CN106283991A - A kind of mechanical-electrical-hydraulic integration changes pillow device - Google Patents

Abstract

The invention discloses a kind of mechanical-electrical-hydraulic integration and change pillow device, be made up of rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor, Hydraulic system and control System cabine and railcar.Railcar is provided with multiple castor and two longerons, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor and Hydraulic system and control System cabine are arranged on two longerons of railcar, railcar is drawn by engineering truck, electromotor provides power for oil pump and control system, is provided with fuel tank, oil pump, hydraulic control system and automatic control system in Hydraulic system and control System cabine.The present invention can be automatically by equipment rapid alignment operating position；Can adapt to straight line and curved rail length section is changed the corresponding of pillow and worked；Swivel block and push-and-pull sleeper are integrating device, simple in construction, automatically control, easy to operate, change pillow work efficiency high.

Description

A kind of mechanical-electrical-hydraulic integration changes pillow device

Technical field

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

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 a kind of mechanical-electrical-hydraulic integration and change pillow device.

The present invention be by rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor, hydraulic system and Control system case and railcar composition.Railcar is provided with multiple castor and two longerons, rail-lifting equipment, transition and push-and-pull sleeper dress Put, sleeper handling apparatus, electromotor and Hydraulic system and control System cabine are arranged on two longerons of railcar, railcar by Engineering truck draws, and electromotor provides power for oil pump and control system, is provided with fuel tank, oil in Hydraulic system and control System cabine Pump, hydraulic control system and automatic control system；

Described rail-lifting equipment be by the first telescopic component, the first retractable driving device, four connecting plates, two first turn Dynamic device, two box connectors and two carry cylinder of rail composition, and box connector is provided with semicylindrical opening, carries cylinder of rail cylinder body and sets Gusset, piston rod free end is had to be provided with fagging；

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

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

Two first party tubular telescopic arms are sheathed thereon from the double rod hydraulic jack two ends of dual Piston respectively, make the One square tube shape telescopic arm dividing plate rod hydraulic cylinder piston rod ring flange double with dual Piston is connected, first party tubular fixed arm set It is located on two first party tubular telescopic arms, makes the double rod hydraulic jack square flange symmetry of dual Piston be fixed on first party Tubular fixed arm endoporus upper surface, forms retractable driving device, and the first laser displacement sensor symmetry is fixed on first party tubular Fixed arm side, the first range finding reference plate is fixed on first party tubular telescopic arm side；

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

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

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

The second described telescopic component is by second party tubular fixed arm, second party tubular telescopic arm, the second laser displacement Sensor and the second range finding reference plate composition, second party tubular fixed arm is provided with blind end, and second party tubular telescopic arm is provided with envelope Closed end；

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

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

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

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

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

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

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

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

First casing and the second casing are fixed with one by two connecting plates, and composition swivel block and push-and-pull sleeper device, by second Square tube shape fixed arm symmetry is fixed on two longerons of railcar；

Described sleeper handling apparatus is by moving back and forth storage sleeper device, rigid hanger hoisting apparatus and cmos image Sensor forms；

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, two series connection parallelogram lindages, reciprocating movement driving devices and the Three laser displacement sensor compositions；

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

Described reciprocating movement driving device is stretched out oil cylinder, two connecting rods and motorcycle by double multi-stage expansion shell types pair and forms, Double multi-stage expansion shell types pair are stretched out two final stage extension sleeve free ends of oil cylinder and are provided with monaural ring, and motorcycle has four rolling；

By two the first forks respectively with fixed cross beam chain connection, the first fork ears ring, the second fork ears ring and Connecting rod monaural ring coaxially penetrate pin hinge connect, another the first fork ears ring, another the second fork ears ring, first Connecting rod ears ring and first pair of double oil cylinder monaural ring that stretches out of multi-stage expansion shell type coaxially penetrate pin hinge connection, by two second Fork respectively with moving beam chain connection, composition series connection parallelogram lindage, repeat aforementioned assembly operation, be symmetrical in fixing horizontal stroke Beam and the moving beam vertical plane of symmetry assemble another series connection parallelogram lindage；

Double multi-stage expansion shell types pair are stretched out oil cylinder symmetry be fixed in motorcycle, base plate are fixed on below fixed cross beam, Two rollers making moving beam contact with substrate respectively with the four rolling of motorcycle, and the 3rd laser displacement sensor is symmetrical It is fixed on fixed cross beam side, forms reciprocator；

Base plate is fixed on railcar crossbeam, first party tubular fixed arm and second party tubular fixed arm, stores sleeper Case is fixed on moving beam, makes two rollers of storage sleeper case contact with substrate, and composition moves back and forth storage sleeper Device；

Described rigid hanger hoisting apparatus is by two cantilever beams, telescoping crossbeam device, jack up unit, two pick-and-place rails Pillow device and the 4th laser displacement sensor composition；

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

End cap symmetry is fixed on multi-stage expansion shell type oil cylinder the first ring flange, and the second ladder square tube shape telescopic arm is sheathed on many On the flexible shell type oil cylinder of level, make multi-stage expansion shell type oil cylinder the second ring flange and the second ladder square tube shape telescopic arm blind end solid Even, the first ladder square tube shape telescopic arm is sheathed on the second ladder square tube shape telescopic arm, then by sheathed for ladder square tube shape fixed arm On the first ladder square tube shape telescopic arm, making end cap be connected with ladder square tube shape fixed arm ring flange, push pedal is fixed on second-order Ladder square tube shape telescopic arm blind end, is fixed on ladder square tube shape fixed arm side by the 4th laser displacement sensor symmetry, composition Telescoping crossbeam device；

Described jack up unit is by entablature assembly, the driving means that hoists, symmetrically arranged two parallelogram lindages With the 5th laser displacement sensor composition；

Described entablature assembly is made up of third party's tubular fixed arm and two third party's tubular telescopic arms, third party's cylinder Shape fixed arm is provided with two symmetrical long slot bores and two ears rings, and third party's tubular telescopic arm is provided with blind end and two monaurals Ring；

The described driving means that hoists is the same with the composition of the first retractable driving device, except aforementioned third party's tubular fixed arm , third party tubular telescopic arm different with first party tubular fixed arm version and first party tubular telescopic arm structure form are not Equally, remaining all component structural form is the same；

Described parallelogram lindage is made up of third party's tubular telescopic arm, two forks and sill, and sill sets There are two circular holes；

Carry out the assembly operation identical with the first retractable driving device, form the driving means that hoists, by the one of two forks End respectively with third party's tubular telescopic arm chain connection, the other end of two forks respectively with sill chain connection, composition is flat Row four-bar mechanism, repeats aforementioned assembly operation, and the vertical plane of symmetry being symmetrical in third party's tubular fixed arm and sill assembles another One parallelogram lindage, is fixed on the 5th laser displacement sensor symmetry below third party's tubular fixed arm, and composition hoists Device；

Described pick-and-place sleeper device is by the 3rd spiral rotary actuator, yielding coupling and interior wide-mouth nut group Becoming, the 3rd 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 3rd spiral rotary actuator, the 3rd spiral rotary actuator ring flange is connected In sill upper surface, yielding coupling makes the 3rd spiral rotary actuator output shaft be connected with interior wide-mouth nut axle journal, group Become pick-and-place sleeper device；

Two cantilever beam symmetries being fixed on two longerons of railcar, telescoping crossbeam device ladder square tube shape fixed arm is solid Be connected in below two cantilever beam cantilevers, two ears rings of third party's tubular fixed arm respectively with the second ladder square tube shape telescopic arm Two monaural ring coaxial bolts connect, cmos image sensor is fixed on outside railcar longeron, forms sleeper handling apparatus.

The invention has the beneficial effects as follows:

1. can be automatically by equipment rapid alignment operating position；

2. can adapt to straight line and curved rail length section is changed the corresponding of pillow and worked；

3. swivel block and push-and-pull sleeper are integrating device, simple in construction, automatically control, 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 rail-lifting equipment duty schematic perspective view of the present invention.

Fig. 3 is that the rail-lifting equipment sidewall of the present invention cuts off working state schematic perspective view open.

Fig. 4 is the first retractable driving device exploded perspective schematic diagram of the present invention.

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

Fig. 6 is two connecting plates, the box connector of the present invention and carries rail hydraulic jack schematic perspective view.

Fig. 7 is the swivel block of the present invention and push-and-pull sleeper device sidewall cuts duty schematic perspective view open

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

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

Figure 10 is crawl and the swivel block device exploded perspective schematic diagram of the present invention.

Figure 11 is the rail-lifting equipment of the present invention and swivel block and push-and-pull sleeper device duty schematic perspective view.

Figure 12 is rail-lifting equipment and the sleeper handling apparatus duty schematic perspective view of the present invention.

Figure 13 is the reciprocator schematic perspective view of the present invention.

Figure 14 is the storage sleeper case schematic perspective view of the present invention.

Figure 15 is the telescoping crossbeam device exploded perspective schematic diagram of the present invention.

Figure 16 is the driving means exploded perspective schematic diagram that hoists of the present invention.

Figure 17 is the left view of Fig. 1.

Figure 18 is close-up schematic view at the D in Figure 17.

Detailed description of the invention

Refer to shown in Fig. 1, the present invention be by rail-lifting equipment 8, transition and push-and-pull sleeper device 9, sleeper handling apparatus 16, Electromotor 18, Hydraulic system and control System cabine 19 and railcar 20 form.Railcar is provided with multiple castor 201 and two longerons 202, rail-lifting equipment 8, transition and push-and-pull sleeper device 9, sleeper handling apparatus 16, electromotor 18 and Hydraulic system and control 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 control system Power is provided, in Hydraulic system and control System cabine 19, is provided with fuel tank, oil pump, hydraulic control system and automatic control system；

Referring to shown in Fig. 2 to Fig. 6, described rail-lifting equipment 8 is by first telescopic component the 81, first retractable driving device 82, four connecting plate 84, two box connectors 85 of 83, two the first tumblers and two carry cylinder of rail 86 and form, box Connector 85 is provided with semicylindrical opening 851, carries that cylinder of rail 86 cylinder body is provided with gusset 861, piston rod free end is provided with fagging 862；

The first described telescopic component 81 be by 811, two first party tubular telescopic arms 812 of first party tubular fixed arm, First laser displacement sensor 813 and the first range finding reference plate 814 form, and first party tubular telescopic arm 812 is provided with dividing plate 8121；

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

Two first party tubular telescopic arms 812 are sheathed on it from double rod hydraulic jack 821 two ends of dual Piston respectively On, make the double rod hydraulic cylinder piston rod ring flange of first party tubular telescopic arm dividing plate 8121 and dual Piston 8221 be connected, the One square tube shape fixed arm 811 is sheathed on two first party tubular telescopic arms 812, makes the double rod hydraulic jack of dual Piston square Ring flange 8211 symmetry is fixed on first party tubular fixed arm 811 endoporus upper surface, forms retractable driving device 82, the first laser Displacement transducer 813 symmetry is fixed on first party tubular fixed arm 811 side, and the first range finding reference plate 814 is fixed on first party Tubular telescopic arm 812 side；

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

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

Referring to shown in Fig. 7 to Figure 10, described swivel block and push-and-pull sleeper device 9 are by the second telescopic component 90, second 92, two connecting plates 93 of retractable driving device the 91, second tumbler and crawl and swivel block device 94 form；

The second described telescopic component 90 is by second party tubular fixed arm 901, second party tubular telescopic arm 902, second Laser displacement sensor 903 and the second range finding reference plate 904 form, and second party tubular fixed arm 901 is provided with blind end 9011, the Two square tube shape telescopic arms 902 are provided with blind end 9021；

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

Second party tubular telescopic arm 902 is sheathed on two-way ram oil cylinder 911, two-way ram cylinder piston rod method Blue dish 9113 is connected with second party tubular telescopic arm blind end 9021, then second party tubular fixed arm 901 is sheathed on second party On tubular telescopic arm 902, two-way ram cylinder flange dish 9112 is made to be connected with second party tubular fixed arm blind end 9011, group Becoming the second retractable driving device 91, two-way ram oil cylinder 911 and second party tubular telescopic arm 902 to form moving sets, second swashs Optical displacement sensor 903 symmetry is fixed on second party tubular fixed arm 901 side, and the second range finding reference plate 904 is fixed on second Square tube shape telescopic arm 902 side；

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

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

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

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

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

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

First casing 844 is fixed with one by two connecting plates 93 with the second casing 941, composition swivel block and push-and-pull sleeper device 9, second party tubular fixed arm 901 symmetry is fixed on two longerons 202 of railcar；

Refer to shown in Figure 11 to Figure 18, described sleeper handling apparatus 16 be by move back and forth storage sleeper device 160, Rigid hanger hoisting apparatus 168 and cmos image sensor 175 form；

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 162, two series connection parallelogram lindage 163, moves back and forth driving Device 165 and the 3rd laser displacement sensor 166 form；

Described series connection parallelogram lindage 163 be by 1631, two the first forks 1632 of fixed cross beam, connecting rod 1633, Two the second forks 1634 and moving beam 1635 form, and connecting rod 1633 is provided with monaural ring 16331 and ears ring 16332, mobile Crossbeam 1635 is provided with two rollers 16351；

Described reciprocating movement driving device 165 is to be stretched out oil cylinder 1651, two connecting rod 1633 by double multi-stage expansion shell types are double Forming with motorcycle 1652, double multi-stage expansion shell types pair are stretched out 1,651 2 final stage extension sleeve free ends of oil cylinder and are provided with monaural ring 16511, motorcycle 1652 has four rolling 16521；

By two the first forks 1632 respectively with fixed cross beam 1631 chain connection, the first fork 1632 ears ring, second Fork 1634 ears ring and connecting rod monaural ring 16331 coaxially penetrate pin hinge and connect, another the first fork 1632 ears ring, Another the second fork 1634 ears ring, first connecting rod ears ring 6332 and first pair of multi-stage expansion shell type pair stretch out oil cylinder monaural Ring 16511 coaxially penetrate pin hinge connect, by two the second forks 1634 respectively with moving beam 1635 chain connection, composition Series connection parallelogram lindage 163, repeats aforementioned assembly operation, is symmetrical in fixed cross beam and the moving beam vertical plane of symmetry assembles another One series connection parallelogram lindage 163；

Double multi-stage expansion shell types pair are stretched out oil cylinder 1651 symmetry be fixed in motorcycle 1652, base plate 162 is fixed on Determine below crossbeam 1631, make the four rolling 16521 of two rollers 16351 of moving beam and motorcycle respectively with on base plate 162 Face contacts, and the 3rd laser displacement sensor 166 symmetry is fixed on fixed cross beam 1631 side, forms reciprocator 165；

Base plate 162 is fixed on railcar 20 crossbeam, first party tubular fixed arm 811 and second party tubular fixed arm 901 On, storage sleeper case 167 is fixed on moving beam 1635, makes above two rollers 1671 and the base plate 162 of storage sleeper case Contact, composition moves back and forth storage sleeper device 160；

Described rigid hanger hoisting apparatus 168 is by two cantilever beams 169, telescoping crossbeam device 170, jack up unit 171, two pick-and-place sleeper devices 172 and the 4th laser displacement sensor 173 form；

Described telescoping crossbeam device 170 is by ladder square tube shape fixed arm the 1701, first ladder square tube shape telescopic arm 1702, the second ladder square tube shape telescopic arm 1703, multi-stage expansion shell type oil cylinder 1704, end cap 1705 and push pedal 1706 form, rank Ladder square tube shape fixed arm 1701 is provided with ring flange 17011, cylinder shoulder 17012 and long slot bore 17013, the first ladder square tube shape telescopic arm 1702 are provided with 17021, second shoulder 17022 of first shoulder and oblong aperture 17023, and the second ladder square tube shape telescopic arm 1703 is provided with Cylinder shoulder 17031 and two monaural rings 17032, multi-stage expansion shell type oil cylinder 1704 is provided with the first ring flange 17041, the first order is stretched Sleeve 17042, second level extension sleeve 17043 and the second ring flange 17044；

End cap 1705 symmetry is fixed on multi-stage expansion shell type oil cylinder the first ring flange 17041, and the second ladder square tube shape is stretched Arm 1703 is sheathed on multi-stage expansion shell type oil cylinder 1704, makes multi-stage expansion shell type oil cylinder the second ring flange 17044 and second-order Ladder square tube shape telescopic arm 1703 blind end is connected, and the first ladder square tube shape telescopic arm 1702 is sheathed on the second ladder square tube shape and stretches On arm 1703, then ladder square tube shape fixed arm 1701 is sheathed on the first ladder square tube shape telescopic arm 1702, makes end cap 1705 Being connected with ladder square tube shape fixed arm ring flange 17011, push pedal 1706 is fixed on the second ladder square tube shape telescopic arm 1703 and closes End, is fixed on ladder square tube shape fixed arm 1701 side by the 4th laser displacement sensor 173 symmetry, forms telescoping crossbeam device 170；

Described jack up unit 171 be by entablature assembly 1711, the driving means that hoists 1712, symmetrically arranged two put down Row four-bar mechanism 1713 and the 5th laser displacement sensor 1714 form；

Described entablature assembly 1711 is by third party's tubular fixed arm 17111 and two third party's tubular telescopic arms 17114 compositions, third party's tubular fixed arm 17111 is provided with symmetrical two long slot bores 17112 and two ears rings 17113, the Tripartite's tubular telescopic arm 17114 is provided with blind end 17115 and two monaural rings 17116；

The described driving means 1712 that hoists is the same with the composition of the first retractable driving device 82, except aforementioned third party's tubular Fixed arm 17111 and first party tubular fixed arm 811 version is different, third party's tubular telescopic arm 17114 and first party Tubular telescopic arm 812 version is different, and remaining all component structural form is the same；

Described parallelogram lindage 1713 is by third party's tubular telescopic arm 17114, two forks 17131 and sills 17132 compositions, sill 17132 is provided with two circular holes 17133；

Carry out the assembly operation identical with the first retractable driving device 82, form the driving means 1712 that hoists, by two pendulum One end of bar 17131 respectively with third party's tubular telescopic arm 17114 chain connection, the other end of two forks 17131 respectively with Sill 17132 chain connection, forms parallelogram lindage 1713, repeats aforementioned assembly operation, is symmetrical in third party's tubular solid The vertical plane of symmetry of arms 17111 and sill 17132 assembles another parallelogram lindage 1713, is passed by the 5th laser displacement Sensor 1714 symmetry is fixed on below third party's tubular fixed arm 17111, forms jack up unit 171；

Described pick-and-place sleeper device 172 is by the 3rd spiral rotary actuator 1721, yielding coupling 1722 and interior Wide-mouth nut 1723 forms, and the 3rd 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；

3rd spiral rotary actuator 1721 is penetrated in sill circular hole 17133, the 3rd spiral rotary actuator Ring flange 17211 is fixed on sill 1162 upper surface, and yielding coupling 1722 makes the 3rd spiral rotary actuator output shaft 17212 are connected with interior wide-mouth nut axle journal 17231, form pick-and-place sleeper device 172；

Two cantilever beam 169 symmetries are fixed on two longerons 202 of railcar, telescoping crossbeam device 170 ladder square tube Shape fixed arm 1701 is fixed on below two cantilever beam 169 cantilevers, and two ears rings 17113 of third party's tubular fixed arm are respectively Being connected with two monaural ring 17032 coaxial bolts of the second ladder square tube shape telescopic arm, cmos image sensor 175 is fixed on rail Outside road car longeron 202, form sleeper handling apparatus 16.

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

1. pull-out bad sleeper work: using and manually or mechanically cleared up by ballast between the sleeper of bad sleeper both sides, bad sleeper is left Bolt machine oil labelling outside the sleeper rail of second, side, when engineering truck traction track car runs near sleeper to be changed, CMOS The image information that imageing sensor gathers, is identified automatically by pattern recognition system, and makes engineering truck be parked in cmos image sensing The position that device is coaxial with machine oil labelling bolt, swivel block and push-and-pull sleeper device are positioned at directly over bad sleeper, and rail-lifting equipment is positioned at bad On the left of sleeper between sleeper directly over, position shown in Fig. 1, oil pump starts working, and hydraulic oil makes two-way ram cylinder piston rod open Beginning stretches out, and promotes second party tubular telescopic arm to stretch out, and second party tubular telescopic arm entrusts the second tumbler and crawl and swivel block Device moves out, and measures the displacement signal of itself and the second range finding reference plate by being fixed on the second laser displacement sensor, comes Controlling two-way ram oil cylinder, the first spiral rotary actuator and the work of the second spiral rotary actuator, second rotates dress Putting and capture and swivel block device moves out to correct position, two-way ram cylinder piston rod stops stretching out, and its piston rod is opened Beginning to retract, pull the second square tube telescopic arm to retract, the second square tube telescopic arm entrusts the second tumbler and crawl and swivel block device Inward, hydraulic oil makes the first spiral rotary actuator start to rotate forward simultaneously, drives the first casing to rotate forward, the One casing is entrusted and is rotated forward with its second casing being connected, and crawl entrusted by the second casing and swivel block device rotates forward, when the When one casing rotates forward to its spacer pin and cantilever hollow multidiameter connecting plate spacing arc groove end thereof contacts, the second casing torr Band captures and swivel block device rotates forward 90 °, and the first spiral rotary actuator stops rotating forward, the middle position of solenoid directional control valve Make the first spiral rotary actuator pressurize, when two pressing plate inward of gripper are to bad appropriate location, sleeper both sides, Two-way ram cylinder piston rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod stretch out, and promotes first connecting rod and second even Bar moves, and makes symmetrically arranged two the 3rd forks swing in opposite directions, and the roller being articulated with the 3rd fork ears ring pushes down pressing plate, rolling Wheel rolls and makes pressing plate overcome the pulling force of two cylindrically coiled springs to make translation, and two in-parallel four-bar mechanism forwards swing, when During two platen clamp sleepers, the middle position of solenoid directional control valve makes hydraulic jack pressurize；

Hydraulic oil makes the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston start to stretch out, and promotes respectively and it Two the first party tubular telescopic arms being connected synchronize to stretch out, and measure itself and the first range finding reference by the first laser displacement sensor The displacement signal of plate, controls the double rod hydraulic jack of the first telescopic drive dual Piston and the first spiral rotary actuator work Making, two first party tubular telescopic arms are entrusted two the first tumblers respectively and carry cylinder of rail and move out to appropriate location, The double rod hydraulic cylinder piston rod of first telescopic drive dual Piston stops stretching out, and its piston rod starts to retract, pull respectively with Its two first party tubular telescopic arms being connected synchronize to retract, and two first party tubular telescopic arms entrust two first rotations respectively Device and carry cylinder of rail inward, hydraulic oil makes the first spiral rotary actuator start to rotate forward simultaneously, drives first Casing rotates forward, and the first casing is entrusted and rotated forward with its cylinder of rail that carries being connected, and limits to it when the first casing rotates forward When position pin is with cantilever hollow multidiameter connecting plate spacing arc groove end thereof contacts, carries cylinder of rail and rotate forward 90 °, the first spiral pendulum Hydrodynamic pressure motor stops rotating forward, and the middle position of solenoid directional control valve makes the first spiral rotary actuator pressurize, when carrying cylinder of rail When inward is to its cylinder body and rail lower flange contacts side surfaces, its gusset upper surface contacts with below rail, and first stretches The double rod hydraulic cylinder piston rod of dual Piston is driven to stop retracting；

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

Hydraulic oil makes the second spiral rotary actuator start to rotate forward, and makes hydraulic jack entrust gripper forward and turns Dynamic, gripper makes sleeper rotate forward, when the second 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 second spiral swings hydraulic pressure Motor stops rotating forward, and hydraulic oil makes two-way ram cylinder piston rod start to stretch out, and gripper pulls bad sleeper to outward transport Dynamic, when bad sleeper moves out to end face thereafter and above rail lower flange trailing flank is coplanar, two-way ram oil cylinder piston Bar stops stretching out, and hydraulic oil makes the second spiral rotary actuator start to rotate backward, and makes hydraulic jack entrust gripper reverse Rotating, gripper makes sleeper rotate backward, when the second spiral rotary actuator ring flange and the spacing sector of cylinder flange dish are convex When platform and the contact of second casing scallop hole the first confined planes, gripper makes sleeper rotate backward 90 °, position shown in Figure 11, and second Spiral rotary actuator stops rotating backward；

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

Hydraulic oil makes two-way ram cylinder piston rod start to stretch out, and second party tubular telescopic arm entrusts the second tumbler Moving out to appropriate location with crawl and swivel block device, two-way ram cylinder piston rod stops stretching out, and hydraulic oil makes first Spiral rotary actuator starts to rotate backward, and drives the first casing to rotate backward, the first casing entrust with its be connected second Casing rotates backward, and crawl entrusted by the second casing and swivel block device rotates backward, when the first casing rotates backward to its spacer pin When multidiameter connecting plate hollow with the cantilever spacing arc groove other end contacts, crawl entrusted by the second casing and swivel block device reversely turns Dynamic 90 °, the first spiral rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes the second spiral rotary actuator Pressurize, hydraulic oil make two-way ram cylinder piston rod start retract, second party tubular telescopic arm entrust the second tumbler and Capturing and swivel block device inward is to position shown in Fig. 1, two-way ram cylinder piston rod stops retracting；

Hydraulic oil makes to carry cylinder of rail piston rod to start to retract, and its piston rod hauls fagging and moves upward, and rail falls to former Position, pushes down bad sleeper so that it is upper surface is parallel with two rail lower surfaces, carries cylinder of rail piston rod and is retracted to stop, high Force feed makes the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston start to stretch out, and makes two first party tubular telescopic arms Entrust the first tumbler and carry cylinder of rail and move out to appropriate location, the double rod hydraulic oil of the first telescopic drive dual Piston Cylinder piston rod stops stretching out, and hydraulic oil makes the first spiral rotary actuator start to rotate backward, and drives the first casing reversely to turn Dynamic, two the first casings are entrusted respectively and are carried cylinder of rail with its two be connected and rotate backward, when the first casing rotates backward to it When spacer pin multidiameter hollow with the cantilever connecting plate spacing arc groove other end contacts, carry cylinder of rail and rotate backward 90 °, the first spiral shell Rotation rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes the first spiral rotary actuator pressurize；First stretches Contracting drives the double rod hydraulic cylinder piston rod of dual Piston to start to retract, and makes two the first tumblers and carries cylinder of rail and inwardly transport Moving to position shown in Fig. 1, the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston stops retracting, and pulls out bad sleeper work Work terminates；

2. handling bad sleeper work: engineering truck traction track car moves to right, and is automatically identified that by pattern recognition system sleeper is firm The number of rail outer bolt image, makes railcar move to right a sleeper pitch, and rail-lifting equipment is positioned on the right side of bad sleeper between adjacent sleeper Surface, hydraulic oil makes the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston start to stretch out, makes two first party Tubular telescopic arm is entrusted two the first tumblers respectively and carries cylinder of rail and move out to appropriate location, and the first telescopic drive is double The double rod hydraulic cylinder piston rod of piston type stops stretching out, and it starts to retract, and makes two first party tubular telescopic arms entrust respectively Two the first tumblers and carry cylinder of rail inward, hydraulic oil makes the first spiral rotary actuator start forward to turn simultaneously Dynamic, make to carry cylinder of rail when rotating forward 90 °, the first spiral rotary actuator stops rotating forward, the middle position of solenoid directional control valve Make the first spiral rotary actuator pressurize, when carrying cylinder of rail inward to its cylinder body and rail lower flange contacts side surfaces, Its gusset upper surface contacts with below rail, and the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston stops contracting Return；

Hydraulic oil makes the double sleeve stretching out oil cylinder of double multi-stage expansion shell type start to stretch out, and it is multistage that both sides synchronize to stretch out successively Sleeve promotes two connecting rod translations, makes each two pairs of swing link synchronous in left and right of symmetrically arranged two series connection parallelogram lindages dorsad Swinging, make 2 second fork pulls moving beam to left movement, moving beam entrusts storage sleeper case to left movement, by the Three laser displacement sensors measure its displacement signals of stretching out oil cylinder double with double multi-stage expansion shell types, control double multi-stage expansion set Formula is double stretches out cylinder efficient, when store sleeper case move to the left to store bad sleeper position in storehouse immediately below pick-and-place sleeper device time, The double final stage sleeve stretching out oil cylinder of double multi-stage expansion shell types stops stretching out, reciprocating movement driving device by motorcycle support about freely Motion；

Hydraulic oil makes multi-stage expansion shell type oil cylinder second level extension sleeve start to stretch out with first order extension sleeve, promotes the Two ladder square tube shape telescopic arms stretch out, and the second ladder square tube shape telescopic arm is entrusted lowering or hoisting gear and moved out, when the second ladder side Tubular telescopic arm extend out to its shoulder when touching with first ladder second shoulder grafting of square tube shape telescopic arm, multi-stage expansion shell type oil cylinder the Two grades of extension sleeves start to stretch out, and promote the second ladder square tube shape telescopic arm to stretch out, and the second ladder square tube shape telescopic arm pulls One ladder square tube shape telescopic arm stretches out, and measures by being fixed on the 4th laser displacement sensor of ladder square tube shape fixed arm side Its displacement signal with push pedal, controls multi-stage expansion shell type cylinder efficient, when the interior wide-mouth nut of two, pick-and-place sleeper device with When having been pulled out that inside the bad sleeper between sleeper, two bolts are coaxial, multi-stage expansion shell type oil cylinder second level extension sleeve stops stretching Go out；

Hydraulic oil makes to hoist and drives the double rod hydraulic cylinder piston rod of dual Piston to start to retract, and pulls respectively and is connected with it Two third party's tubular telescopic arms synchronize to retract, make two pairs of forks of symmetrically arranged two parallelogram lindages relative under Crossbeam synchronous hunting in opposite directions, jack up unit entrust pick-and-place sleeper device decline, by the 5th laser displacement sensor measure its with The displacement signal of sill, controls the hoist double rod hydraulic jack of driving dual Piston and the 3rd spiral rotary actuator work Make, above two interior wide-mouth nuts and sleeper two, inner side bolt close to time, hydraulic oil makes two the 3rd spirals swing hydraulic pressure Motor starts to rotate forward, and makes two interior wide-mouth nut forward synchronous axial system respectively by two yielding couplings, when in two Wide-mouth nut screws on two bolts in inner side above sleeper, and two the 3rd spiral rotary actuators rotate forward to hard-over, Position shown in Figure 12, two the 3rd spiral rotary actuators stop rotating forward, and hoist the double rod hydraulic pressure of driving dual Piston Cylinder piston rod stops retracting；

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

Hydraulic oil makes multi-stage expansion shell type oil cylinder second level extension sleeve start to stretch out, and promotes the second ladder square tube shape to stretch Arm stretches out, and the second ladder square tube shape telescopic arm pulls the first ladder square tube shape telescopic arm to stretch out, the second ladder square tube shape telescopic arm Entrust jack up unit to move out, when bad sleeper is extracted out from rail by jack up unit, the multi-stage expansion shell type oil cylinder second level Extension sleeve stops stretching out；

Hydraulic oil makes to hoist and drives the double rod hydraulic cylinder piston rod of dual Piston to start to stretch out, and promotes respectively and is connected with it Two third party's tubular telescopic arms synchronize to stretch out, make two pairs of forks of symmetrically arranged two parallelogram lindages relative under Crossbeam synchronous hunting dorsad, jack up unit is entrusted bad sleeper and is risen to suitable height, hoists and drives the double rod hydraulic pressure of dual Piston Cylinder piston rod stops stretching out, and hydraulic oil makes multi-stage expansion shell type oil cylinder second level extension sleeve start to retract, and pulls second-order Ladder square tube shape telescopic arm is retracted, and when push pedal contacts with the first ladder square tube shape telescopic arm, second level extension sleeve is with the first order Extension sleeve is retracted, and the second ladder square tube shape telescopic arm draws push pedal to retract, and push pedal promotes the first ladder square tube shape telescopic arm to retract, Second ladder square tube shape telescopic arm entrusts jack up unit inward, and when jack up unit, to entrust bad sleeper inward bad to storing Time directly over sleeper storehouse, multi-stage expansion shell type oil cylinder first order extension sleeve stops retracting, and hydraulic oil makes the driving double-piston that hoists The double rod hydraulic cylinder piston rod of formula starts to retract, and jack up unit is entrusted bad sleeper and declined, when bad sleeper declines close to sleeper storehouse The end or previously put into bad sleeper time, hydraulic oil makes two the 3rd spiral rotary actuators start to rotate backward, in making two Wide-mouth nut reverse sync rotates, and when bad sleeper is discharged in storehouse, two the 3rd spiral rotary actuators stop reversely turning Dynamic, the double rod hydraulic cylinder piston rod of driving dual Piston that hoists stops retracting, and it starts to stretch out, and jack up unit rises to Fig. 1 Shown position, the double rod hydraulic cylinder piston rod of driving dual Piston that hoists stops stretching out, handling bad sleeper end-of-job；

3. handling is well placed sleeper work: hydraulic oil makes the double sleeve stretching out oil cylinder of double multi-stage expansion shell type start to retract, The multi-stage sleeve that both sides synchronize to retract successively pulls two connecting rod translations, makes symmetrically arranged two series connection parallelogram lindages The each two pairs of fork synchronous hunting in opposite directions in left and right, make two to promote moving beam to move right the second fork, and moving beam entrusts storage Deposit sleeper case to move right, when store sleeper case move right to stored sleeper position in storehouse immediately below pick-and-place sleeper device time, The double chopped-off head sleeve stretching out oil cylinder of double multi-stage expansion shell types stops retracting；

Hydraulic oil makes to hoist and drives the double rod hydraulic cylinder piston rod of dual Piston to start to retract, and jack up unit entrusts pick-and-place Sleeper device declines, above two interior wide-mouth nuts and good sleeper two, inner side bolt close to time, hydraulic oil makes two the 3rd Spiral rotary actuator starts to rotate forward, when two interior wide-mouth nuts have screwed on above sleeper two bolts in inner side, and two 3rd spiral rotary actuator rotates forward to hard-over, and two the 3rd spiral rotary actuators stop rotating forward, The double rod hydraulic cylinder piston rod of driving dual Piston that hoists stops retracting, and its piston rod starts to stretch out, and jack up unit is entrusted Sleeper rises to suitable height, and the double rod hydraulic cylinder piston rod of driving dual Piston that hoists stops stretching out；

Hydraulic oil makes the extension sleeve of multi-stage expansion shell type oil cylinder stretch out step by step, makes the second ladder square tube shape telescopic arm entrust Jack up unit moves out, and has entrusted sleeper when jack up unit and has moved out to appropriate location, and hydraulic oil makes the dual Piston that hoists Double rod hydraulic cylinder piston rods start to retract, lifting device entrusted sleeper drop to its when contacting with railway roadbed, hoist and drive The double rod hydraulic cylinder piston rod of dynamic dual Piston stops retracting；

Hydraulic oil makes multi-stage expansion shell type oil cylinder second level extension sleeve start to retract, the second ladder square tube shape telescopic arm torr Band jack up unit inward, has made sleeper penetrate under rail, has made sleeper rear end face with above rail lower flange trailing flank altogether During face, position shown in Figure 12, multi-stage expansion shell type oil cylinder second level extension sleeve stops retracting；

Hydraulic oil makes to carry cylinder of rail piston rod to start to retract, and makes rail fall to original position, is pushed down by good sleeper so that it is on Surface and two rail lower surface parastates, carry cylinder of rail piston rod and be retracted to stop, and hydraulic oil makes the first telescopic drive double The double rod hydraulic cylinder piston rod of piston type starts to stretch out, and makes the first tumbler and carries cylinder of rail and move out to suitable position Putting, the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston stops stretching out, and hydraulic oil makes the first spiral swing hydraulic pressure Motor starts to rotate backward, and drives the first casing to rotate backward, and two the first casings are entrusted respectively and carried rail with its two be connected Oil cylinder rotates backward, when the first casing rotate backward to its spacer pin and the cantilever hollow multidiameter spacing arc groove of connecting plate another During end in contact, carrying cylinder of rail and rotate backward 90 °, the first spiral rotary actuator stops rotating backward, in solenoid directional control valve Position makes the first spiral rotary actuator pressurize；The double rod hydraulic cylinder piston rod of first telescopic drive dual Piston starts contracting Return, make two the first tumblers and carry cylinder of rail inward to position shown in Fig. 1, the first telescopic drive dual Piston double go out Bar hydraulic cylinder piston rod stops retracting；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, when the 3rd spiral rotary actuator reversely turns When moving to hard-over, having discharged sleeper, the 3rd spiral rotary actuator stops rotating backward, and the driving dual Piston that hoists is double Rod hydraulic cylinder piston rod starts to stretch out, and jack up unit is entrusted pick-and-place sleeper device and risen to suitable height, and hydraulic oil makes many The extension sleeve of the flexible shell type oil cylinder of level is retracted step by step, makes the second ladder square tube shape telescopic arm entrust jack up unit inward extremely Position shown in Fig. 1, the driving double rod hydraulic cylinder piston rod of dual Piston that hoists stops stretching out, the of multi-stage expansion shell type oil cylinder One-level extension sleeve stops retracting, and handling is well placed sleeper and has worked；

4. advanced sleeper to work: engineering truck traction track car moves to left, automatically identified that by pattern recognition system sleeper is firm The number of rail outer bolt image, makes railcar move to left a sleeper pitch, swivel block and push-and-pull sleeper device and has been positioned at above sleeper, Directly over rail-lifting equipment has been positioned on the right side of sleeper between sleeper, hydraulic oil makes two-way ram cylinder piston rod start to stretch out, and makes the Two tumblers and crawl and swivel block device move out, when the second square tube telescopic arm extend out to stop, and two-way ram oil Cylinder piston rod stops stretching out,

Hydraulic oil makes the first spiral rotary actuator start to rotate forward, and makes the second casing entrust crawl and swivel block device Rotating forward 90 °, the first spiral rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes the first spiral swing liquid Pressure motor pressurize, hydraulic oil makes two-way ram cylinder piston rod start to retract, and makes the second tumbler and crawl and swivel block dress Put inward, when two presser motions of gripper are in time finishing changing appropriate location, sleeper both sides, position shown in Figure 11, double cropping Stopping retracting with piston oil-cylinder piston rod, hydraulic oil makes hydraulic cylinder piston rod stretch out, when two platen clamp sleepers, and electromagnetism The middle position of reversal valve makes hydraulic jack pressurize；

Hydraulic oil makes the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston start to stretch out, and makes two first party Tubular telescopic arm is entrusted two the first tumblers respectively and carries cylinder of rail and move out to appropriate location, and the first telescopic drive is double The double rod hydraulic cylinder piston rod of piston type stops stretching out, and it starts to retract, and makes two first party tubular telescopic arms entrust respectively Two the first tumblers and carry cylinder of rail inward, hydraulic oil makes the first spiral rotary actuator start forward to turn simultaneously Dynamic, make to carry cylinder of rail when rotating forward 90 °, the first spiral rotary actuator stops rotating forward, the middle position of solenoid directional control valve Make the first spiral rotary actuator pressurize, when carrying cylinder of rail inward to its cylinder body and rail lower flange contacts side surfaces, Its gusset upper surface contacts with below rail, and the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston stops contracting Return；

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

Hydraulic oil makes the second spiral rotary actuator start to rotate forward, when making gripper make sleeper rotate forward 90 °, Second spiral rotary actuator stops rotating forward, and hydraulic oil makes two-way ram cylinder piston rod start to retract, and makes machinery Pawl has promoted sleeper inward, is a good sleeper inward to shown in Fig. 1 during position, and hydraulic oil makes two-way ram oil cylinder live Stopper rod stops retracting, and hydraulic oil makes the second spiral rotary actuator start to rotate backward, makes gripper make sleeper rotate backward When 90 °, the second spiral rotary actuator stops rotating backward；

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

Hydraulic oil makes two-way ram cylinder piston rod start to stretch out, and second party tubular telescopic arm entrusts the second tumbler Moving out to appropriate location with crawl and swivel block device, hydraulic oil makes two-way ram cylinder piston rod stop stretching out, high pressure Oil makes the first spiral rotary actuator start to rotate backward, and makes the second casing entrust crawl and swivel block device rotates backward 90 °, First spiral rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes the first spiral rotary actuator pressurize, Hydraulic oil make two-way ram cylinder piston rod start retract, second party tubular telescopic arm entrust the second tumbler and crawl and Swivel block device inward is to position shown in Fig. 1, and two-way ram cylinder piston rod stops retracting；

Hydraulic oil makes to carry cylinder of rail piston rod to start to retract, and rail falls to original position, carries cylinder of rail piston rod and is retracted to Stop, hydraulic oil makes the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston start to stretch out, makes two the first square tubes Shape telescopic arm is entrusted the first tumbler and carries cylinder of rail and move out to appropriate location, the first telescopic drive dual Piston double go out Bar hydraulic cylinder piston rod stops stretching out, and hydraulic oil makes the first spiral rotary actuator start to rotate backward, and makes to carry cylinder of rail When rotating backward 90 °, the first spiral rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes the first spiral swing Hydraulic motor pressurize；The double rod hydraulic cylinder piston rod of first telescopic drive dual Piston starts to retract, and makes two first rotations Device and carry cylinder of rail inward to position shown in Fig. 1, the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston Stopping retracting, oil pump quits work, and has advanced sleeper end-of-job, tractor traction track car to leave.

Symmetrically arranged two the series connection parallelogram lindages of reciprocator, make to begin in moving beam reciprocating movement The most parallel with fixed cross beam；Yielding coupling and interior wide-mouth nut can effectively adapt to sleeper bolt position deviation, make interior wide-mouth spiral shell Mother easily screws on sleeper bolt；Symmetrically arranged two parallelogram lindages of jack up unit, make third party's tubular telescopic arm with under Crossbeam is the most parallel, to adapt to straight line and the work of curved rail length section pick-and-place sleeper；Jack up unit symmetrically arranged two parallel Four-bar mechanism constitutes rigid hanger, it is to avoid the swing of sleeper in handling, improves handling sleeper speed.

Claims (1)

1. a mechanical-electrical-hydraulic integration changes pillow device, it is characterised in that: it is by rail-lifting equipment, transition and push-and-pull sleeper device, rail Pillow handling apparatus, electromotor, Hydraulic system and control System cabine and railcar composition；Railcar is provided with multiple castor and two and indulges Beam, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor and Hydraulic system and control System cabine are arranged On two longerons of railcar, railcar is drawn by engineering truck, and electromotor provides power, hydraulic pressure system for oil pump and control system It is provided with fuel tank, oil pump, hydraulic control system and automatic control system in system and control system case；

Described rail-lifting equipment is by the first telescopic component, the first retractable driving device, four connecting plates, two the first rotation dresses Put, two box connectors and two carry cylinder of rail composition, and box connector is provided with semicylindrical opening, carry cylinder of rail cylinder body and are provided with and add Power plate, piston rod free end are provided with fagging；

The first described telescopic component is by first party tubular fixed arm, two first party tubular telescopic arms, the first laser displacements Sensor and the first range finding reference plate composition, first party tubular telescopic arm is provided with dividing plate；

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

Two first party tubular telescopic arms are sheathed thereon from the double rod hydraulic jack two ends of dual Piston respectively, make first party Tubular telescopic arm dividing plate rod hydraulic cylinder piston rod ring flange double with dual Piston is connected, and first party tubular fixed arm is sheathed on On two first party tubular telescopic arms, the double rod hydraulic jack square flange symmetry of dual Piston is made to be fixed on first party tubular Fixed arm endoporus upper surface, forms retractable driving device, and the first laser displacement sensor symmetry is fixed on first party tubular and fixes Arm side, the first range finding reference plate is fixed on first party tubular telescopic arm side；

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

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

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

The second described telescopic component is by second party tubular fixed arm, second party tubular telescopic arm, the second laser displacement sensing Device and the second range finding reference plate composition, second party tubular fixed arm is provided with blind end, and second party tubular telescopic arm is provided with blind end；

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

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

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

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

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

By convex for spacing for the second 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 second spiral rotary actuator output shaft ring flange and hydraulic jack ring flange insert second casing the first circular hole portion, Spacing fan-shaped boss left surface contacts with scallop hole section the first confined planes, and the first thrust bearing inserts second casing the second circular hole Section, makes the second spiral rotary actuator be fixed on the second box bottom, makes end cap and the second casing be connected；

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

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

First casing and the second casing are fixed with one by two connecting plates, and composition swivel block and push-and-pull sleeper device, by the second square tube Shape fixed arm symmetry is fixed on two longerons of railcar；

Described sleeper handling apparatus is by moving back and forth storage sleeper device, rigid hanger hoisting apparatus and cmos image sensing Device forms；

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 is to be swashed by base plate, two series connection parallelogram lindages, reciprocating movement driving devices and the 3rd Optical displacement sensor forms；

Described series connection parallelogram lindage is by fixed cross beam, two the first forks, connecting rod, two the second forks and to move horizontal stroke Beam forms, and connecting rod is provided with monaural ring and ears ring, and moving beam is provided with two rollers；

Described reciprocating movement driving device is stretched out oil cylinder, two connecting rods and motorcycle by double multi-stage expansion shell types pair and forms, double many Level flexible shell type pair is stretched out two final stage extension sleeve free ends of oil cylinder and is provided with monaural ring, and motorcycle has four rolling；

By two the first forks respectively with fixed cross beam chain connection, the first fork ears ring, the second fork ears ring and connecting rod Monaural ring coaxially penetrates pin hinge and connects, another the first fork ears ring, another the second fork ears ring, first connecting rod Ears ring and first pair of double oil cylinder monaural ring that stretches out of multi-stage expansion shell type coaxially penetrate pin hinge connection, by two the second forks Respectively with moving beam chain connection, composition series connection parallelogram lindage, repeat aforementioned assembly operation, be symmetrical in fixed cross beam and The moving beam vertical plane of symmetry assembles another series connection parallelogram lindage；

Double multi-stage expansion shell types pair are stretched out oil cylinder symmetry be fixed in motorcycle, base plate is fixed on below fixed cross beam, makes shifting Two rollers of dynamic crossbeam contact with substrate respectively with the four rolling of motorcycle, and the 3rd laser displacement sensor symmetry is connected In fixed cross beam side, form reciprocator；

Being fixed on by base plate on railcar crossbeam, first party tubular fixed arm and second party tubular fixed arm, storage sleeper case is solid Being connected on moving beam, make two rollers of storage sleeper case contact with substrate, composition moves back and forth storage sleeper device；

Described rigid hanger hoisting apparatus is by two cantilever beams, telescoping crossbeam device, jack up unit, two pick-and-place sleeper dresses Put and the 4th laser displacement sensor composition；

Described telescoping crossbeam device is by ladder square tube shape fixed arm, the first ladder square tube shape telescopic arm, the second ladder square tube Shape telescopic arm, multi-stage expansion shell type oil cylinder, end cap and push pedal composition, ladder square tube shape fixed arm is provided with ring flange, cylinder shoulder and length Slotted eye, the first ladder square tube shape telescopic arm is provided with first shoulder, second shoulder and oblong aperture, and the second ladder square tube shape telescopic arm sets Having cylinder shoulder and two monaural rings, multi-stage expansion shell type oil cylinder is provided with the first ring flange, first order extension sleeve, second level telescopic Cylinder and the second ring flange；

End cap symmetry is fixed on multi-stage expansion shell type oil cylinder the first ring flange, and the second ladder square tube shape telescopic arm is sheathed on multistage stretching On contracting shell type oil cylinder, multi-stage expansion shell type oil cylinder the second ring flange and the second ladder square tube shape telescopic arm blind end is made to be connected, the One ladder square tube shape telescopic arm is sheathed on the second ladder square tube shape telescopic arm, then ladder square tube shape fixed arm is sheathed on first On ladder square tube shape telescopic arm, making end cap be connected with ladder square tube shape fixed arm ring flange, push pedal is fixed on the second ladder square tube Shape telescopic arm blind end, is fixed on ladder square tube shape fixed arm side by the 4th laser displacement sensor symmetry, the flexible horizontal stroke of composition Boom device；

Described jack up unit is by entablature assembly, the driving means that hoists, symmetrically arranged two parallelogram lindages and Five laser displacement sensor compositions；

Described entablature assembly is made up of third party's tubular fixed arm and two third party's tubular telescopic arms, and third party's tubular is solid Arms is provided with two symmetrical long slot bores and two ears rings, and third party's tubular telescopic arm is provided with blind end and two monaural rings；

The described driving means that hoists is the same with the composition of the first retractable driving device, except aforementioned third party's tubular fixed arm and One square tube shape fixed arm version is different, third party's tubular telescopic arm and first party tubular telescopic arm structure form differ Sample, remaining all component structural form is the same；

Described parallelogram lindage is made up of third party's tubular telescopic arm, two forks and sill, and sill is provided with two Individual circular hole；

Carry out the assembly operation identical with the first retractable driving device, form the driving means that hoists, one end of two forks is divided Not and third party's tubular telescopic arm chain connection, the other end of two forks respectively with sill chain connection, form parallel four Linkage, repeats aforementioned assembly operation, and the vertical plane of symmetry being symmetrical in third party's tubular fixed arm and sill assembles another Parallelogram lindage, is fixed on the 5th laser displacement sensor symmetry below third party's tubular fixed arm, forms jack up unit；

Described pick-and-place sleeper device is made up of the 3rd spiral rotary actuator, yielding coupling and interior wide-mouth nut, the Three 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 3rd spiral rotary actuator, the 3rd spiral rotary actuator ring flange is fixed on down Beam surface upper, yielding coupling makes the 3rd spiral rotary actuator output shaft be connected with interior wide-mouth nut axle journal, and composition is grabbed Put sleeper device；

Two cantilever beam symmetries being fixed on two longerons of railcar, telescoping crossbeam device ladder square tube shape fixed arm is fixed on Below two cantilever beam cantilevers, two ears rings of third party's tubular fixed arm respectively with the two of the second ladder square tube shape telescopic arm Individual monaural ring coaxial bolts connects, and cmos image sensor is fixed on outside railcar longeron, forms sleeper handling apparatus.