cantilever beam 1695 is provided with ring flange 16951；

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

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

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

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

Being fixed on below entablature 1711 by one end symmetry of two pull bars 1712, the other end of two pull bars 1712 is symmetrical It is fixed on above sill 1713, forms rigid hanger 171；

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

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

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

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

1. clear stone screening work: outside sleeper to be changed, bolt machine oil labelling is good, and engineering truck traction track car runs to treating When the pillow that switches tracks is neighbouring, 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 standby oil ga(u)ge note bolt, two ranked first grab mechanisms is positioned at sleeper two siding track to be changed Between pillow, position shown in Fig. 1, oil pump starts working, and hydraulic oil makes the 3rd lifting drive double output shaft hydraulic motor to start forward to turn Dynamic, drive left-handed screw and right handed screw forward synchronous axial system, make left-handed nut and right-handed nut promote respectively and be connected with it Two first party tubular telescopic arms synchronize to stretch out, and two square sliders are respectively at two first party tubular telescopic arm endoporus upper surfaces Slide, it is to avoid left-handed screw and right handed screw bear moment of flexure, make two pairs of fork phases of symmetrically arranged two parallelogram lindages For entablature synchronous hunting dorsad, the 3rd lowering or hoisting gear is entrusted two and be ranked first grab mechanisms decline, by the first laser displacement Its displacement signal with entablature of sensor measurement, controls the 3rd lifting and drives double output shaft hydraulic motor and two liquid of grab bucket Compressing cylinder works, and when grab bucket is close to ballast between the sleeper of sleeper both sides to be changed, two hydraulic cylinder piston rods of grabbing bucket start retraction, Pull two link motions respectively, make symmetrically arranged two bucket bodies relative to arm monaural ring backswing, make grab bucket be flared to Maximum opening, two hydraulic cylinder piston rods of grabbing bucket stop retracting, and when bucket tooth contact ballast, the 3rd lifting drives double output shaft Hydraulic motor stops rotating forward, position shown in Figure 13, and two hydraulic cylinder piston rods of grabbing bucket start to stretch out, and promotes two respectively Link motion, makes symmetrically arranged two bucket bodies be rocked in opposite directions gradually close relative to arm monaural ring, captures ballast between sleeper, Two hydraulic cylinder piston rods of grabbing bucket stop stretching out, and hydraulic oil makes the 3rd lifting drive double output shaft hydraulic motor to start reverse turning Dynamic, drive left-handed screw and the right handed screw reverse sync to rotate, make left-handed nut and right-handed nut pull respectively and be connected with it Two first party tubular telescopic arms synchronize to retract, and make two pairs of forks of symmetrically arranged two parallelogram lindages relative to upper horizontal stroke Beam synchronous hunting in opposite directions, the 3rd lowering or hoisting gear entrusts two and ranked first grab mechanisms and rise to position shown in Figure 14, two collection crossdrifts Drive cylinder piston rod to start synchronization to stretch out, promote two the 3rd push-pull bars and two the 4th push-pull bars, make two collection crossdrifts same Step is rocked to position shown in Figure 14, and two collection crossdrifts drive cylinder piston rod to stop stretching out, and the second dither motor starts work Making, casing starts vibration, and two hydraulic cylinder piston rods of grabbing bucket start to synchronize to retract, and pull two link motions respectively, make two Individual bucket body is gradually flared to position shown in Figure 14, and two hydraulic cylinder piston rods of grabbing bucket stop retracting, and the ballast in grab bucket rushes down Being slipped to collect in stone storehouse to two collection crossdrifts, the sandy soil that casing vibration makes in collection stone storehouse in ballast are divided by the sieve aperture of flechette-type bottom From in two gradual change isosceles trapezoid grooves, sandy soil slide into two end cap sand discharges Tu Zui along two gradual change isosceles trapezoid grooves and discharge, Waiting that the ballast in grabbing bucket is slipped to collect in stone storehouse completely, two collection crossdrifts drive cylinder piston rod to start to synchronize to retract, and pull two Individual 3rd push-pull bar and two the 4th push-pull bars, make two collection crossdrift synchronous hunting to position shown in Fig. 1, and two collection crossdrifts drive Cylinder piston rod stops retracting, and the second dither motor quits work, and two hydraulic cylinder piston rods of grab bucket start same simultaneously Step is stretched out, and promotes two link motions respectively, makes grab bucket gradually close, and two hydraulic cylinder piston rods of grabbing bucket stop stretching out, clearly Stone screening end-of-job；

2. pillow end lasher makees: engineering truck traction track car moves to left, and is automatically identified sleeper rail by pattern recognition system The number of outer bolt image, makes railcar move to left two sleeper pitches, makes the second grab mechanisms be positioned on the pillow end of sleeper to be changed Side, hydraulic oil makes the second telescopic drive hydraulic motor start to rotate forward, and drives screw rod to rotate forward, and square nut promotes second Square tube shape telescopic arm is entrusted the second grab mechanisms and is moved out, square slider in the second square telescopic arm endoporus upper surface slide, Avoiding screw rod to bear moment of flexure, the second laser displacement sensor measures the displacement signal of itself and the second range finding reference plate, controls the Two telescopic drive hydraulic motors and two hydraulic jack work of grab bucket, hydraulic oil makes the 4th lifting drive double output shaft hydraulic pressure simultaneously Motor starts to rotate forward, and left-handed screw and right handed screw promote first connecting rod and second connecting rod to synchronize translation respectively, make symmetry Two the first series connection parallelogram lindages arranged and the most each two pairs of swing link synchronous back of the body of the second series connection parallel-crank mechanism To swing, the 4th lowering or hoisting gear is entrusted the second grab mechanisms and is declined, and measures itself and the 4th liter by the 3rd laser displacement sensor Fall drives the displacement signal of double output shaft hydraulic motor, controls the 4th lifting and drives double output shaft hydraulic motor and grab bucket two Hydraulic jack works, and when the bucket tooth of grab bucket is close to pillow end railway roadbed ballast, two hydraulic cylinder piston rods of grabbing bucket start to synchronize contracting Returning, pull two link motions respectively, make grab bucket be flared to maximum opening, two hydraulic cylinder piston rods of grabbing bucket stop retracting, When bucket tooth contact ballast, the 4th lifting drives double output shaft hydraulic motor to stop rotating forward, position shown in Figure 22, grab bucket two Individual hydraulic cylinder piston rod starts synchronization and stretches out, and promotes two link motions respectively, makes grab bucket gradually close crawl ballast, grab bucket Two hydraulic cylinder piston rods stop stretching out, and hydraulic oil makes the 4th lifting drive double output shaft hydraulic motor to start reverse turning simultaneously Dynamic, make left-handed screw and right handed screw pull first connecting rod and second connecting rod to synchronize translation respectively, make symmetrically arranged two the The most each two pairs of swing link synchronous of one series connection parallelogram lindage and the second series connection parallel-crank mechanism swing in opposite directions, the 4th liter Falling unit is entrusted the second grab mechanisms and is risen, and hydraulic oil makes the second telescopic drive hydraulic motor start to rotate forward simultaneously, drives Screw rod rotates forward, and square nut promotes second party tubular telescopic arm to entrust the second grab mechanisms and moves out above superior self-cultivation shoulder Time, the 4th lifting drives double output shaft hydraulic motor to stop rotating backward, and the second telescopic drive hydraulic motor stops rotating forward, Two hydraulic cylinder piston rods of grabbing bucket start to retract, and pull two link motions respectively, make grab bucket gradually open, make in grab bucket Ballast rushes down to be fallen on shoulder, and two hydraulic cylinder piston rods of grabbing bucket start synchronization and stretch out, and promotes two link motions respectively, makes to grab Bucket gradually closes, and the 4th lifting drives double output shaft hydraulic motor and the second telescopic drive hydraulic motor to start simultaneously at reverse turning Dynamic, second party tubular telescopic arm is entrusted the second grab mechanisms and is moved to position shown in Fig. 1, and the 4th lifting drives double output shaft hydraulic pressure Motor and the second telescopic drive hydraulic motor stop rotating backward, and pillow end lasher makees to terminate；

3. calculus work below rail: engineering truck traction track car moves to left, and is automatically identified sleeper by pattern recognition system The number of rail outer bolt image, makes railcar move to left a sleeper pitch, and sprocket calculus device is positioned at sleeper two siding track to be changed Top between pillow, hydraulic oil makes the 3rd telescopic drive double output shaft hydraulic motor start to rotate forward, and drives left-handed screw and dextrorotation Screw rod synchronous axial system, makes left-handed nut and right-handed nut promote respectively and Tong Bu stretches with its two third party's tubular telescopic arms being connected Going out, make two third party's tubular telescopic arms entrust two sprocket calculus devices respectively and move out, square slider is at third party's cylinder Shape telescopic arm endoporus upper surface slide, it is to avoid left-handed screw and right handed screw bear moment of flexure, the 4th laser displacement sensor is measured Its with the 4th range finding reference plate displacement signal, control the 3rd telescopic drive double output shaft hydraulic motor and the second double output shaft Hydraulic motor works, and when sprocket calculus device moves out to rail top between the sleeper of sleeper both sides to be changed, the 3rd stretches Contracting drives double output shaft hydraulic motor to stop rotating forward, and hydraulic oil makes the 5th lifting drive double output shaft hydraulic motor to open simultaneously Beginning rotates forward, and the 5th lowering or hoisting gear is entrusted two sprocket calculus devices and declined, and measures it by the 3rd laser displacement sensor With the 5th lifting drive double output shaft hydraulic motor displacement signal, control the 5th lifting drive double output shaft hydraulic motor and 3rd double output shaft hydraulic motor work, when sprocket calculus device contact ballast, the 5th lifting drives double output shaft hydraulic pressure horse Reaching stopping to rotate forward, hydraulic oil makes sprocket calculus drive double output shaft hydraulic motor to start to rotate forward, and makes two sprocket wheels same Step rotates, several sprocket component movement of chain wheel drive chain connection one, and the sprocket of sprocket calculus device following chain tooth plate will The ballast of its contact is pushed to outside railway roadbed, and hydraulic oil makes the 3rd telescopic drive double output shaft hydraulic motor start to rotate backward, and drives Dynamic left-handed screw and right handed screw synchronous backward rotate, and make left-handed nut and right-handed nut pull respectively and its two be connected the Tripartite's tubular telescopic arm synchronizes to retract, and two third party's tubular telescopic arms entrust two sprocket calculus device inward respectively, Sprocket calculus device inward contacts to the sprocket of its front-end chain tooth plate with the ballast below rail, gnaws ballast into chain successively Between adjacent two the chain tooth plate sprockets of tooth row stone device, ballast is pushed into outside railway roadbed successively by chain tooth plate, when sprocket calculus device to Inside moving to position shown in Figure 27, below rail, calculus terminates, and the 3rd telescopic drive double output shaft hydraulic motor stops reversely turning Dynamic, sprocket calculus drives double output shaft hydraulic motor to stop rotating forward, and the 3rd telescopic drive double output shaft hydraulic motor is opened again Beginning rotates forward, and makes two third party's tubular telescopic arms entrust two sprocket calculus devices and moves out, treats sprocket calculus device When the sprocket moved out to its front-end chain tooth plate leaves outside rail lower flange, the 3rd telescopic drive double output shaft hydraulic motor Stopping rotates forward, and hydraulic oil makes the 5th lifting drive double output shaft hydraulic motor to start to rotate backward simultaneously, the 5th lifting dress Putting and entrust the rising of sprocket calculus device, hydraulic oil makes the 3rd telescopic drive double output shaft hydraulic motor start to rotate backward, makes two Individual third party's tubular telescopic arm entrusts two sprocket calculus device inward respectively, treats that sprocket calculus device moves to Fig. 1 institute Showing position, the 3rd telescopic drive double output shaft hydraulic motor and the 5th lifting drive double output shaft hydraulic motor to stop reverse turning Dynamic；

4. dismounting nut work: engineering truck traction track car moves to left, and is automatically identified sleeper rail by pattern recognition system The number of outer bolt image, makes railcar move to left a sleeper pitch, and four interior wide-mouth magnetic coupling boxs are positioned at sleeper to be changed Directly over four bolts, hydraulic oil makes the 6th lifting drive double output shaft hydraulic motor to start to rotate forward, and drives left-handed screw With right handed screw forward synchronous axial system, left-handed nut and right-handed nut is made to promote two the four directions tubulars being connected with it to stretch respectively Contracting arm synchronizes to stretch out, and square slider is in square telescopic arm endoporus upper surface slide, it is to avoid left-handed screw and right handed screw are held By moment of flexure, make two pairs of forks of symmetrically arranged two parallelogram lindages relative to sill synchronous hunting dorsad, the 6th liter Falling unit is entrusted two nut assembling and disassembling devices and is declined, and is measured the displacement letter of itself and sill by the 5th laser displacement sensor Number, control the 6th lifting and drive double output shaft hydraulic motor and the work of the first spiral rotary actuator, when interior wide-mouth magnetic Coupling box is sheathed on nut, position shown in Figure 34, and the 6th lifting drives double output shaft hydraulic motor to stop rotating forward, high Force feed makes two the first spiral rotary actuators start reverse sync rotation, drives two circular connecting plates to entrust two respectively Internal gear rotates backward, and each internal gear engages with two gears simultaneously, drives two drive axis, makes four interior wide-mouth magnetic Property coupling box reverse sync rotate, four interior wide-mouth magnetic coupling boxs synchronize to screw off four nuts, interior wide-mouth magnetic Flos Mume The magnetic of sleeve makes the nut screwed off stay in interior wide-mouth magnetic coupling box, and two the first spiral rotary actuators stop anti- To rotation, hydraulic oil makes the 6th lifting drive double output shaft hydraulic motor to start to rotate backward, and makes left-handed screw and right handed screw Synchronous backward rotates, and makes two Tong Bu contractings of four directions tubular telescopic arm that left-handed nut and right-handed nut pull respectively with it is connected Return, make two pairs of forks of symmetrically arranged two parallelogram lindages relative to sill synchronous hunting in opposite directions, the 6th lifting dress Put and entrust two nut assembling and disassembling devices and rise to position shown in Fig. 1, dismantle nut end-of-job；

5. 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, two of the first rail-lifting equipment carry directly over rail assembly is positioned on the right side of bad sleeper between sleeper, and hydraulic oil makes first crossbeam stretch Driving hydraulic motor to start to rotate forward, drive screw rod to rotate forward, square nut promotes the 6th square tube shape telescopic arm to stretch out, the Six square tube shape telescopic arms entrust the first pendulous device and crawl and swivel block device moves out, by the 6th laser displacement sensor Measure the displacement signal of itself and the 6th range finding reference plate, control first crossbeam telescopic drive hydraulic motor, the second spiral swing Hydraulic motor and the work of the 3rd spiral rotary actuator, when the first pendulous device and crawl and swivel block device move out to suitable Working as position, first crossbeam telescopic drive hydraulic motor stops rotating forward, and hydraulic oil makes the second spiral rotary actuator start Rotating forward, partial gear and two sector gear engaged transmission, two multidiameters drive four the first fork forwards to swing, Make the second casing entrust crawl and swivel block device makees translation, when two the first forks and the first positive stop lug boss contact, the second spiral shell Rotation rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, and first is horizontal Beam telescopic drive hydraulic motor starts to rotate backward, and drives screw rod to rotate backward, and square nut pulls the 6th square tube shape telescopic arm Starting to retract, the 6th square tube shape telescopic arm entrusts the first pendulous device and crawl and swivel block device inward simultaneously, works as machinery When two pressing plate inward of pawl are to bad appropriate location, sleeper both sides, first crossbeam telescopic drive hydraulic motor stops reversely turning Dynamic, hydraulic oil makes hydraulic cylinder piston rod start to stretch out, and makes first connecting rod and second connecting rod promote symmetrically arranged two respectively Second fork swings in opposite directions, and the roller being articulated with the second fork ears ring pushes down pressing plate, and roller rolls and makes pressing plate overcome two circles The pulling force of post helical spring makees translation, and two in-parallel four-bar mechanism forwards swing, when two platen clamp sleepers, and electromagnetism The middle position of reversal valve makes hydraulic jack pressurize；

Hydraulic oil makes the 7th lifting drive double output shaft motor to start to rotate forward, and the 7th lowering or hoisting gear is entrusted first and carried rail Device declines, and is measured the displacement signal of itself and entablature by the first laser displacement sensor, controls the 7th lifting and drives double Output shaft hydraulic motor drives the work of double output shaft hydraulic motor with carrying rail assembly, when the first rail-lifting equipment drops to carry cylinder of rail When cylinder body gusset upper surface is coplanar with rail lower surface, the 7th lifting drives double output shaft motor to stop rotating forward, high pressure Oil makes to carry rail assembly and drives double output shaft hydraulic motor to start to rotate forward, and drives left-handed screw and right handed screw synchronous forward to turn Dynamic, two box type telescopic arms synchronize to stretch out, and two box type telescopic arms are entrusted two respectively and carried cylinder of rail and move out, when carrying rail oil When cylinder cylinder body and rail lower flange contacts side surfaces, carry cylinder of rail cylinder body gusset upper surface and contact with below rail, carry rail assembly Driving double output shaft motor to stop rotating forward, hydraulic oil makes to carry cylinder of rail piston rod to start to stretch out, and carries cylinder of rail when being fixed on After the fagging of piston rod contacts railway roadbed ballast and is compacted into, along with carrying constantly stretching out of cylinder of rail piston rod, carry cylinder of rail Cylinder body is entrusted gusset and is moved upward, and makes rail jack-up, carries cylinder of rail piston rod and stops stretching out, and the middle position of solenoid directional control valve makes to carry Cylinder of rail pressurize；

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 first crossbeam telescopic drive hydraulic motor start to rotate forward, the 6th square tube telescopic arm Entrusting the first pendulous device and crawl and swivel block device moves out, gripper pulls bad sleeper to move out, when bad sleeper to Move to outward thereafter end face with above rail lower flange trailing flank is coplanar time, first crossbeam telescopic drive hydraulic motor stop forward Rotating, hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and makes cylinder body of hydraulic oil cylinder entrust gripper and reversely turns Dynamic, gripper makes sleeper rotate backward, 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 first confined planes, gripper makes sleeper rotate backward 90 °, position shown in Figure 37；

Hydraulic oil makes hydraulic cylinder piston rod start to retract, and makes first connecting rod and second connecting rod pull respectively symmetrically arranged Two the second fork backswings, under the pulling force effect of two cylindrically coiled springs, make two pressing plates make translation, two parallel connections Parallelogram lindage backswing, when two pressing plates contact with the disengagement of sleeper side, hydraulic cylinder piston rod stops retracting；

Hydraulic oil makes the second spiral rotary actuator rotate backward, and partial gear and two sector gear engagements pass Dynamic, two multidiameters drive four the first fork backswings, and crawl entrusted by the second casing and swivel block device makees translation, when two When the first fork and the contact of the second positive stop lug boss, the second spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes Second spiral rotary actuator pressurize；

Hydraulic oil makes first crossbeam telescopic drive hydraulic motor start to rotate backward, and the 6th square tube shape telescopic arm entrusts first Pendulous device and crawl and swivel block device inward are to position shown in Fig. 1, and first crossbeam telescopic drive hydraulic motor stops anti- To rotation；

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,

Hydraulic oil makes to carry rail assembly and drives double output shaft motor to start to rotate backward, and drives left-handed screw and dextrorotation rotation screw rod Synchronous backward rotates, and two box type telescopic arms synchronize to retract, and two box type telescopic arms are entrusted two respectively and carried cylinder of rail and inwardly transport Dynamic, when its gusset contacts with rail disengagement, carry rail assembly and drive double output shaft motor to stop rotating backward；

Hydraulic oil makes the 7th lifting drive double output shaft motor to start to rotate backward, and the 7th lowering or hoisting gear is entrusted first and carried rail Device rises, when the first rail-lifting equipment rises to position shown in Fig. 1, and the 7th lifting drives double output shaft motor to stop reverse turning Dynamic, pull out bad sleeper end-of-job；

6. handling 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 four sleeper pitches, and the second rail-lifting equipment is positioned at adjacent rail on the right side of bad sleeper Directly between pillow, position shown in Figure 44, hydraulic oil makes second cross beam telescopic drive double output shaft hydraulic motor start to rotate forward, Drive left-handed screw and right handed screw synchronous axial system, make left-handed nut and right-handed nut promote respectively with its be connected two Individual 7th square tube shape telescopic arm synchronizes to stretch out, and two flexible arms respectively of the 7th square tube shape are entrusted two the second pendulous devices and stretch Shell type carries cylinder of rail and is outwards synchronized with the movement, and is measured the displacement letter of itself and the 7th range finding reference plate by the 7th laser displacement sensor Number, control second cross beam telescopic drive double output shaft hydraulic motor and the work of the second spiral rotary actuator, when two the Two pendulous devices and flexible shell type carry cylinder of rail and move out to appropriate location, second cross beam telescopic drive double output shaft hydraulic pressure horse Reaching stopping to rotate forward, it starts to rotate backward, and drives left-handed screw and right handed screw synchronous backward to rotate, makes left-handed nut Pull retract Tong Bu with two the 7th square tube shape telescopic arms that it is connected, two the 7th square tube shapes to stretch and divide respectively with right-handed nut Other arm entrusts two the second pendulous devices and flexible shell type carries cylinder of rail and is inwardly synchronized with the movement, and the second spiral swings hydraulic pressure horse simultaneously Reaching and start to rotate forward, partial gear and two sector gear engaged transmission, two multidiameters drive four fork forward pendulum Dynamic, box connecting rod is entrusted flexible shell type and is carried cylinder of rail and make translation, when two forks and the contact of the first positive stop lug boss, and the second spiral Rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, when the second pendulum When dynamic device inward to flexible shell type carries cylinder of rail cylinder body with rail lower flange contact outside, flexible shell type carries cylinder of rail cylinder Body gusset upper surface contacts with below rail, and second cross beam telescopic drive double output shaft hydraulic motor stops rotating backward；

Hydraulic oil makes reciprocating motion drive double output shaft hydraulic motor to start to rotate forward, and drives left-handed screw and dextrorotation spiral shell Bar synchronous axial system, makes left-handed nut and right-handed nut promote respectively and Tong Bu stretches with its two eighth tubular telescopic arms being connected Go out, make two pairs of forks of symmetrically arranged two parallelogram lindages synchronize backswing relative to moving beam, two pairs of forks Pulling moving beam to left movement, moving beam entrusts storage sleeper case to left movement, is surveyed by the 8th laser displacement sensor Measure the displacement signal of itself and moving beam, control to move back and forth driving double output shaft hydraulic motor work, when storage sleeper case Move to the left to store bad sleeper position in storehouse immediately below pick-and-place sleeper device time, move back and forth and drive double output shaft hydraulic motor to stop Only rotate forward；

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

Hydraulic oil makes the sleeve of the first multi-stage expansion shell type oil cylinder start to retract step by step, square tube shape telescopic arm and the first ladder Square tube shape telescopic arm starts to retract successively, and rigid hanger is entrusted pick-and-place sleeper device and declined, by the 9th laser displacement sensor Measure the displacement signal of itself and sill, control the first multi-stage expansion shell type cylinder efficient, when two interior wide-mouth nuts and rail Pillow two, inner side bolts above close to time, hydraulic oil makes two the 4th spiral rotary actuators start to rotate forward, makes two Interior wide-mouth nut forward rotates, and when two interior wide-mouth nuts screw on two bolts in inner side above sleeper, swings liquid to the 4th spiral Pressure motor rotates forward to hard-over, position shown in Figure 52, and the 4th spiral rotary actuator stops rotating forward, more than first The first order sleeve of the flexible shell type oil cylinder of level stops retracting；

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

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

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

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start to retract, and pulls the 3rd ladder square tube shape Telescopic arm is retracted, and the 3rd ladder square tube shape telescopic arm entrusts rigid hanger and pick-and-place sleeper device inward, when push pedal and the During two ladder square tube shape telescopic arm contacts, second level extension sleeve is retracted with first order extension sleeve, and the 3rd ladder square tube shape is stretched Contracting arm draws push pedal to retract, and push pedal promotes the second ladder square tube shape telescopic arm to retract, when sleeper inward is to storing bad sleeper storehouse During surface, the second multi-stage expansion shell type oil cylinder first order extension sleeve stops retracting, and hydraulic oil makes the first multi-stage expansion shell type The sleeve of oil cylinder starts to retract step by step, and pick-and-place sleeper device is entrusted bad sleeper and declined, when bad sleeper declines close at the bottom of bad sleeper storehouse Or previously put into bad sleeper time, hydraulic oil make two the 4th spiral rotary actuators start reverse sync rotate, make two Interior wide-mouth nut rotates backward, and when bad sleeper is discharged in storehouse, the 4th spiral rotary actuator stops rotating backward, and second The sleeve of multi-stage expansion shell type oil cylinder starts to stretch out step by step, and rigid hanger and pick-and-place sleeper device rise to position shown in Fig. 1, hang Transport bad sleeper to have worked；

7. handling is well placed sleeper work: hydraulic oil makes reciprocating motion drive double output shaft hydraulic motor to start reverse turning Dynamic, drive left-handed screw and right handed screw synchronous axial system, make left-handed nut and right-handed nut pull respectively and be connected with it Two the 7th square tube shape telescopic arms synchronize to retract, and make two pairs of forks of symmetrically arranged two parallelogram lindages relative to movement Crossbeam synchronous hunting in opposite directions, two pairs of forks promote moving beam to move right, and moving beam is entrusted storage sleeper case and moved right, When store sleeper case move right to stored sleeper position in storehouse immediately below pick-and-place sleeper device time, move back and forth drive dual output Axle hydraulic motor stops rotating backward；

Hydraulic oil makes the sleeve of the first multi-stage expansion shell type oil cylinder start to retract step by step, and rigid hanger entrusts pick-and-place sleeper dress Put decline, above two interior wide-mouth nuts and sleeper two, inner side bolt close to time, hydraulic oil makes the 4th spiral swing hydraulic pressure Motor output shaft starts to rotate forward, when two interior wide-mouth nuts screw on two bolts in inner side above sleeper, to the 4th spiral pendulum Hydrodynamic pressure motor rotates forward to hard-over, and the 4th spiral rotary actuator stops rotating forward, the first multi-stage expansion set The first order sleeve of formula oil cylinder stops retracting；

Hydraulic oil makes the sleeve of the first multi-stage expansion shell type oil cylinder start to stretch out step by step, and rigid hanger entrusts pick-and-place sleeper dress Putting rising, pick-and-place sleeper device has been entrusted sleeper and has been risen to suitable height, the first order sleeve of the first multi-stage expansion shell type oil cylinder Stopping is stretched out；

Hydraulic oil makes the first order extension sleeve of the second multi-stage expansion shell type oil cylinder and second level extension sleeve stretch out successively, Making the 3rd ladder square tube shape telescopic arm entrust rigid hanger to move out, pick-and-place sleeper device has been entrusted sleeper and has been moved out to suitable Working as position, the first order extension sleeve of the second multi-stage expansion shell type oil cylinder stops stretching out, and hydraulic oil makes the first multi-stage expansion shell type The sleeve of oil cylinder starts to retract step by step, pick-and-place sleeper device entrusted sleeper drop to its when contacting with railway roadbed, hydraulic oil makes The first order sleeve of one multi-stage expansion shell type oil cylinder stops retracting；

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start to retract, and the 3rd ladder square tube shape is stretched Arm entrusts rigid hanger inward, and pick-and-place sleeper device has entrusted sleeper inward to appropriate location, has made sleeper penetrate Under rail, when having made sleeper rear end face and above rail lower flange trailing flank be coplanar, the second multi-stage expansion shell type oil cylinder second level Extension sleeve stops retracting；

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

Hydraulic oil makes second cross beam telescopic drive double output shaft hydraulic motor start to rotate forward, and two the 7th square tube shapes are stretched Contracting arm entrusts two the second pendulous devices respectively and flexible shell type carries cylinder of rail and moves out, when flexible shell type carries cylinder of rail cylinder body Gusset disengages with rail lower flange when contacting, and second cross beam telescopic drive double output shaft hydraulic motor stops rotating forward, with Time the second spiral rotary actuator start to rotate backward, partial gear and two sector gear engaged transmission, two ladders Axle drives four the first fork backswings, and box connecting rod is entrusted flexible shell type and carried cylinder of rail and make translation, when two the first forks When contacting with the second positive stop lug boss, the second spiral rotary actuator stops operating, two the second pendulous devices and flexible shell type Carrying cylinder of rail and move to position shown in Fig. 1, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize；

Hydraulic oil makes the 4th spiral rotary actuator start to rotate backward, when the 4th spiral rotary actuator reversely turns When moving to hard-over, discharging sleeper, the 4th spiral rotary actuator stops rotating backward, the first multi-stage expansion shell type oil cylinder Sleeve start to stretch out step by step, rigid hanger is entrusted pick-and-place sleeper device and is risen to suitable height, and hydraulic oil makes second multistage to stretch The extension sleeve of contracting shell type oil cylinder is retracted successively, makes the 3rd ladder square tube shape telescopic arm entrust rigid hanger and pick-and-place sleeper device Inward, pick-and-place sleeper device moves to position shown in Fig. 1, and handling is put sleeper to be finished changing and worked, and first multistage stretches The second level sleeve of contracting shell type oil cylinder stops stretching out, and the first order sleeve of the second multi-stage expansion shell type oil cylinder stops retracting, handling It is well placed sleeper to have worked；

8. advance sleeper to work: engineering truck traction track car moves to right, automatically identified sleeper bar by pattern recognition system The number of rail outer bolt image, makes railcar move to right four sleeper pitches, swivel block and push-and-pull sleeper device and has been positioned at above sleeper, Directly over first rail-lifting equipment has been positioned on the right side of sleeper between sleeper, hydraulic oil makes first crossbeam telescopic drive hydraulic motor just start To rotation, the 6th square tube shape telescopic arm entrusts the first pendulous device and crawl and swivel block device moves out, when the 6th square tube is stretched When contracting arm extend out to stop, first crossbeam telescopic drive hydraulic motor stops rotating forward, and hydraulic oil makes the second spiral swing liquid Pressure motor rotates forward, and crawl entrusted by the second casing and swivel block device makees translation, when two the first forks and the first positive stop lug boss During contact, the second spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes the second spiral rotary actuator protect Pressure；

Hydraulic oil makes first crossbeam telescopic drive hydraulic motor start to rotate backward, and the 6th square tube shape telescopic arm entrusts first Pendulous device and crawl and swivel block device inward, when two presser motions of gripper are to suitable position, sleeper both sides to be finished changing When putting, position shown in Figure 37, first crossbeam telescopic drive hydraulic motor stops rotating backward, and hydraulic oil makes hydraulic cylinder piston rod Stretching out, when two platen clamp sleepers, the middle position of solenoid directional control valve makes hydraulic jack pressurize；

Hydraulic oil makes the 7th lifting drive double output shaft motor to start to rotate forward, and the 7th lowering or hoisting gear is entrusted first and carried rail Device declines, when the first rail-lifting equipment drop to carry cylinder of rail cylinder body gusset upper surface coplanar with rail lower surface time, the 7th Lifting drives double output shaft motor to stop rotating forward, and hydraulic oil makes to carry rail assembly and drives double output shaft motor to start forward to turn Dynamic, when carrying cylinder of rail cylinder body and contacting with rail bottom wing side edge, carry cylinder of rail cylinder body gusset upper surface and connect below rail Touching, carry rail assembly and drive double output shaft motor to stop rotating forward, 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, and the middle position of solenoid directional control valve makes to propose cylinder of rail pressurize；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, and gripper makes sleeper rotate forward 90 °, and the 3rd Spiral rotary actuator stops rotating forward, and hydraulic oil makes first crossbeam telescopic drive hydraulic motor start to rotate backward, machine Tool pawl has promoted sleeper inward, is a good sleeper inward to shown in Fig. 1 during position, first crossbeam telescopic drive hydraulic pressure horse Reaching stopping to rotate backward, hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and gripper makes sleeper rotate backward 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, and hydraulic oil makes the second spiral rotary actuator rotate backward, when two the first forks and the second limit convex During platform contact, the second spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes the second spiral rotary actuator Pressurize, hydraulic oil makes first crossbeam telescopic drive hydraulic motor start to rotate backward, and the 6th square tube shape telescopic arm entrusts the first pendulum Dynamic device and crawl and swivel block device inward are to position shown in Fig. 1, and first crossbeam telescopic drive hydraulic motor stops reversely Rotate；

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 to carry rail assembly and drives double output shaft motor to start to rotate backward, when carrying cylinder of rail cylinder body gusset and rail When disengaging contact, carrying rail assembly and drive double output shaft motor to stop rotating backward, hydraulic oil makes the 7th lifting drive double output shaft Motor starts to rotate backward, and the 7th lowering or hoisting gear is entrusted the first rail-lifting equipment and risen to position shown in Fig. 1, and the 7th lifting drives double Output shaft motor stops rotating backward, and has advanced sleeper end-of-job；

9. 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 on sleeper, hydraulic oil makes the 6th lifting drive double output shaft hydraulic motor to start to rotate forward, and the 6th Lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is declined, the nut in it drops to interior wide-mouth magnetic coupling box with switch tracks Pillow threaded bolt contacts, position shown in Figure 34, the 6th lifting drives double output shaft hydraulic motor to quit work, and hydraulic oil makes two first Spiral rotary actuator starts forward synchronous axial system, drives two circular connecting plates to entrust two internal gear forwards respectively and turns Dynamic, each internal gear engages with two gears simultaneously, drives two drive axis, just makes four interior wide-mouth magnetic coupling boxs To synchronous axial system, nut synchronization screw-in four bolts of sleeper in four interior wide-mouth magnetic coupling boxs pretension, two first Spiral rotary actuator stops rotating forward, and hydraulic oil makes the 6th lifting drive double output shaft hydraulic motor to start reverse turning Dynamic, the 6th lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is risen to position shown in Fig. 1, and the 6th lifting drives double output shaft hydraulic pressure Motor stops rotating backward, and installs nut and has worked；

10. ballast backfilling working: engineering truck traction track car moves to right, automatically identifies sleeper rail by pattern recognition system The number of outer bolt image, makes railcar move to right four sleeper pitches, and engineering truck is parked in cmos image sensor and the pillow that switches tracks The position that outside bolt is coaxial, ballast collection arranging device is positioned at directly over the pillow that switches tracks, and the second dither motor is started working, and two Individual stone removing door driving cylinder piston rod starts synchronization and stretches out, and promotes two the first push-pull bars and two the second push-pull bars, makes two Stone removing door synchronous hunting is to position shown in Figure 15, and the ballast in stone storehouse to be collected rushes down to fall completely and switches tracks between the sleeper of pillow both sides, the Two dither motors quit work, and two stone removing doors drive cylinder piston rod to start to synchronize to retract, and pull two the first push-and-pulls Bar and two the second push-pull bars, make two stone removing door synchronous hunting to position shown in Fig. 1, and ballast backfilling working completes；

11. road shoulders and railway roadbed correction of the flank shape work: engineering truck traction track car moves to right, and is automatically identified rail by pattern recognition system The number of pillow rail outer bolt image, makes railcar move to right two sleeper pitches, and bucket device is positioned on the pillow end of the pillow that switches tracks Side, hydraulic oil makes the first telescopic drive hydraulic motor start to rotate forward, and drives screw rod to rotate forward, and square nut promotes second Square tube shape telescopic arm stretches out, and second party tubular telescopic arm is entrusted bucket device and moved out, and the second laser displacement sensor is measured Its with second range finding reference plate displacement signal, control the first telescopic drive hydraulic motor and bucket hydraulic jack work, with Time hydraulic oil make second lifting drive double output shaft hydraulic motor start to rotate forward, left-handed screw and right handed screw promote respectively First connecting rod and second connecting rod translation, make symmetrically arranged two first series connection parallelogram lindages and the second parallel four limits of series connection The most each two pairs of swing link synchronous backswings of shape mechanism, the second lowering or hoisting gear is entrusted bucket device and is declined, by the 3rd laser Its displacement signal with double output shaft hydraulic motor of displacement sensor, controls the second lifting and drives double output shaft hydraulic pressure horse Reaching and work with bucket hydraulic jack, when the bucket tooth of bucket is close to road shoulder ballast, bucket hydraulic cylinder piston rod stretches out promotion even Bar moves, and makes bucket forward swing suitable angle, it is simple to combine in bucket by unnecessary ballast, when bucket moves to during road shoulder correction of the flank shape During shoulder base angle, road, the first telescopic drive hydraulic motor and the second lifting drive double output shaft hydraulic motor to stop rotating forward, Fig. 8 Shown position, hydraulic oil makes the first telescopic drive hydraulic motor start to rotate backward, and drives screw rod to rotate backward, and square nut draws Dynamic second party tubular telescopic arm is retracted, and second party tubular telescopic arm entrusts bucket device inward, and the second lifting simultaneously drives Double output shaft hydraulic motor starts to rotate backward, and left-handed screw and right handed screw pull first connecting rod and second connecting rod to synchronize respectively Translation, makes the most each two right of symmetrically arranged two first series connection parallelogram lindages and the second series connection parallel-crank mechanism Swing link synchronous swings in opposite directions, and the second lowering or hoisting gear is entrusted bucket device and risen, the first telescopic drive hydraulic motor and the second lifting Drive double output shaft hydraulic motor to coordinate to rotate backward, make the stringcourse that movement locus is isosceles trapezoid road shoulder of bucket bucket tooth, enter Trade shoulder correction of the flank shape, when bucket moves to bucket tooth to railway roadbed upper surface, it is anti-that the second lifting drives double output shaft hydraulic motor to stop To rotation, road shoulder correction of the flank shape terminates, and the first telescopic drive hydraulic motor continues to rotate backward, and the movement locus of bucket bucket tooth is straight Line, bucket hydraulic cylinder piston rod is slowly retracted and is pulled link motion simultaneously, makes the slow backswing of bucket, combines in the stone in bucket Quarrel skids off, and with finishing pillow end railway roadbed, when bucket bucket tooth is close to pillow end, bucket hydraulic cylinder piston rod stops retracting, second liter Fall drives double output shaft hydraulic motor to start to rotate backward, and second party tubular telescopic arm is entrusted bucket device and risen to shown in Fig. 1 During position, the first telescopic drive hydraulic motor and the second lifting drive double output shaft hydraulic motor to stop rotating backward, and switch tracks Zhen Zhenduan road shoulder and railway roadbed correction of the flank shape end-of-job；

12. tamping flat quarrel work: 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 two row's vibrating spears are positioned at and switch tracks between the sleeper of pillow both sides, figure Position shown in 3, hydraulic oil makes the first lifting drive double output shaft hydraulic motor to start to rotate forward, makes left-handed screw and dextrorotation spiral shell Bar synchronous forward rotates, and makes two first party tubular telescopic arms that left-handed nut and right-handed nut promote respectively with it is connected Tong Bu Stretching out, make two pairs of swing link synchronous of symmetrically arranged two parallelogram lindages swing in opposite directions, the first lowering or hoisting gear is entrusted and is vibrated Assembly declines, and is measured the displacement signal of itself and entablature by the first laser displacement sensor, controls the first lifting and drives double Output shaft hydraulic motor and the work of the first dither motor, when vibrating spear free end is close to the ballast between the sleeper of pillow both sides that switches tracks Time, the first dither motor starts working, and oscillating plate drives two row's vibrating spear dithers, the first lifting to drive double output shaft Hydraulic motor continues to rotate forward, and makes two row's vibrating spears insert railway roadbed ballast appropriate depth, and the first lifting drives double output shaft liquid Pressure motor stops rotating forward, position shown in Fig. 4, and the first dither motor works on to will switch tracks between the sleeper of pillow both sides Ballast tamping is shaken at ordinary times, and the first dither motor quits work, and hydraulic oil makes the first lifting drive double output shaft hydraulic motor Start to rotate backward, make driving left-handed screw and right handed screw synchronous axial system, make left-handed nut and right-handed nut pull respectively with Its two first party tubular telescopic arms being connected synchronize to retract, and the two pairs of forks making symmetrically arranged two parallelogram lindages are same Step backswing, the first lowering or hoisting gear is entrusted the assembly that vibrates and is risen to position shown in Fig. 1, the first lifting driving double output shaft hydraulic pressure Motor quits work, and oil pump quits work, and switched tracks tamping flat quarrel end-of-job between the sleeper of pillow both sides.

In first lowering or hoisting gear, the 3rd lowering or hoisting gear, the 5th lowering or hoisting gear and the 6th lowering or hoisting gear symmetrically arranged two Parallelogram lindage, the entablature making correspondence is the most parallel with sill, changes the right of pillow adapting to straight line and curved rail length section Should work；In second lowering or hoisting gear and the 4th lowering or hoisting gear, symmetrically arranged first series connection parallelogram lindage and the second series connection are flat Row four-bar mechanism, makes corresponding elevating mechanism entablature the most parallel with sill, changes pillow adapting to straight line and curved rail length section Corresponding work；3rd series connection parallelogram lindage makes plate shape entablature parallel with sill all the time, makes servo-actuated balanced support fill Put adaptation straight line and curved rail length section is changed the corresponding of pillow and worked；Symmetrically arranged two parallel four-bar machines in reciprocator Structure, makes moving beam parallel with eighth tubular fixed arm all the time, makes storage sleeper case make translation；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；Synchronization in hydraulic system Valve, it is ensured that the sleeve synchronization telescope of two the first multi-stage expansion shell type oil cylinders；Rigid hanger makes sleeper in handling without swinging, improve Handling sleeper speed.

Two linear Stiffness amount of spring compression in position shown in Fig. 1, servo-actuated Equipoising support apparatus are minimum, elastic force Less, the most symmetrically arranged 6th fork and the second strut are maximum with entablature angle, and two springs are divided by two slide blocks The power on the 6th fork and the second strut that do not acts on is more than its more small power, and the 6th fork and the second strut act on plate shape The vertical component of entablature power is big, makes the deadweight of servo-actuated Equipoising support apparatus receiving plate shape entablature, double output shaft hydraulic motor certainly The summation of the part deadweight of weight, two the first yielding coupling deadweights, two monaural ring bearing deadweights and two screw rods of left-right rotary And balance, servo-actuated Equipoising support apparatus balances with lowering or hoisting gear lifting, in position shown in Fig. 8, and two linear Stiffness springs Decrement is maximum, and elastic force is maximum, and the most symmetrically arranged 6th fork and the second strut are minimum with entablature angle, two bullets The power that spring is respectively acting on the 6th fork and the second fork by two slide blocks is less than maximum flexibility power, the 6th fork and second The vertical component that strut acts on plate shape entablature power is less, make servo-actuated Equipoising support apparatus receiving plate shape entablature deadweight, double The deadweight of output shaft hydraulic motor, two yielding coupling deadweights, two monaural ring bearing deadweights and the portion of two screw rods of left-right rotary The summation of deadweight is divided to balance, it is to avoid two screw rods of left-right rotary bear moment of flexure.

Claims (1)

1. there is the automatic exchange sleeper machine of tamping flat quarrel device, it is characterised in that: it is by tamping flat quarrel device, Dao Jianji road Bed modification device, clear stone device of grabbing bucket, ballast collection arranging device, pillow end clear stone device, sprocket calculus device, four nuts synchronize mounting or dismounting Device, the first rail-lifting equipment, transition and push-and-pull sleeper device, handling sleeper device, electromotor, Hydraulic system and control System cabine Form with railcar.Railcar is provided with multiple castor and two longerons, and tamping is put down quarrel device, road shoulder and railway roadbed modification device, grabbed Struggle against clear stone device, ballast collection arranging device, pillow end clear stone device, sprocket calculus device, four nuts synchronize assembling and disassembling devices, first carry rail Device, transition and push-and-pull sleeper device, handling 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；

Described tamping flat quarrel device is made up of entablature, the first lowering or hoisting gear and the assembly that vibrates, and entablature is provided with two companies Fishplate bar, connecting plate is provided with several bolt hole；

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

Described sill 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 two monaural rings and two symmetrical grooves, recessed Groove is provided with bolt hole；

The first described lifting drive is by first party tubular fixed arm, double output shaft hydraulic motor, two elastic shaft couplings Device, two monaural ring bearings, left-handed screw, left-handed square nut, right handed screw, dextrorotation square nut, two first party tubulars Telescopic arm, two square sliders, four the first bolts and two first hex nuts composition, right handed screw be provided with the first axle journal, Second axle journal and the 3rd axle journal, left-handed screw is the same with right handed screw version, and dextrorotation square nut is provided with two symmetrical spiral shells Stricture of vagina blind hole, left-handed square nut is the same with dextrorotation square nut version, and square slider is provided with axis hole；

Described parallelogram lindage is made up of first party tubular telescopic arm, two forks and entablature；

Being sheathed on right handed screw the second axle journal by monaural ring bearing, dextrorotation square nut screws on right handed screw appropriate location, side Shape slide block set is located on right handed screw the 3rd axle journal, the first hex nut pretension, and yielding coupling makes double output shaft hydraulic motor Right side output shaft is coaxially connected with right handed screw the first axle journal, and first party tubular telescopic arm is sheathed on it from right handed screw right-hand member On, make first party tubular telescopic arm groove bolt hole coaxial with dextrorotation square nut tapped blind hole, two the first bolts revolve respectively Enter the tapped blind hole pretension of dextrorotation square nut, repeat aforementioned assembly operation, by monaural ring bearing, left-handed screw, left-handed square Nut, square slider, the first hex nut, yielding coupling, double output shaft hydraulic motor and first party tubular telescopic arm assemble Integrally, first party tubular fixed arm is sheathed on two first party tubular telescopic arms, makes double output shaft hydraulic motor symmetry solid Being connected in first party tubular fixed arm endoporus upper surface, two monaural ring bearings are fixed on table on first party tubular fixed arm endoporus Face, forms the first lifting drive, and square slider forms moving sets with first party tubular telescopic arm；

By one end of two forks respectively with first party tubular telescopic arm chain connection, the other end of two forks respectively with upper horizontal stroke Beam chain connection, forms parallelogram lindage, repeats aforementioned assembly operation, is symmetrical in entablature and first party tubular fixed arm The vertical plane of symmetry assembles another parallelogram lindage, the first laser displacement sensor symmetry is fixed on first party tubular and fixes Above arm, form the first lowering or hoisting gear；

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

By bolt through entablature connecting plate bolt hole, helical spring is sheathed on bolt, then passes through oscillating plate bolt hole, Being sheathed on bolt by another helical spring, pad is sheathed on bolt again, hex nut pretension, and oscillating plate is real with entablature Existing elasticity connects；Vibrating spear passes oscillating plate circular hole, and the second hex nut pretension, the first dither motor symmetry is fixed on shakes Above dynamic plate, first party tubular fixed arm symmetry is fixed on two longerons of railcar, composition tamping flat quarrel device；

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

The first described entablature assembly is to be passed by second party tubular fixed arm, second party tubular telescopic arm, the second laser displacement Sensor and the second range finding reference plate composition, second party tubular fixed arm is provided with four ears rings, and second party tubular telescopic arm is provided with Two symmetrical grooves, groove is provided with bolt hole；

The first described retractable driving device is by second party tubular fixed arm, hydraulic motor, the first yielding coupling, the first list Earrings bearing, screw rod, square nut, square slider, the first hex nut, two the first bolts and second party tubular telescopic arm group Becoming, screw rod is provided with the first axle journal, the second axle journal and the 3rd axle journal, and square nut is provided with two coaxial threaded blind holes；

Being sheathed on the second axle journal of screw rod by first monaural ring bearing, the first yielding coupling is by the first axle journal of screw rod and liquid The output shaft fixed connection of pressure motor, square nut screws on screw rod appropriate location, and square slider is sheathed on screw rod the 3rd axle journal, and first Hex nut pretension, second party tubular telescopic arm is sheathed thereon from screw rod left end, makes two tapped blind holes of square nut and Two two bolts hole of square tube shape telescopic arm are coaxial, and two the first tools for bolts ' pretensions, second party tubular fixed arm is from hydraulic motor right-hand member Sheathed and hydraulic motor is fixed on second party tubular fixed arm endoporus upper surface thereon, forms the first retractable driving device, Square slider forms moving sets with second party tubular telescopic arm, the second laser displacement sensor is fixed on second party tubular and fixes Above arm, the second range finding reference plate is fixed on above second party tubular telescopic arm；

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

Described first series connection parallelogram lindage be by sill, the first fork, the second fork, two the 3rd forks, first Connecting rod and four the second bolt compositions, first connecting rod is provided with two pairs of coaxial threaded blind holes and left handed threaded hole,

As the second described series connection parallelogram lindage and the first series connection parallelogram lindage composition, it is right that second connecting rod is provided with two Coaxial tapped blind hole and right-handed thread hole, except aforesaid second connecting rod and first connecting rod version are different, remaining owns Component structural form is the same；

The second described lifting drive be by double output shaft hydraulic motor, two the second yielding couplings, left-handed screw, One connecting rod, right handed screw, second connecting rod and two the second monaural ring bearing compositions, right handed screw is provided with the first axle journal and the second axle Neck, left-handed screw is the same with right handed screw version；

Described servo-actuated Equipoising support apparatus is by plate shape entablature, the 3rd series connection parallelogram lindage, the first strut, the second support Bar, slide bar, two slide blocks, two turriform linear Stiffness springs, two the second hex nuts, two the 3rd bolts and two Four 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 3rd 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 third connecting rods and two bearing pin compositions；

By the first fork and sill chain connection, chain connection between the second fork, the 4th fork and three components of sill, the One fork ears ring and the 3rd fork ears ring are coaxial with a pair of first connecting rod left side tapped blind hole, and two the second bolts are the most pre- Tightly, make chain connection between the first fork, the 3rd fork and three components of first connecting rod, the second fork ears ring and another the 3rd On the right of fork ears ring and first connecting rod, a pair tapped blind hole is coaxial, two the second bolts pretensions respectively, make the second fork, another Chain connection between individual 3rd fork and three components of first connecting rod, two the 3rd forks respectively with second party tubular fixed arm hinge Connect, composition the first series connection parallelogram lindage, repeat aforementioned assembly operation, be symmetrical in sill and second party tubular fixed arm The vertical plane of symmetry assemble second series connection parallelogram lindage；

Being sheathed on the second axle journal of right handed screw by second monaural ring bearing, the second yielding coupling is by the first of right handed screw The right-hand member output shaft fixed connection of axle journal and double output shaft hydraulic motor, then another the second monaural ring bearing is sheathed on left-handed screw The second axle journal on, another second yielding coupling is by the first axle journal of left-handed screw and the left end of double output shaft hydraulic motor Output shaft fixed connection, makes left-handed screw and first connecting rod left handed threaded hole axial contact, makes right handed screw and second connecting rod dextrorotation spiral shell Pit axial contact, rotates the output shaft of double output shaft hydraulic motor, makes left-handed screw screw in first connecting rod left handed threaded hole, During right handed screw screws in second connecting rod right-handed thread hole simultaneously, form the second lifting drive；

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 second hex nut pretensions respectively, two slide blocks make turriform linear Stiffness spring fit respectively Work as 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 is coaxial, two the 3rd bolt pretensions respectively, makes 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 the 3rd 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 4th 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；

Double output shaft hydraulic motor symmetry is fixed on plate shape entablature, two the second monaural ring bearings are fixed in plate shape On crossbeam, the 3rd laser displacement sensor symmetry is fixed on below second party tubular fixed arm, forms the second lowering or hoisting gear；

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

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

With arm the second ears ring, cylinder body of hydraulic oil cylinder monaural ring is coaxially penetrated pin hinge be connected, strut monaural ring and arm First ears ring coaxially penetrates pin hinge and connects, and bucket body the second ears ring and arm monaural ring coaxially penetrate pin hinge even Connecing, connecting rod monaural ring coaxially penetrates pin hinge with bucket body the first ears ring and is connected, connecting rod ears ring, strut ears ring and hydraulic pressure Cylinder piston rod monocycle coaxially penetrates pin hinge and connects, and forms the first bucket assembly, and U-shaped suspension rod is solid with arm ring flange Even, form bucket device, U-shaped suspension rod is fixed on second party tubular telescopic arm, composition road shoulder and railway roadbed modification device；

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

The 3rd described lowering or hoisting gear and the composition of the first lowering or hoisting gear and version are the same, carry out and the first lowering or hoisting gear phase Same assembly operation, forms the 3rd lowering or hoisting gear；

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

Second bucket assembly and the first bucket assembly form and version is the same；

With two the second ears rings of arm, two cylinder body of hydraulic oil cylinder monaural rings are coaxially penetrated pin hinge respectively be connected, two Strut monaural ring coaxially penetrates pin hinge with two the first ears rings of arm respectively and is connected, and two bucket body the second ears rings are respectively Coaxially penetrating pin hinge with two monaural rings of arm to be connected, two connecting rod monaural rings are same with two bucket body the first ears rings respectively Axle penetrates pin hinge and connects, and connecting rod ears ring, strut ears ring and hydraulic cylinder piston rod monocycle coaxially penetrate pin hinge Connect, form the first grab mechanisms, eight arm ring flanges are respectively symmetrically and are fixed on two longerons of entablature and two cantilevers On longeron, the composition clear stone device of grab bucket；

Described ballast collection arranging device is by cmos image sensor, casing, two stone removing doors, two collection crossdrift, two calculus Door drive, two collection crossdrift driving means, crossbeam, several second elastic connecting component, the second dither motors and two Individual end cap forms, and crossbeam is provided with several bolt hole, and end cap is provided with sand discharge Tu Zui；

Described casing be provided with base plate, flechette-type bottom, two the first Ji Shicang, the second Ji Shicang, two square cylindrical, two gradually Become isosceles trapezoid groove, four first convex stupefied and two second convex stupefied, base plate is provided with several bolt hole, and flechette-type bottom is provided with several Sieve aperture, the first Ji Shicang is provided with two symmetrical calculus mouths and two Ji Shikou, the second Ji Shicang are provided with two symmetrical calculus Mouth and two Ji Shikou, the first convex stupefied top and bottom are provided with two ears rings of symmetry, and the second convex stupefied top and bottom are provided with the two of symmetry Individual ears ring, stone removing door is provided with two the first monaural rings and four the second monaural rings, collection crossdrift be provided with two the first monaural rings, four Individual second monaural ring and six spill plates；

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

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

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

By two drive hydraulic cylinder piston rod monaural rings respectively with first push-pull bar the first ears ring and the second push-pull bar first Ears ring coaxially penetrates pin hinge and connects, and forms stone removing door driving means；

By two drive hydraulic cylinder piston rod monaural rings respectively with the 3rd push-pull bar the first ears ring and the 4th push-pull bar first Ears ring coaxially penetrates pin hinge and connects, composition collection crossdrift driving means；

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

Two driving hydraulic jacks are respectively fixedly connected with on the medial wall of two square cylindrical, two first push-pull bar the second ears Ring is co-axially inserted pin hinge with two the first monaural rings of stone removing door respectively and is connected, and two second push-pull bar the second ears rings are respectively Be co-axially inserted pin hinge with two the first monaural rings of another stone removing door to be connected, by two driving hydraulic jacks be respectively fixedly connected with in On the lateral wall of two square cylindrical, two the 3rd push-pull bar the second ears rings are coaxial with collection two the first monaural rings of crossdrift respectively Insertion pin hinge connects, and two the 4th push-pull bar the second ears rings are coaxial with two the first monaural rings of another stone removing door respectively Insertion pin hinge connects, and two end caps are respectively fixedly connected with on casing；

By bolt through sill bolt hole, helical spring is sheathed on bolt, then passes through box bottom bolt hole, then will Another helical spring is sheathed on bolt, and pad is sheathed on bolt, hex nut pretension, and casing and crossbeam realize elasticity even Connect；Second dither motor symmetry is fixed on box bottom, and crossbeam symmetry is fixed on two longerons of railcar, CMOS Imageing sensor is fixed on below crossbeam, forms ballast collection arranging device；

Described pillow end clear stone device is by the second entablature assembly, the second retractable driving device, the 4th lowering or hoisting gear, second grabs Bucket device and U-shaped bar composition；

The second described entablature assembly and the first entablature assembly form and version is the same, carries out and the first entablature group The assembly operation that part is identical, forms the second entablature assembly；

The second described retractable driving device is the same with the first retractable driving device composition and version, carries out stretching with first The assembly operation that driving means is identical, forms two retractable driving device；

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

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

Arm ring flange is connected with U-shaped bar, then U-shaped bar is fixed on second party tubular telescopic arm, composition pillow end clear stone dress Put；

Described sprocket calculus device is by the 3rd entablature assembly, the 3rd retractable driving device, the 5th lowering or hoisting gear and two Sprocket calculus device forms；

Described upper 3rd transverse beam assembly is by third party's tubular fixed arm, two third party's tubular telescopic arms, the 4th laser positions Displacement sensor and the 4th range finding reference plate composition, third party's tubular fixed arm is provided with four ears rings, third party's tubular telescopic arm Being provided with two grooves of symmetry, groove is provided with bolt hole；

The 3rd described retractable driving device is the same with the composition of the first lifting drive, except aforesaid third party's tubular is fixed Arm and first party tubular fixed arm version is different, third party's tubular telescopic arm and first party tubular telescopic arm structure form Different, remaining all component structural form is the same；

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

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

Described sprocket calculus assembly is by double output shaft hydraulic motor, two yielding couplings, two sprocket calculus parts, U Shape bar, eight C-shaped-rod and suspension bracket composition, U-shaped bar is provided with two circular flange dishes and square flange, and C-shaped-rod is provided with the first method Blue dish and the second ring flange, suspension bracket is provided with two the first ring flanges and eight the second ring flanges；

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

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

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

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

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

Double output shaft hydraulic motor double output shaft, two yielding couplings and two sprocket wheel wheel shafts are connected, U-shaped bar square flange Dish is fixed on double output shaft hydraulic motor, and eight C-shaped-rod the second ring flanges are respectively symmetrically and are fixed on two square beams, hang Eight the second ring flanges of frame are connected with eight C-shaped-rod the first ring flanges respectively, two circular flange dishes of U-shaped bar and suspension bracket two the One ring flange is respectively fixedly connected with on third party's tubular telescopic arm, forms sprocket calculus device；

It is by the 4th entablature assembly, the 6th lowering or hoisting gear and two nut mounting or dismounting that described sleeper four nut synchronizes assembling and disassembling device Device forms；

The 4th described entablature assembly is made up of four directions tubular fixed arm and two four directions tubular telescopic arms, four directions Tubular fixed arm is provided with two long slot bores of symmetry, and it is recessed with symmetrical two that four directions tubular telescopic arm is provided with two monaural rings Groove, groove is provided with bolt hole；

The 4th described entablature assembly and sill assembly composition is the same, except aforesaid tubular fixed arm orientation, four directions and the One square tube shape fixed arm orientation is different, tubular telescopic arm orientation, four directions and first party tubular telescopic arm orientation different, its Remaining all component structural forms are the same；

The 6th described lowering or hoisting gear is to be swashed by the 6th lifting drive, symmetrically arranged two parallelogram lindages and the 5th Optical displacement sensor forms；

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

Described parallelogram lindage is made up of sill, two forks and four directions tubular telescopic arm, and sill is provided with four Individual ears ring and two symmetrical long slot bores；

Carry out the assembly operation identical with the first lifting drive, form the 6th lifting drive；

By one end of two forks respectively with the four directions tubular telescopic arm chain connection, the other end of two forks respectively with lower horizontal stroke Beam chain connection, forms parallelogram lindage, and the vertical plane of symmetry being symmetrical in four directions tubular fixed arm and sill assembles another One parallelogram lindage, is fixed on the 5th laser displacement sensor symmetry below the tubular fixed arm of four directions, forms the 6th 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, first Hex nut, internal gear, two power transmission shafts, two gears, housing, two the first thrust bearings, two the second thrust bearings, two The interior wide-mouth magnetic coupling box of individual second hex nut, two yielding couplings and two forms, and 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 rotary actuator Ring flange is connected, then circle connecting plate is sheathed on the first spiral rotary actuator six prism shaft part, and the first hex nut is pre- Tightly, internal gear is coaxially connected with circular connecting plate, and geared sleeve is located at power transmission shaft the first axle journal and is connected, and the first thrust bearing is sheathed on On power transmission shaft the second axle journal, power transmission shaft makes the first thrust bearing contact with housing through housing axis hole, and the second thrust bearing is sheathed On power transmission shaft the 3rd axle journal, the second hex nut screws on power transmission shaft thread segment pretension, and yielding coupling makes power transmission shaft the 4th axle Neck is coaxially connected with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, the gear teeth flank of tooth of two gears respectively with The gear teeth face of internal gear, upper cover is connected with shell flange dish, and one end symmetry of two suspension rods is fixed on housing both sides, group Becoming nut assembling and disassembling device, the other end symmetry of two suspension rods is fixed on two sides of the 4th fixed arm, and sill is fixed on track On two side rail inner faces of car, composition sleeper four nut synchronizes assembling and disassembling device；

The first described rail-lifting equipment is by entablature, the 7th lowering or hoisting gear and carries rail assembly and forms,

The 7th described lowering or hoisting gear and the first lowering or hoisting gear form and version is the same, carries out identical with the first lowering or hoisting gear Assembly operation, form the 7th lowering or hoisting gear；

The described rail assembly that carries is by two suspension rods, the 5th square tube shape fixed arm, double output shaft hydraulic motor, two elastic shaft couplings Device, two monaural ring bearings, left-handed screw, the first box type telescopic arm, right handed screw, the second box type telescopic arm and two carry rail liquid Compressing cylinder forms, and suspension rod is provided with the first ring flange and the second ring flange, and the 5th square tube shape fixed arm is provided with two symmetrical semicircles Post holes, left-handed screw is provided with the first axle journal and the second axle journal, and the second right handed screw is the same with left-handed screw version, the first case Type telescopic arm is provided with semicylindrical opening and left-handed motion thread hole, and the second box type telescopic arm is provided with semicylindrical opening and clockwise drive screw thread Hole, carries that rail cylinder body of hydraulic oil cylinder is provided with gusset, piston rod free end is provided with fagging；

Monaural ring bearing is sheathed on left-handed screw the second axle journal, left-handed screw precession the first box type telescopic arm left-handed transmission spiral shell Pit appropriate location, yielding coupling makes output shaft and left-handed screw the first axle journal on the left of double output shaft hydraulic motor coaxially solid Even, repeat aforementioned assembly operation, by another monaural ring bearing, right handed screw, the second box type telescopic arm, yielding coupling and double Output shaft hydraulic motor is assembled into one, and the 5th square tube shape fixed arm is sheathed on the first box type telescopic arm and the second box type telescopic arm On, make double output shaft hydraulic motor symmetry be fixed on the 5th square tube shape fixed arm endoporus upper surface, two monaural ring bearings are connected Above the 5th square tube shape fixed arm endoporus, two carry rail hydraulic jack and are respectively fixedly connected with in the first box type telescopic arm semicylindrical opening With in the second box type telescopic arm semicylindrical opening, making two to carry rail hydraulic jack and be symmetrical arranged, two suspension rod the second ring flanges are symmetrical Being fixed on above the 5th square tube shape fixed arm, composition carries rail assembly, and two suspension rod the first ring flange symmetries are fixed on entablature two Individual side, forms the first rail-lifting equipment；

Described swivel block and push-and-pull sleeper device are by first crossbeam telescopic component, first crossbeam retractable driving device, the first pendulum Dynamic device, four the first forks, crawl and swivel block device, four the first hex nuts and four bolts compositions, the first fork sets There are six prism hole monaural ring and monaural rings；

Described first crossbeam telescopic component is by the 6th square tube shape fixed arm, the 6th square tube shape telescopic arm, the 6th laser displacement Sensor and the 6th range finding reference plate composition, the 6th square tube shape telescopic arm is provided with blind end and two symmetrical grooves, and groove is provided with Bolt hole；

Described first crossbeam retractable driving device is as the first retractable driving device composition, except aforementioned 6th square tube shape is fixed Arm and second party tubular fixed arm version is different, the 6th square tube shape telescopic arm and second party tubular telescopic arm structure form Different, remaining all component structural form is the same；

Carry out the assembly operation identical with the first retractable driving device, form the first reciprocating movement driving device, the 6th laser position Displacement sensor symmetry is fixed on above the 6th square tube shape fixed arm, and the 6th range finding is fixed on the 6th square tube shape telescopic arm with reference to version Face；

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

By on two the most sheathed first diameters of axle being fixed on two multidiameters of sector gear, two multidiameters are each passed through first Two axis holes of casing, make multidiameter the second axle journal and the first casing axis hole form revolute pair, are fixed on sheathed for partial gear On second spiral rotary actuator output shaft, be placed in the first casing, make the gear teeth of partial gear respectively with two fans The gear teeth of shape gear contact along the facewidth, and the second spiral rotary actuator is fixed on the first box bottom, embedded cover plate Two axis holes are sheathed on two multidiameter the 3rd axle journals respectively, make embedded cover plate and the first casing be connected, composition the first pendulum Dynamic device；

Described crawl and swivel block device are by the second casing, the 3rd spiral rotary actuator, hydraulic jack, the first thrust axis Hold, the second thrust bearing, the second hex nut, piston, piston rod, ladder U-bracket, first connecting rod, second connecting rod, two Two forks, two rollers, end cap and two mechanical gripper device compositions, the second casing 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 second fork is provided with list Earrings, pin-and-hole and ears ring；

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

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, The spacing fan-shaped boss of the 3rd spiral rotary actuator output shaft ring flange and the spacing fan-shaped boss of hydraulic jack ring flange is made to put Enter in scallop hole section, make two spacing fan-shaped boss left surfaces contact with scallop hole section the first confined planes, make the first thrust bearing Insert second casing the second circular hole portion, make the 3rd spiral rotary actuator be fixed on the second box bottom, make end cap and Two casings are 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 second 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 second fork monaural rings respectively Enter pin hinge to connect；

The ears ring of four the 3rd 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 3rd 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 second fork Wheel contacts with pressing plate all the time, repeats aforementioned assembly operation, assembles another gripper, and composition captures and swivel block device；

Two the first fork six prism hole monaural rings are sheathed on respectively two multidiameter the one or six prism shaft parts, two the one or six Angle nut pretension respectively, more other two the first fork six prism hole monaural rings are sheathed on two multidiameter the two or six ribs respectively Axis of a cylinder section, other two the first hex nuts respectively pretensions, make one end of four the first forks respectively with the two of two multidiameters End is connected, and four the first fork monaural rings are coaxial with four screwed holes of the second casing respectively, four bolt pretensions respectively, makes four First fork is connected with the second chest hinge respectively, forms in-parallel four-bar mechanism；

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

Described handling sleeper device is by the second rail-lifting equipment, moves back and forth storage sleeper device and rigid hanger hoisting apparatus Composition；

The second described rail-lifting equipment is by second cross beam telescopic component, second cross beam retractable driving device, two the second swings Device, eight forks, eight the first hex nuts, two box connecting rods, eight the first bolts and two flexible shell types carry rail oil Cylinder forms, and fork is provided with six prism hole monaural ring and monaural rings, and box connecting rod is arranged with four bolts hole and semicylindrical opening, stretches Contracting shell type carries that cylinder of rail cylinder body is provided with gusset, piston rod free end is provided with fagging；

Described second cross beam telescopic component is by the 7th square tube shape fixed arm, two the 7th square tube shape telescopic arms, the 7th laser Displacement transducer and the 7th range finding reference plate composition, the 7th square tube shape telescopic arm is provided with blind end, two symmetrical grooves, and groove sets There is bolt hole；

Described second cross beam retractable driving device is the same with the composition of the first lifting drive, except aforesaid 7th square tube shape Fixed arm and first party tubular fixed arm version is different, the 7th square tube shape telescopic arm and first party tubular telescopic arm structure Form is different, and remaining all component structural form is the same；

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

Second pendulous device and the first pendulous device form and version is the same, carries out the assembling identical with the first pendulous device Operation, forms the second pendulous device；

Two fork six prism hole monaural rings are sheathed on two multidiameter the one or six prism shaft parts, two the first hexagonal spiral shells respectively The other pretension of mother stock, more other two fork six prism hole monaural rings are sheathed on two multidiameter the two or six prism shaft parts respectively, Other two the first hex nuts pretension respectively, the one end making four forks is connected with the two ends of two multidiameters respectively, four Four screwed holes of fork monaural ring and box connecting rod are coaxial, four the first bolts respectively pretensions, make four forks respectively with box Connecting rod link connects, and forms in-parallel four-bar mechanism, is respectively fixedly connected with two casings in two the 7th square tube shape telescopic arms Blind end, makes two the second pendulous devices be symmetrical arranged, and two flexible shell types is carried cylinder of rail cylinder body and is respectively fixedly connected with in two casees In type connecting rod semicylindrical opening, forming the second rail-lifting equipment, two that the 7th square tube shape fixed arm symmetry is fixed on railcar vertical Liang Shang；

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

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

The 3rd described crossbeam telescopic component is made up of eighth tubular fixed arm and two eighth tubular telescopic arms, and the 8th Square tube shape fixed arm is provided with two long slot bores of symmetry, and it is recessed with symmetrical two that eighth tubular telescopic arm is provided with two monaural rings Groove, groove is provided with bolt hole；

As the composition of described reciprocating movement driving device and the first lifting drive, except aforesaid eighth tubular is fixed Arm orientation and first party tubular fixed arm orientation is different, eighth tubular telescopic arm orientation and first party tubular telescopic arm orientation Different；Remaining all component structural form is the same；

Described parallelogram lindage is made up of eighth cylinder telescopic arm, two forks and moving beam, and moving beam is provided with two Individual roller；

Carry out the assembly operation identical with the first lifting drive, form reciprocating movement driving device；

By one end of two forks respectively with eighth tubular telescopic arm chain connection, the other end of two forks respectively with movement Crossbeam chain connection, forms parallelogram lindage, repeats aforementioned assembly operation, is symmetrical in eighth tubular fixed arm and mobile horizontal stroke The vertical plane of symmetry of beam assembles another parallelogram lindage, and base plate is fixed on below eighth tubular fixed arm, makes mobile horizontal stroke Two rollers of beam contact with plate upper surface, and the 8th laser displacement sensor symmetry is fixed on eighth tubular fixed arm side Face, forms reciprocator；

Being fixed on by base plate on railcar crossbeam and the 7th square tube shape fixed arm, storage sleeper case is fixed on moving beam, makes The roller of storage sleeper case contacts with substrate, and composition moves back and forth storage sleeper device；

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

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

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

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

End cap symmetry is fixed on second multi-stage expansion shell type oil cylinder the first ring flange, and the 3rd ladder square tube shape telescopic arm is sheathed on On second multi-stage expansion shell type oil cylinder, make second multi-stage expansion shell type oil cylinder the second ring flange and the 3rd ladder square tube shape telescopic arm Blind end is connected, and the second ladder square tube shape telescopic arm is sheathed on the 3rd ladder square tube shape telescopic arm, then by the second ladder square tube Shape fixed arm is sheathed on the second ladder square tube shape telescopic arm, makes end cap be connected with ladder square tube shape fixed arm ring flange, push pedal It is fixed on the 3rd ladder square tube shape telescopic arm blind end, the 9th laser displacement sensor symmetry is fixed on the second ladder square tube shape Fixed arm side, forms telescoping crossbeam device；

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

Being fixed on below entablature by one end symmetry of two pull bars, the other end symmetry of two pull bars is fixed on sill Face, forms rigid hanger；

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

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

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