CN106337340A - Replacing sleeper machine with tandem four-bar mechanism - Google Patents

Abstract

The invention discloses a replacement sleeper machine with a tandem four-bar mechanism, which comprises a four-nut synchronous mounting and dismounting device, a first rail lifting device, a transition and push-pull sleeper device, a sleeper hoisting device, a generator, a hydraulic system and a control system box and a rail car. The track vehicle is provided with several casters and two longitudinal beams, a four-nut synchronous mounting and dismounting device, a first rail lifting device, a transition and push-pull sleeper device, a sleeper elevator device, a generator and a hydraulic system, and a control system box are arranged on the two longitudinal beams of the rail car. The rail car is towed by the engineering vehicle. The rail car is capable of quickly aligning the working device with the working position. The invention can quickly align the four nuts so as to achieve the same pre-tightening force of the four nuts, improve the fatigue life of the bolts, and ensure the work of the sleepers and the rails. The sleeper and the sliding sleepers are used as the integrated devices, the shift pillow and the sliding sleepers are integrated devices, the structure is simple and compact, the structure is simple and compact, the operation is convenient, the operation is convenient, and the replacement work efficiency is high.

Description

One kind has the replacing sleeper machine of series connection parallelogram lindage

Technical field

The present invention relates to a kind of railway maintenance machinery, there is particularly to one kind the replacing sleeper of series connection parallelogram lindage Machine.

Background technology

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

Content of the invention

It is an object of the invention to provide one kind has the replacing sleeper machine of series connection parallelogram lindage.

The present invention is by four nut synchronization assembling and disassembling devices, the first rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling Device, electromotor, Hydraulic system and control System cabine and railcar composition.Railcar is provided with multiple castors and two longerons, and four Nut synchronization assembling and disassembling device, the first rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor and hydraulic pressure system System and control system case are arranged on two longerons of railcar, and railcar is drawn by engineering truck, and electromotor is oil pump and control System provides power, is provided with fuel tank, oil pump, hydraulic control system and automatic control system in Hydraulic system and control System cabine；

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

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

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

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

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

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

By the first fork and sill chain connection, between the second fork, the 4th fork and three components of sill, hinge connects Connect, the first fork ears ring, the 3rd fork ears ring and first connecting rod monaural ring coaxially penetrate pin hinge and connect, the second fork It is same that ears ring, another the 3rd fork ears ring, first connecting rod ears ring and double multi-stage expansion shell type pair stretch out oil cylinder monaural ring Axle penetrates pin hinge and connects, composition the first series connection parallelogram lindage, repeats aforementioned assembly operation, is symmetrical in sill and upper The crossbeam vertical plane of symmetry assembles another the first series connection parallelogram lindage；

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

Coaxial, two the second bolts by a pair of tapped blind hole of the first strut ears ring, the second strut ears ring and slide block Pretension, makes chain connection between the first strut, the second strut and three components of slide block, the 6th fork, the 7th fork and second respectively Strut respectively with plate shape entablature chain connection, form servo-actuated Equipoising support apparatus；

Coaxial, two the second bolts by a pair of tapped blind hole of the first strut ears ring, the second strut ears ring and slide block Pretension, makes chain connection between the first strut, the second strut and three components of slide block, the 6th fork, the 7th fork and second respectively Strut and plate shape entablature chain connection, form servo-actuated Equipoising support apparatus；

Double multi-stage expansion shell types pair are stretched out oil cylinder and is fixed on plate shape entablature, by four the 3rd forks and entablature hinge Connect, first laser displacement transducer is symmetrically fixed on below entablature；Composition lowering or hoisting gear；

Described nut assembling and disassembling device be by two suspension rods, the first spiral rotary actuator, Shang Gai, circular connecting plate, Second hex nut, internal gear, two power transmission shafts, two gears, housing, two the first thrust bearings, two the second thrust axis Hold, two the 3rd hex nuts, two yielding couplings and two interior wide-mouth magnetic coupling boxs form, the first spiral swings liquid Pressure motor is provided with ring flange, its output shaft is provided with circular shaft section and six prism shaft parts, is above covered with axis hole, circular connecting plate is provided with six Prism hole, power transmission shaft is provided with the first axle journal, the second axle journal, the 3rd axle journal, the 4th axle journal and thread segment, housing be provided with ring flange and Two axis holes, interior wide-mouth magnetic coupling box is provided with axle journal；

Upper lid is sheathed on the first spiral rotary actuator output shaft circular shaft section, makes lid swing hydraulic pressure with the first spiral Motor ring flange is connected, more circular connecting plate is sheathed on the first spiral rotary actuator output shaft six prism shaft part, and second Hex nut pretension, internal gear is coaxially connected with circular connecting plate, and geared sleeve is connected located at power transmission shaft first axle journal, the first thrust On power transmission shaft second axle journal, power transmission shaft makes the first thrust bearing contact with housing through housing axis hole to bearing holder (housing, cover), and second pushes away On power transmission shaft the 3rd axle journal, the 3rd hex nut screws on power transmission shaft thread segment pretension to power bearing holder (housing, cover), and yielding coupling makes biography Moving axis the 4th axle journal is coaxially connected with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, the gear teeth of two gears The flank of tooth gear teeth face with internal gear respectively, upper lid is connected with shell flange disk, and one end of two suspension rods is symmetrically fixed on Housing both sides, form nut assembling and disassembling device, and the other end of two suspension rods is symmetrically fixed on two sides of entablature, and sill is connected On two side rail inner faces of railcar, composition sleeper four nut synchronization assembling and disassembling device；

Described rail-lifting equipment be by cmos imageing sensor, the first telescopic component, the first retractable driving device, four One connecting plate, two the first tumblers, two box connectors and two carry cylinder of rail composition, and box connector is provided with semicircle Post holes, carries that cylinder of rail cylinder body is provided with gusset, piston rod free end is provided with fagging；

The first described telescopic component is by the first square tube shape fixed arm, two the first square tube shape telescopic arms and second lasers Displacement transducer forms, and the first square tube shape telescopic arm is provided with dividing plate；

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

Two the first square tube shape telescopic arms are sheathed thereon from the double rod hydraulic jack two ends of dual Piston respectively, make the Double rod hydraulic cylinder piston rod ring flanges are connected one square tube shape telescopic arm dividing plate with dual Piston, the first square tube shape fixed arm set On two the first square tube shape telescopic arms, the double rod hydraulic jack square flange of dual Piston is made symmetrically to be fixed on first party Tubular fixed arm endoporus upper surface, forms retractable driving device, and second laser displacement transducer is symmetrically fixed on the first square tube shape Fixed arm upper surface；

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

Second spiral rotary actuator is fixed on the first square tube shape telescopic arm plate front end base plate, hollow cantilever rank Terraced axle sleeve, on the second spiral rotary actuator output shaft, makes cantilever hollow multidiameter connecting plate be fixed on the first square tube shape Telescopic arm end face, the first thrust bearing is sheathed on the hollow multidiameter of cantilever the 3rd axle journal, the first casing cantilever ladder axle sleeve set On the second spiral rotary actuator output shaft, the first thrust bearing is made to insert the first casing cantilever ladder axle sleeve the 3rd axle Set section, cantilever ladder axle sleeve the second axle sleeve section is sheathed on hollow multidiameter second axle journal, and the second thrust bearing is sheathed on cantilever On hollow multidiameter first axle journal, insert cantilever ladder axle sleeve first axle set, the first hex nut screws in the hollow multidiameter of cantilever Thread segment pretension, makes the first casing and cantilever hollow multidiameter chain connection, and circular connecting plate is sheathed on the second spiral and swings liquid Pressure motor output shaft six prism shaft part, makes circular connecting plate and the first casing cantilever ladder axle sleeve free end be connected, the second hexagonal Nut screws on the second spiral rotary actuator output shaft thread segment pretension, makes the second spiral rotary actuator output shaft and One casing is connected, and 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 is fixed on above the first square tube shape telescopic arm, forms the first tumbler, two the first connecting plates make the first casing with Box connector is fixed with one, and two is carried cylinder of rail cylinder body and is respectively fixedly connected with two box connector semicylindrical openings, cmos Imageing sensor is fixed on outside railcar longeron, forms rail-lifting equipment；

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

The second described telescopic component is by the second square tube shape fixed arm, the second square tube shape telescopic arm and the 3rd laser displacement Sensor forms, and the second square tube shape fixed arm is provided with blind end, and the second square tube shape telescopic arm is provided with dividing plate；

The second described retractable driving device is by the second square tube shape fixed arm, two-way ram oil cylinder and the second square tube shape Telescopic arm forms, and two-way ram cylinder block is provided with square slider and ring flange, piston rod free end are provided with ring flange,

Second square tube shape telescopic arm is sheathed on thereon from two-way ram oil cylinder piston rod end, so that the second square tube shape is stretched Arm dividing plate is connected with two-way ram cylinder piston rod ring flange, and the second square tube shape solid is determined arm and opened from the second square tube shape telescopic arm Mouth end is sheathed thereon, so that two-way ram cylinder flange disk and the second square tube solid is determined arm blind end and be connected, composition second is stretched Contracting driving means, two-way ram oil cylinder and the second square tube shape telescopic arm form moving sets, and the 3rd laser displacement sensor is symmetrical It is fixed on above the second square tube shape fixed arm；

The second described tumbler and the first tumbler composition and version the same, carry out and the first tumbler Identical assembly operation, forms the second tumbler；

Described crawl and swivel block device are by the second casing, the 3rd spiral rotary actuator, hydraulic jack, first push away Power bearing, the second thrust bearing, the 3rd hex nut, piston, piston rod, ladder u shape support, 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 the first circular hole portion, fan-shaped hole section, Second circular hole portion, axle sleeve section and the 3rd circular hole portion, the 3rd spiral rotary actuator output shaft is provided with ring flange, and ring flange is provided with Spacing sector boss, fan-shaped hole section is provided with the first confined planes and the second confined planes, hydraulic jack be provided with ring flange, the first axle journal, Second axle journal and the 3rd axle journal, ring flange is provided with spacing sector boss, and piston is provided with axis hole, and piston rod is provided with axle journal and ears Ring, ladder u shape support is provided with flange, axis hole, two slotted eyes, two pin-and-holes, four the first monaural rings and 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 is provided with monaural ring, pin-and-hole and double Earrings；

Described gripper is by ladder u shape support, four the second forks, two helical springs and two pressing plate groups Become, the second fork is provided with two ears rings, and pressing plate is provided with two the first monaural rings and four the second monaural rings；

By spacing for the 3rd spiral rotary actuator output shaft ring flange sector boss and the spacing fan of hydraulic jack ring flange Shape boss aligns connected, and the first thrust bearing is sheathed on hydraulic jack first axle journal, and hydraulic jack is penetrated the second casing rank Terraced in the hole, makes the 3rd spiral rotary actuator output shaft ring flange and hydraulic jack ring flange insert second casing the first circular hole Section, spacing sector boss left surface is contacted with fan-shaped hole section first confined planes, and the first thrust bearing inserts second casing the second circle Hole section, makes the 3rd spiral rotary actuator be fixed on the second box bottom, so that end cap and the second casing is connected；

Second thrust bearing is sheathed on oil cylinder the 3rd axle journal so as to insert the second casing the 3rd circular hole portion section, piston Bar passes through ladder u shape rack shaft hole, and piston shaft hole sleeve, located at piston rod axle journal, the 3rd hex nut pretension, piston is inserted liquid In compressing cylinder cylinder barrel, ladder u shape bracket flange is penetrated hydraulic jack cylinder barrel and is connected, make oil cylinder second axle journal and the second casing axle Set section chain connection, piston rod ears ring, second connecting rod ears ring and first connecting rod monaural ring are coaxially penetrated pin hinge even Connect, the first fork ears ring coaxially penetrates pin hinge with roller and is connected, the first fork pin-and-hole is coaxial with ladder u shape support pin-and-hole Penetrate 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 coaxially penetrates pin hinge even respectively with four the second monaural rings of ladder u shape support Connect, 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 Individual helical spring one end is connected with two the first monaural rings of ladder u shape support respectively, and two helical spring other ends are respectively It is connected with two the first monaural rings of pressing plate, form gripper, the pulling force of two helical springs, make the rolling hinged with the first fork Wheel is contacted with pressing plate all the time, repeats aforementioned assembly operation, assembles another gripper, composition crawl and swivel block device；

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

The refitting by the second rail-lifting equipment, reciprocating motion storage sleeper device and rigid hanger of described sleeper handling apparatus Put composition；

The second described rail-lifting equipment sets up a range finding reference plate, remaining composition and version than the first rail-lifting equipment Equally；

Carry out and the first rail-lifting equipment identical assembly operation, second laser displacement transducer is symmetrically fixed on first party Tubular fixed arm side, range finding reference plate is fixed on the first square tube shape telescopic arm side, forms the second rail-lifting equipment, by first party Tubular fixed arm is symmetrically fixed on two longerons of railcar；

Described reciprocating motion storage sleeper device is made up of reciprocator and storage sleeper case, stores sleeper case It is provided with two rollers and several sleeper storehouse, wherein left side half sleeper storehouse is used for having stored sleeper, and right side half sleeper storehouse is used for Store bad sleeper.

Described reciprocator is by base plate, fixed cross beam, two double-act-ing hydraulic J-Horners, moving beams and the 4th Laser displacement sensor forms, and double-act-ing hydraulic J-Horner cylinder body is provided with square flange and ring flange, piston rod free end are provided with Ring flange, moving beam is provided with two rollers；

Two double-act-ing hydraulic J-Horner cylinder body ring flanges are symmetrically fixed on fixed cross beam side, two double-action hydraulics Cylinder piston rod ring flange is symmetrically fixed on moving beam side, and base plate is fixed on fixed cross beam lower surface, two double actings Hydraulic jack square flange is fixed on plate upper surface, and two rollers of moving beam are contacted with plate upper surface, and the 4th swashs Optical displacement sensor is symmetrically fixed on fixed cross beam side, forms reciprocator, by base plate be fixed on track car crossbeam and On first square tube shape fixed arm, storage sleeper case is fixed on moving beam, makes two rollers of storage sleeper case and substrate Contact, composition moves back and forth storage sleeper device；

Described rigid hanger hoisting apparatus be by two telescopic cantilever boom devices, telescoping crossbeam device, rigid hanger, two Individual pick-and-place sleeper device and the 5th laser displacement sensor composition；

Described telescopic cantilever boom device is by the first ladder square tube shape fixed arm, the first ladder square tube shape telescopic arm, side Tubular telescopic arm, the first multi-stage expansion shell type oil cylinder, cantilever beam, end plate, cantilever and the 6th laser displacement sensor composition, first Ladder square tube shape fixed arm is provided with ring flange and cylinder shoulder, and the first ladder square tube shape telescopic arm is provided with ring flange and cylinder shoulder, square tube shape Telescopic arm is provided with ring flange and blind end, the first multi-stage expansion shell type oil cylinder be provided with first flange disk, the first extension sleeve, second Extension sleeve and second flange disk, cantilever beam is provided with ring flange；

End plate is symmetrically fixed on the first multi-stage expansion shell type oil cylinder first flange disk, square tube shape telescopic arm is sheathed on first Multi-stage expansion shell type oil cylinder, makes the first multi-stage expansion shell type oil cylinder second flange disk symmetrically be fixed on the closing of square tube shape telescopic arm End, the first ladder square tube shape telescopic arm is sheathed on square tube shape telescopic arm, and the first ladder square tube shape fixed arm is sheathed on the first rank On terraced square tube shape telescopic arm, the first ladder square tube fixed arm ring flange is made to be connected with end plate, cantilever beam ring flange is fixed on square tube On shape telescopic arm blind end, cantilever is fixed on cantilever beam ring flange, and the 6th laser displacement sensor is fixed on cantilever, composition Telescopic cantilever boom device；

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

End cap is symmetrically fixed on the second multi-stage expansion shell type oil cylinder first flange disk, the 3rd ladder square tube shape telescopic arm set On the second multi-stage expansion shell type oil cylinder, the second multi-stage expansion shell type oil cylinder second flange disk is made to stretch with the 3rd ladder square tube shape Contracting arm blind end is connected, and the second ladder square tube shape telescopic arm is sheathed on the 3rd ladder square tube shape telescopic arm, then by the second ladder Square tube shape fixed arm is sheathed on the second ladder square tube shape telescopic arm, so that end cap is connected with ladder square tube shape fixed arm ring flange, Push pedal is fixed on the 3rd ladder square tube shape telescopic arm blind end, and the 5th laser displacement sensor is symmetrically fixed on the second ladder side Tubular fixed arm side, forms telescoping crossbeam device；

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

One end of two pull bars is symmetrically fixed on below entablature, the other end of two pull bars is symmetrically fixed on sill Above, form rigid hanger；

Described pick-and-place sleeper device is by the 4th spiral rotary actuator, the 3rd yielding coupling and interior wide-mouth nut Composition, the 4th spiral rotary actuator is provided with ring flange and output shaft, and interior wide-mouth nut is provided with axle journal；

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

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

The invention has the beneficial effects as follows:

1. quickly equipment can be directed at operating position；

2. it is capable of four nuts synchronously to assemble and disassemble, make four nut pretightning forces consistent, improve the fatigue life of bolt, protect The reliability that card sleeper is connected with rail；

3. can quickly handling and put sleeper work；

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

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

Brief description

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

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

Fig. 3 is the sleeper four nut synchronization assembling and disassembling device working condition schematic perspective view of the present invention.

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

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

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

Fig. 7 is the first rail-lifting equipment and swivel block and the push-and-pull sleeper device off working state schematic perspective view of the present invention.

Fig. 8 is the first rail-lifting equipment and swivel block and the push-and-pull sleeper working state of device schematic perspective view of the present invention.

Fig. 9 be the present invention be that off working state schematic perspective view cut open by the first rail-lifting equipment side wall of the present invention.

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

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

Figure 12 is that two connecting plates of the present invention, box connector and first carry rail hydraulic jack schematic perspective view.

Figure 13 is the crawl of the present invention and working condition schematic perspective view cut open by swivel block device side wall.

Figure 14 is the second cross beam retractable driving device exploded perspective schematic diagram of the present invention.

Figure 15 is the second tumbler exploded perspective schematic diagram of the present invention.

Figure 16 is crawl and the swivel block device exploded perspective schematic diagram of the present invention.

Figure 17 is the handling sleeper device off working state schematic perspective view of the present invention.

Figure 18 be the present invention be that off working state schematic perspective view cut open by the second rail-lifting equipment side wall of the present invention.

Figure 19 is the second cross beam retractable driving device exploded perspective schematic diagram of the present invention.

Figure 20 is the second tumbler exploded perspective schematic diagram of the present invention.

Figure 21 is that two connecting plates of the present invention, box connector and second carry rail hydraulic jack schematic perspective view.

Figure 22 is the handling sleeper working state of device schematic perspective view of the present invention.

Figure 23 is the reciprocator schematic perspective view of the present invention.

Figure 24 is the storage sleeper case schematic perspective view of the present invention.

Figure 25 is the telescopic cantilever boom device exploded perspective schematic diagram of the present invention.

Figure 26 is the telescoping crossbeam device exploded perspective schematic diagram of the present invention.

Figure 27 is the left view of Figure 17.

Figure 28 is close-up schematic view at d in Figure 27.

Specific embodiment

Refer to shown in Fig. 1 and Fig. 2, the present invention be by four nuts synchronization assembling and disassembling devices 7, the first rail-lifting equipment 8, transition and Push-and-pull sleeper device 9, sleeper handling apparatus 15, electromotor 18, Hydraulic system and control System cabine 19 and railcar 20 form.Rail Road car is provided with multiple castors 201 and two longerons 202, four nut synchronization assembling and disassembling devices 7, the first rail-lifting equipment 8, transition and push-and-pull Sleeper device 9, sleeper handling apparatus 15, electromotor 18 and Hydraulic system and control System cabine 19 are arranged on two of railcar and indulge On beam 202, railcar 20 is drawn by engineering truck, and electromotor 18 is oil pump and control system provides power, Hydraulic system and control It is provided with fuel tank, oil pump, hydraulic control system and automatic control system in System cabine 19；

Refer to shown in Fig. 3 to Fig. 6, described sleeper four nut synchronization assembling and disassembling device 7 is by entablature 71, lowering or hoisting gear 72 and two nut assembling and disassembling devices 73 form, entablature 71 is provided with four ears rings 711；

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

Described first series connection parallelogram lindage 721 by sill 7211, the first fork 7212, the second fork 7213, Two the 3rd forks 7213 and first connecting rod 7215 form, and sill 7211 is provided with five ears rings 72111 and two long slot bores 72112, first connecting rod 7215 is provided with monaural ring 72151 and ears ring 72152；

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

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

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

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

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

A pair of tapped blind hole 72452 by the first strut 7242 ears ring, the second strut 7243 ears ring and slide block 7245 Coaxially, two the second bolt 7249 pretensions respectively, make between the first strut 7242, the second strut 7243 and 7,245 3 components of slide block Chain connection, the 6th fork 72414, the 7th fork 72415 and the second strut 7243 are respectively with plate shape entablature 7240 hinge even Connect, form servo-actuated Equipoising support apparatus 724；

A pair of tapped blind hole 23452 by the first strut 2342 ears ring, the second strut 2343 ears ring and slide block 2345 Coaxially, two the second bolt 2349 pretensions respectively, make between the first strut 2342, the second strut 2343 and 2,345 3 components of slide block Chain connection, the 6th fork 72414, the 7th fork 72415 and the second strut 2343 and plate shape entablature 2340 chain connection, group Become servo-actuated Equipoising support apparatus 234；Double multi-stage expansion shell types pair are stretched out oil cylinder 7221 and is fixed on plate shape entablature 7240, by four Individual 3rd fork 7214 and entablature 71 chain connection, first laser displacement transducer 725 is symmetrically fixed on below entablature；Group Become lowering or hoisting gear 72；

Described nut assembling and disassembling device 73 be by two suspension rods 731, the first spiral rotary actuator 732, upper lid 733, Circular connecting plate 734, the second hex nut 735, internal gear 737, two gears 738 of 736, two power transmission shafts, housing 739, two Individual first thrust bearing 740, two the second thrust bearings, 742, two yielding coupling 743 and of 741, two the 3rd hex nuts Two interior wide-mouth magnetic coupling boxs 744 form, and the first spiral rotary actuator 732 is provided with ring flange 7321, its output shaft It is provided with circular shaft section 7322 and six prism shaft parts 7323, upper lid 733 is provided with axis hole 7331, and circular connecting plate 734 is provided with six prism holes 7341, power transmission shaft 737 is provided with the first axle journal 7371, the second axle journal 7372, the 3rd axle journal 7373, the 4th axle journal 7374 and thread segment 7375, housing 739 is provided with ring flange 7391 and two axis holes 7392, and interior wide-mouth magnetic coupling box 744 is provided with axle journal 7441；

Upper lid 733 is sheathed on the first spiral rotary actuator output shaft circular shaft section 7322, makes lid 733 and the first spiral shell Rotation rotary actuator ring flange 7321 is connected, more circular connecting plate 734 is sheathed on the first spiral rotary actuator output Axle six prism shaft part 7323, the second hex nut 735 pretension, internal gear 736 is coaxially connected with circular connecting plate 734, gear 738 It is sheathed on power transmission shaft the first axle journal 7371 to be connected, the first thrust bearing 740 is sheathed on power transmission shaft the second axle journal 7372, power transmission shaft 737 make the first thrust bearing 740 contact with housing 739 through housing axis hole 7392, and the second thrust bearing 741 is sheathed on power transmission shaft On 3rd axle journal 7373, the 3rd hex nut 742 screws on power transmission shaft thread segment 7375 pretension, and yielding coupling 743 makes power transmission shaft 4th axle journal 7374 is coaxially connected with interior wide-mouth magnetic coupling box axle journal 7441, and internal gear 736 is inserted in housing 739, two The gear teeth flank of tooth of gear 738 gear teeth face with internal gear 736 respectively, upper lid 733 and shell flange disk 7391 are connected, and two One end of individual suspension rod 731 is symmetrically fixed on housing 739 both sides, forms nut assembling and disassembling device 73, the other end pair of two suspension rods 731 Claim to be fixed on 71 2 sides of entablature, sill 7211 is fixed on two longeron 202 medial surface of railcar, form sleeper four Nut synchronization assembling and disassembling device 7；

Refer to shown in Fig. 7 to Figure 12, described rail-lifting equipment 8 is by cmos imageing sensor 80, the first telescopic component 81st, 84, two box connector 85 and of 83, two the first tumblers of 82, four the first connecting plates of the first retractable driving device Two carry cylinder of rail 86 and form, and box connector 85 is provided with semicylindrical opening 851, carry cylinder of rail 86 cylinder body and are provided with gusset 861, live Stopper rod free end is provided with fagging 862；

The first described telescopic component 81 is by 811, two the first square tube shape telescopic arm 812 and of the first square tube shape fixed arm Second laser displacement transducer 813 forms, and the first square tube shape telescopic arm 812 is provided with dividing plate 8121；

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

Two the first square tube shape telescopic arms 812 are sheathed on it from double rod hydraulic jack 821 two ends of dual Piston respectively On, so that the double rod hydraulic cylinder piston rod ring flange 8212 of the first square tube shape telescopic arm dividing plate 8121 and dual Piston is connected, the One square tube shape fixed arm 811 is sheathed on two the first square tube shape telescopic arms 812, makes the double rod hydraulic jack of dual Piston square Ring flange 8211 is symmetrically fixed on the first square tube shape fixed arm 811 endoporus upper surface, forms retractable driving device 82, second laser Displacement transducer 813 is symmetrically fixed on the first square tube shape fixed arm 811 upper surface；

The first described tumbler 84 be by the first square tube shape telescopic arm 812, the second spiral rotary actuator 841, Cantilever hollow multidiameter 842, the first thrust bearing 843, the first casing 844, the second thrust bearing 845, the first hex nut 846th, circular connecting plate 847, the second hex nut 848, end cap 849 and equi intensity cantilever 850 form, and the second spiral swings liquid Pressure motor 841 output shaft is provided with thread segment 8411 and six prism shaft parts 8412, and the hollow multidiameter of cantilever 842 is provided with thread segment 8421st, the first axle journal 8422, the second axle journal 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 84411, the 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 There are six prism holes 8471, equi intensity cantilever 850 is provided with pin shaft hole 8501 and ring flange 8502；

Second spiral rotary actuator 841 is fixed on the first square tube shape telescopic arm dividing plate 8121 front end base plate, empty Heart cantilever multidiameter 842 is sheathed on the second spiral rotary actuator output shaft 841, makes cantilever hollow multidiameter connecting plate 8425 are fixed on the first square tube shape telescopic arm 812 end face, and the first thrust bearing 843 is sheathed on the hollow multidiameter of cantilever the 3rd axle journal On 8424, the first casing cantilever ladder axle sleeve 8441 is sheathed on the second spiral rotary actuator 841 output shaft, makes first to push away Power bearing 843 inserts the first casing cantilever ladder axle sleeve the 3rd axle sleeve section 84413, cantilever ladder axle sleeve the second axle sleeve section 84412 It is sheathed on hollow multidiameter the second axle journal 8423, the second thrust bearing 845 is sheathed on cantilever hollow multidiameter the first axle journal On 8422, insert cantilever ladder axle sleeve first axle set 84411, the first hex nut 846 screws in cantilever hollow multidiameter thread segment 8421 pretensions, make the first casing 844 and the hollow multidiameter of cantilever 842 chain connection, and circular connecting plate 847 is sheathed on the second spiral Rotary actuator output shaft six prism shaft part 8412, makes circular connecting plate 847 and the first casing cantilever ladder axle sleeve 8441 certainly It is connected by end, the second hex nut 848 screws on the second spiral rotary actuator output shaft thread segment 8411 pretension, makes the second spiral shell Rotation rotary actuator 841 output shaft and the first casing 844 are connected, and end cap 849 is fixed on the first casing 844, and equal strength is hanged Arm beam pin-and-hole 8501 is sheathed on end cap bearing pin 8491, and equi intensity cantilever ring flange 8502 is fixed on the first square tube shape telescopic arm Above 812, form the first tumbler 84, two the first connecting plates 83 make the first casing 844 and box connector 85 connected Body, two is carried cylinder of rail 86 cylinder body and is respectively fixedly connected with two box connector semicylindrical openings 851, cmos imageing sensor 80 It is fixed on outside railcar longeron 202, form rail-lifting equipment 8；

Refer to shown in Figure 13 to Figure 16, described swivel block and push-and-pull sleeper device 9 are by the second telescopic component 90, second Retractable driving device 91,92, two the second connecting plates 93 of the second tumbler and crawl and swivel block device 94 form；

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

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

Second square tube shape telescopic arm 902 is sheathed thereon from two-way ram oil cylinder 911 tailpiece of the piston rod, make the second square tube Shape telescopic arm dividing plate 9021 is connected with two-way ram cylinder piston rod ring flange 9113, the second square tube shape solid determine arm 901 from Second square tube shape telescopic arm 902 opening is sheathed thereon, makes two-way ram cylinder flange disk 9112 and the second square tube solid Determine arm blind end 9011 to be connected, form the second retractable driving device 91, two-way ram oil cylinder 911 and the second square tube shape telescopic arm 902 formation moving sets, the 3rd laser displacement sensor 903 is symmetrically fixed on above the second square tube shape fixed arm 901；

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

Described crawl and swivel block device 94 are by the second casing 941, the 3rd spiral rotary actuator 942, hydraulic oil Cylinder 943, the first thrust bearing 944, the second thrust bearing 945, the 3rd hex nut 946, piston 947, piston rod 948, ladder u Shape support 949, first connecting rod 950, second connecting rod 952, two rollers 953 of 951, two the first forks, end cap 954 and two machines Machinery claw 955 device forms, and the second casing 941 is provided with the first circular hole portion 9412, fan-shaped hole section 9413, the second circular hole portion 9414, axle Set section 9415 and the 3rd circular hole portion 9416, the 3rd spiral rotary actuator 942 output shaft is provided with ring flange 9421, ring flange 9421 are provided with spacing sector boss 94211, and fan-shaped hole section 9413 is provided with the first confined planes 94131 and the second confined planes 94132, liquid Compressing cylinder 943 is provided with ring flange 9431, the first axle journal 9432, the second axle journal 9433 and the 3rd axle journal 9434, and ring flange 9431 sets Limited location sector boss 94311, piston 947 is provided with axis hole 9471, and piston rod 948 is provided with axle journal 9481 and ears ring 9482, rank Terraced u shape support 949 is provided with flange 9491,9492, two slotted eyes of axis hole, 9494, four the first monaural rings of 9493, two pin-and-holes 9495 and eight the second monaural rings 9496, first connecting rod 950 is provided with ears ring 9501 and monaural ring 9502, and second connecting rod 951 sets There are two ears rings 9511, the first fork 952 is provided with monaural ring 9521, pin-and-hole 9522 and ears ring 9523；

Described gripper 955 is by ladder u shape support 9551, two helical springs 9552 of 949, four the second forks Form with two pressing plates 9553, the second fork 9551 is provided with two ears rings 95511, pressing plate 9553 is provided with two the first monaural rings 95531 and four the second monaural rings 95532；

By spacing for the 3rd spiral rotary actuator output shaft ring flange sector boss 94211 and hydraulic jack ring flange limit 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 the second casing 941 ladder in the hole, makes the 3rd spiral rotary actuator output shaft ring flange 9421 and hydraulic jack method Second casing the first circular hole portion 9413 inserted by blue disk 9431, and spacing sector boss 94211 left surface is spacing with fan-shaped hole section first Face 94131 contacts, and the first thrust bearing 944 inserts second casing the second circular hole portion 9414, makes the 3rd spiral rotary actuator 942 are fixed on the second casing 941 base plate, so that end cap 954 and the second casing 941 is connected；

Second thrust bearing 945 is sheathed on oil cylinder the 3rd axle journal 9434 so as to insert the second casing the 3rd circular hole portion 9416 sections, piston rod 948 passes through ladder u shape rack shaft hole 9492, and piston axis hole 9471 is sheathed on piston rod axle journal 9481, and the 3rd Hex nut 946 pretension, piston 947 is inserted in hydraulic jack 943 cylinder barrel, and ladder u shape bracket flange 9491 is penetrated hydraulic pressure Oil cylinder 943 cylinder barrel is connected, and makes oil cylinder the second axle journal 9433 and the second housing bushing section 9415 chain connection, by piston rod ears ring 9482nd, second connecting rod ears ring 9511 and first connecting rod monaural ring 9502 coaxially penetrate pin hinge and connect, the first fork ears Ring 9523 coaxially penetrates pin hinge with roller 953 and is connected, and the first fork pin-and-hole 9522 is coaxial with ladder u shape support pin-and-hole 9494 Penetrate pin hinge to connect, first connecting rod ears ring 9501 and second connecting rod ears ring 9511 respectively with two the first fork monaurals Ring 9521 coaxially penetrates pin hinge and connects；

The ears ring 95511 of four the second forks 9551 is coaxial with four the second monaural rings 9496 of ladder u shape support respectively Penetrate pin hinge to connect, another ears rings 95511 of four the second forks 9551 respectively with four the second monaural rings of pressing plate 95532 coaxially penetrate pin hinge connects, two helical spring 9552 one end respectively with ladder two the first monaurals of u shape support Ring 9495 is connected, and two helical spring 9552 other ends are connected with two the first monaural rings 95531 of pressing plate respectively, composition machinery Pawl 955, the pulling force of two helical springs 9552, so that the roller 953 hinged with the first fork 9523 is connect with pressing plate 9553 all the time Touch, repeat aforementioned assembly operation, assemble another gripper 955, composition crawl and swivel block device 94；

First casing 844 is fixed with one by two the second connecting plates 93 with the second casing 941, forms swivel block and push-and-pull sleeper Device 9.

Refer to shown in Figure 17 to Figure 28, described sleeper handling apparatus 15 are by the second rail-lifting equipment 150, reciprocating motion storage Deposit sleeper device 160 and rigid hanger hoisting apparatus 168 forms；

Described the second rail-lifting equipment 150 to the first rail-lifting equipment 8 set up one range finding reference plate 1514, remaining composition and Version is the same；

Carry out and the first rail-lifting equipment 8 identical assembly operation, second laser displacement transducer 813 is symmetrically fixed on One square tube shape fixed arm 811 side, range finding reference plate 1514 is fixed on the first square tube shape telescopic arm 812 side, and composition second carries Rail device 150, the first square tube shape fixed arm 811 is symmetrically fixed on two longerons 202 of railcar；

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

Described reciprocator 161 is by base plate 162,163, two double-act-ing hydraulic J-Horners 164 of fixed cross beam, moves Dynamic crossbeam 165 and the 4th laser displacement sensor 166 form, and double-act-ing hydraulic J-Horner 164 cylinder body is provided with square flange 1641 It is provided with ring flange 1643 with ring flange 1642, piston rod free end, moving beam 165 is provided with two rollers 1651；

Two double-act-ing hydraulic J-Horner cylinder body ring flanges 1642 are symmetrically fixed on fixed cross beam 163 side, two double Acting hydraulic actuator piston rod ring flange 1643 is symmetrically fixed on moving beam 165 side, and base plate 162 is fixed on fixed cross beam 163 lower surfaces, two double-act-ing hydraulic J-Horner square flanges 1641 are fixed on base plate 162 upper surface, two of moving beam Roller 1071 and base plate 162 upper surface, the 4th laser displacement sensor 166 is symmetrically fixed on fixed cross beam 163 side, group Become reciprocator 161, base plate 162 is fixed on railcar 20 crossbeam and the first square tube shape fixed arm 1511, store rail Pillow case 167 is fixed on moving beam 165, so that 167 2 rollers 1671 of storage sleeper case is contacted over base plate 162, composition Move back and forth storage sleeper device 160；

Described rigid hanger hoisting apparatus 168 is by two telescopic cantilever boom devices 169, telescoping crossbeam device 170, just Property 171, two pick-and-place sleeper devices 172 of suspension bracket and the 5th laser displacement sensor 173 form；

Described telescopic cantilever boom device 169 is to be stretched by the first ladder square tube shape fixed arm 1691, the first ladder square tube shape Contracting arm 1692, square tube shape telescopic arm 1693, the first multi-stage expansion shell type oil cylinder 1694, cantilever beam 1695, end plate 1696, cantilever 1697 and the 6th laser displacement sensor 1698 form, the first ladder square tube shape fixed arm 1691 is provided with ring flange 16911 and cylinder Shoulder 16912, the first ladder square tube shape telescopic arm 1692 is provided with ring flange 16921 and cylinder shoulder 16922, and square tube shape telescopic arm 1693 sets There are ring flange 16931 and blind end 16932, the first multi-stage expansion shell type oil cylinder 1694 is provided with first flange disk 16941, first stretches Contracting sleeve 16942, the second extension sleeve 16943 and second flange disk 16944, cantilever beam 1695 is provided with ring flange 16951；

End plate 1696 is symmetrically fixed on the first multi-stage expansion shell type oil cylinder first flange disk 16941, square tube shape telescopic arm 1693 are sheathed on the first multi-stage expansion shell type oil cylinder 1694, make the first multi-stage expansion shell type oil cylinder second flange disk 16944 symmetrical It is fixed on square tube shape telescopic arm blind end 16932, the first ladder square tube shape telescopic arm 1692 is sheathed on square tube shape telescopic arm 1693 On, the first ladder square tube shape fixed arm 1691 is sheathed on the first ladder square tube shape telescopic arm 1692, makes the first ladder square tube solid Determine arm ring flange 16911 to be connected with end plate 1696, cantilever beam ring flange 16951 is fixed on square tube shape telescopic arm blind end 16932 On, cantilever 1697 is fixed on cantilever beam ring flange 16951, and the 6th laser displacement sensor 1698 is fixed on cantilever 1697, Composition telescopic cantilever boom device 169；

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

End cap 1705 is symmetrically fixed on the second multi-stage expansion shell type oil cylinder first flange disk 17041, the 3rd ladder square tube Shape telescopic arm 1703 is sheathed on the second multi-stage expansion shell type oil cylinder 1704, makes the second multi-stage expansion shell type oil cylinder second flange disk 17044 and the 3rd ladder square tube shape telescopic arm 1703 blind end be connected, the second ladder square tube shape telescopic arm 1702 is sheathed on the 3rd On ladder square tube shape telescopic arm 1703, then the second ladder square tube shape fixed arm 1701 is sheathed on the second ladder square tube shape telescopic arm On 1702, end cap 1705 is made to be connected with ladder square tube shape fixed arm ring flange 17011, push pedal 1706 is fixed on the 3rd ladder square tube Shape telescopic arm 1703 blind end, the 5th laser displacement sensor 173 is symmetrically fixed on the second ladder square tube shape fixed arm 1701 Side, forms telescoping crossbeam device 170；

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

One end of two pull bars 1712 is symmetrically fixed on below entablature 1711, the other end of two pull bars 1712 is symmetrical It is fixed on above sill 1713, form rigid hanger 171；

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

4th spiral rotary actuator 1721 is penetrated in sill circular hole 17131, the 4th spiral rotary actuator flange Disk 17211 is fixed on above sill 1713, the 3rd yielding coupling 1722 make the 4th spiral rotary actuator output shaft 17212 with Interior wide-mouth nut axle journal 17231 is connected, and forms pick-and-place sleeper device 172；

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

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

1. dismounting nut work: outside second sleeper on the right side of sleeper to be changed, bolt is good with machine oil labelling, and engineering truck draws When vehicle track running is near sleeper to be changed, the image information of cmos imageing sensor collection, automatic by pattern recognition system Identification, makes engineering truck be parked in the cmos imageing sensor position coaxial with machine oil labelling bolt, four interior wide-mouth magnetic plum-blossom sleeves Cylinder is located at directly over four bolts of sleeper to be changed, and hydraulic oil makes hydraulic oil make double multi-stage expansion shell types pair stretch out the many of oil cylinder two ends Level sleeve starts to stretch out step by step, promotes two first connecting rod synchronization translations respectively, makes symmetrically arranged two first series connection parallel Four-bar mechanism each two pairs of fork dorsad synchronous hunting up and down, lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is declined, by first Laser displacement sensor measures the displacement signal of itself and sill, to control double multi-stage expansion shell types pair to stretch out oil cylinder and the first spiral shell Swing hydrodynamic pressure motor operations, when interior wide-mouth magnetic coupling box is sheathed on nut, position shown in Fig. 3, double multi-stage expansion sets The double final stage sleeve stretching out oil cylinder two ends of formula stops stretching out, and it is reversely same that hydraulic oil makes two the first spiral rotary actuators start Step rotates, and drives two circular connecting plates to entrust two internal gears respectively and rotates backward, each internal gear simultaneously with two gears Engagement, drives two drive axis, so that four interior wide-mouth magnetic coupling box reverse sync is rotated, four interior wide-mouth magnetic prunus mume (sieb.) sieb.et zucc.s Flower sleeve synchronously screws off four nuts, and the magnetic of interior wide-mouth magnetic coupling box makes the nut screwing off stay interior wide-mouth magnetic Flos Mume In sleeve, two the first spiral rotary actuators stop rotating backward, and hydraulic oil makes double multi-stage expansion shell types pair stretch out simultaneously The multi-stage sleeve at oil cylinder two ends starts to retract step by step, pulls two first connecting rod synchronization translations respectively, makes symmetrically arranged two The opposite synchronous hunting of each up and down two pairs of forks of the first series connection parallelogram lindage, two nut assembling and disassembling devices entrusted by lowering or hoisting gear Rise to position shown in Fig. 1, the double chopped-off head sleeve stretching out oil cylinder two ends of double multi-stage expansion shell types stops retracting, dismounting nut work Terminate；

2. pull-out bad sleeper work: engineering truck traction track car moves to left, firm by pattern recognition system automatic identification sleeper The number of rail outer bolt image, makes railcar move to left a sleeper pitch, swivel block and push-and-pull sleeper device are just gone up positioned at bad sleeper Side, directly over the first rail-lifting equipment is located on the right side of bad sleeper between sleeper, hydraulic oil makes second cross beam telescopic drive two-way ram Cylinder piston rod starts to stretch out, and promotes the second square tube shape telescopic arm to stretch out, the second square tube shape telescopic arm entrusts the first tumbler Move out with crawl and swivel block device, its displacement letter with equi intensity cantilever is measured by the 3rd laser displacement sensor Number, to control second cross beam telescopic drive two-way ram oil cylinder, the second spiral rotary actuator and the 3rd spiral to swing liquid Pressure motor works, and the first tumbler and crawl and swivel block device move out to appropriate location, and first crossbeam telescopic drive is double Effect piston oil-cylinder piston rod stops stretching out, and hydraulic oil makes the second spiral rotary actuator start to rotate forward, and drives first Casing rotates forward, and the first casing is entrusted the second casing being connected with it and rotated forward, and the second casing entrusts crawl and swivel block dress Put and rotate forward, when the first casing rotates forward to its spacer pin and cantilever hollow multidiameter connecting plate spacing arc groove one termination When tactile, crawl entrusted by the second casing and swivel block device rotates forward 90 °, and the second spiral rotary actuator stops rotating forward, The middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, and hydraulic oil makes first crossbeam telescopic drive double acting simultaneously Piston oil-cylinder piston rod starts to retract, and pulls the second square tube shape telescopic arm to stretch out, makes the second square tube shape telescopic arm entrust first turn Dynamic device and crawl and swivel block device inward, when two pressing plate inward of gripper are to bad sleeper both sides appropriate location When, first crossbeam telescopic drive two-way ram cylinder piston rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod start to stretch Go out, make first connecting rod and second connecting rod promote symmetrically arranged two the first forks to swing in opposite directions respectively, be articulated with the first fork The roller of ears ring pushes down pressing plate, and roller rolls makes pressing plate overcome the pulling force of two cylindrically coiled springs to make translation, two parallel connections Parallelogram lindage is positive to be swung, and when two platen clamp sleepers, the middle position of solenoid directional control valve makes hydraulic jack pressurize；

Hydraulic oil makes the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston start to stretch out, and promotes respectively and it Two connected the first square tube shape telescopic arms synchronously stretch out, by first laser displacement sensor itself and equi intensity cantilever Displacement signal, to control the double rod hydraulic jack of the first telescopic drive dual Piston and the second spiral rotary actuator work Make, two the first square tube shape telescopic arms are entrusted two the first tumblers respectively and carried 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 Two the first square tube shape telescopic arms that it is connected synchronously are retracted, and two the first square tube shape telescopic arms entrust two first rotations respectively Device and carry cylinder of rail inward, hydraulic oil makes the second spiral rotary actuator start to rotate forward simultaneously, drives first Casing rotates forward, and the first casing is entrusted the cylinder of rail that carries being connected with it and rotated forward, when the first casing rotates forward to its limit 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 second spiral pendulum Hydrodynamic pressure motor stops rotating forward, and the middle position of solenoid directional control valve makes the second 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 and starts 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, with carrying constantly stretching out of cylinder of rail piston rod, the cylinder body carrying cylinder of rail is entrusted gusset and is moved upwards, Make rail jack-up, carry cylinder of rail piston rod and stop stretching out, the middle position of solenoid directional control valve makes to propose cylinder of rail pressurize, carries cylinder of rail piston Bar stops stretching out；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, and makes hydraulic jack entrust positive turn of gripper Dynamic, gripper makes sleeper rotate forward, when the 3rd spiral rotary actuator ring flange and the spacing sector of hydraulic jack ring flange When boss is contacted with second casing scallop hole the second confined planes, gripper makes sleeper rotate forward 90 °, and the 3rd spiral swings hydraulic pressure Motor stops rotating forward, and hydraulic oil makes second cross beam telescopic drive two-way ram cylinder piston rod start to stretch out, second party Tubular telescopic arm entrusts the first tumbler and crawl and swivel block device moves out, and gripper pulls bad sleeper to move out, When bad sleeper moves out to end face thereafter and above rail lower flange trailing flank is coplanar, second cross beam telescopic drive double acting Piston oil-cylinder piston rod stops stretching out, and hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and makes hydraulic jack cylinder Body is entrusted gripper and is rotated backward, and gripper makes sleeper rotate backward, when the 3rd spiral rotary actuator ring flange and hydraulic pressure When cylinder flange disk spacing sector boss is contacted with second casing scallop hole the first confined planes, gripper makes sleeper rotate backward 90 °, position shown in Fig. 8, the 3rd 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 to make respectively symmetrically arranged Two the first fork backswings, under the pulling force effect of two cylindrically coiled springs, make two pressing plates make translation, two parallel connections Parallelogram lindage backswing, when two pressing plates and sleeper side disengage and contact, hydraulic cylinder piston rod stops retracting；

Hydraulic oil makes second cross beam telescopic drive two-way ram cylinder piston rod start to stretch out, the second square tube shape telescopic arm Entrust the first tumbler and crawl and swivel block device moves out to appropriate location, second cross beam telescopic drive two-way ram Cylinder piston rod stops stretching out；Hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and drives the first casing reverse Rotate, the first casing is entrusted the second casing being connected with it and rotated backward, crawl entrusted by the second casing and swivel block device reversely turns Dynamic, when the first casing rotates backward to its spacer pin and another end in contact of the spacing arc groove of cantilever hollow multidiameter connecting plate, Crawl entrusted by second casing and swivel block device rotates backward 90 °, and the 3rd spiral rotary actuator stops rotating backward, and electromagnetism changes Make the 3rd spiral rotary actuator pressurize to the middle position of valve, second cross beam telescopic drive two-way ram cylinder piston rod starts Retract, the second square tube shape telescopic arm entrusts the first tumbler and crawl and swivel block device inward to position shown in Fig. 1, the Two crossbeam telescopic drive two-way ram cylinder piston rods stop retracting；

Hydraulic oil makes to carry cylinder of rail piston rod to start to retract, and its piston rod hauls fagging and moves upwards, and rail falls to former Position, bad sleeper is pushed down so as to upper surface is parallel with two rail lower surfaces, carries cylinder of rail piston rod and be 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 the first square tube shape telescopic arms Entrust the first tumbler respectively and carry cylinder of rail and move out to appropriate location, the double rod liquid of the first telescopic drive dual Piston Force feed cylinder piston rod stops stretching out, and hydraulic oil makes the second spiral rotary actuator start to rotate backward, and drives the first casing anti- To rotation, two the first casings are entrusted two being connected with it respectively and are carried cylinder of rail and rotate backward, when the first casing rotates backward During to its spacer pin and another end in contact of the spacing arc groove of cantilever hollow multidiameter connecting plate, carry cylinder of rail and rotate backward 90 °, the Two spiral rotary actuators stop rotating backward, and the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize；The The double rod hydraulic cylinder piston rod of one telescopic drive dual Piston starts to retract, make two the first tumblers and carry cylinder of rail to Inside move 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 rail Pillow end-of-job；

3. handling bad sleeper work: engineering truck traction track car moves to left, firm by pattern recognition system automatic identification sleeper The number of rail outer bolt image, makes railcar move to left four sleeper pitches, and the second rail-lifting equipment is located at adjacent on the right side of sleeper to be changed Directly between sleeper, position shown in Figure 17, hydraulic oil makes the double rod hydraulic cylinder piston of first crossbeam telescopic drive dual Piston Bar starts to stretch out, and promotes two the first square tube shape telescopic arms being connected with it synchronously to stretch out respectively, and two the first square tube shapes are flexible Arm is entrusted two the second tumblers and second respectively and is carried rail hydraulic jack and is outwards synchronized with the movement, by second laser displacement sensing Device measures its displacement signal with range finding reference plate, to control the double rod hydraulic jack of first crossbeam telescopic drive dual Piston and Second spiral rotary actuator work, when two the second tumblers and carry rail hydraulic jack and move out to appropriate location, The double rod hydraulic cylinder piston rod of first crossbeam telescopic drive dual Piston stops stretching out, and hydraulic oil makes the second spiral swing hydraulic pressure Motor starts to rotate forward, and drives the first casing to rotate forward, the first casing entrust with its be connected to carry rail hydraulic jack positive Rotate, when the first casing rotates forward to its spacer pin and the spacing arc groove end thereof contacts of cantilever hollow multidiameter connecting plate, Carry rail hydraulic jack and rotate forward 90 °, the second spiral rotary actuator stops rotating forward, the middle position of solenoid directional control valve makes the Two spiral rotary actuator pressurizes, the double rod hydraulic cylinder piston rod of first crossbeam telescopic drive dual Piston starts to retract, Pull two the first square tube shape telescopic arms being connected with it synchronously to retract respectively, so that two the first square tube shape telescopic arms is entrusted respectively Two the first tumblers and carry rail hydraulic jack and be inwardly synchronized with the movement, when carrying rail hydraulic jack inward to its cylinder body and steel During the contact outside of rail lower flange, carry rail cylinder body of hydraulic oil cylinder gusset upper surface and contact with below rail, first crossbeam stretches and drives The double rod hydraulic cylinder piston rod of dynamic dual Piston stops retracting；

Hydraulic oil makes two double-act-ing hydraulic J-Horner piston rods start synchronous retraction, pulls moving beam to left movement, moves Dynamic crossbeam entrusts storage sleeper case to left movement, measures its displacement letter with fixed cross beam by the 4th laser displacement sensor Number, to control two double-act-ing hydraulic J-Horner work, when storage sleeper case moves to the bad sleeper position in storehouse of storage to the left in pick-and-place rail When immediately below pillow device, two double-act-ing hydraulic J-Horner piston rods stop retracting；

Hydraulic oil makes the second level extension sleeve of the second multi-stage expansion shell type oil cylinder start to stretch out with first order extension sleeve, The 3rd ladder square tube shape telescopic arm is promoted to stretch out, the 3rd ladder square tube shape telescopic arm is entrusted rigid hanger and moved out, when the 3rd Ladder square tube shape telescopic arm extend out to its shoulder with second second shoulder grafting of ladder square tube shape telescopic arm touch when, the second multi-stage expansion Shell type oil cylinder second level extension sleeve starts to stretch out, and promotes the 3rd ladder square tube shape telescopic arm to stretch by first order extension sleeve Go out, the 3rd ladder square tube shape telescopic arm pulls the second ladder square tube shape telescopic arm to stretch out, and is surveyed by the 5th laser displacement sensor Measure the displacement signal of itself and push pedal, to control the second multi-stage expansion shell type cylinder efficient, when two interior wide-mouths of pick-and-place sleeper device When above nut and the bad sleeper having been pulled out between sleeper, two bolts in inner side are coaxial, the second multi-stage expansion shell type oil cylinder second level is stretched Contracting sleeve stops stretching out；

Hydraulic oil makes the sleeve of the first multi-stage expansion shell type oil cylinder start to retract step by step, square tube shape telescopic arm and the first ladder Square tube shape telescopic arm starts to retract successively, and rigid hanger is entrusted pick-and-place sleeper device and declined, by the 5th laser displacement sensor Measure the displacement signal of itself and sill, to control the first multi-stage expansion shell type cylinder efficient, when two interior wide-mouth nuts and rail When above pillow, two bolts in inner side are close, hydraulic oil makes two the 4th spiral rotary actuators start to rotate forward, and makes two Interior wide-mouth nut forward rotates, and when two interior wide-mouth nuts screw on two bolts in inner side above sleeper, swings liquid to the 4th spiral Pressure motor rotates forward to hard-over, position shown in Figure 22, and the 4th spiral rotary actuator stops rotating forward, more than first The first order sleeve of the flexible shell type oil cylinder of level stops retracting；

Hydraulic oil makes the piston rod carrying rail hydraulic jack start to stretch out, and makes rail jack-up, and the middle position of solenoid directional control valve makes to carry Rail hydraulic jack pressurize；

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

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

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

4. handling is well placed sleeper work: hydraulic oil makes two double-act-ing hydraulic J-Horner piston rods start synchronously to stretch out, and pushes away Dynamic moving beam moves right, and moving beam is entrusted storage sleeper case and moved right, when storage sleeper case moves right to storage When good sleeper position in storehouse is immediately below pick-and-place sleeper device, two double-act-ing hydraulic J-Horner piston rods stop stretching out；

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

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

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

Hydraulic oil makes to carry rail hydraulic cylinder piston rod to start to retract, and rail falls to original position, good sleeper is pushed down so as to Upper surface is parallel with two rail lower surfaces, carries rail hydraulic jack and quits work, and hydraulic oil makes first crossbeam telescopic drive dual-active The double rod hydraulic cylinder piston rod of plug starts to stretch out, and makes two the first square tube shape telescopic arms entrust two first respectively and rotates dress Put and carry rail hydraulic jack to move out to appropriate location, the double rod hydraulic cylinder piston of first crossbeam telescopic drive dual Piston Bar stops stretching out, and hydraulic oil makes the second spiral rotary actuator start to rotate backward, when the first casing rotates backward to its limit When position pin is with another end in contact of the spacing arc groove of cantilever hollow multidiameter connecting plate, carries rail hydraulic jack and rotate backward 90 °, second Spiral rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize；First The double rod hydraulic cylinder piston rod of crossbeam telescopic drive dual Piston starts to retract, and makes two the first tumblers and carries rail hydraulic pressure To position shown in Fig. 1, the double rod hydraulic cylinder piston rod of first crossbeam telescopic drive dual Piston stops contracting to oil cylinder inward Return；

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

5. advanced sleeper to work: journey car traction track car moves to right, by the firm rail of pattern recognition system automatic identification sleeper The number of outer bolt image, makes railcar move to right four sleeper pitches, swivel block and push-and-pull sleeper device are located above good sleeper, the Directly over one rail-lifting equipment is located on the right side of good sleeper between sleeper, hydraulic oil makes second cross beam telescopic drive two-way ram oil cylinder live Stopper rod starts to stretch out, and promotes the second square tube shape telescopic arm to stretch out, the second square tube shape telescopic arm entrusts the first tumbler and crawl And swivel block device moves out, when the second square tube shape telescopic arm extend out to stop, second cross beam telescopic drive two-way ram Cylinder piston rod stops stretching out, and hydraulic oil makes the second spiral rotary actuator start to rotate forward, and turns when the first casing is positive When moving to its spacer pin and the spacing arc groove end thereof contacts of cantilever hollow multidiameter connecting plate, the second casing entrusts crawl and swivel block Device rotates forward 90 °, and the 3rd spiral rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes the 3rd spiral pendulum Hydrodynamic pressure motor pressurize；

Hydraulic oil makes second cross beam telescopic drive two-way ram cylinder piston rod start to retract, when two pressures of gripper During plate inward most intimate friend's sleeper both sides appropriate location, position shown in Fig. 8, second cross beam telescopic drive two-way ram oil cylinder is lived Stopper rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod start to stretch out, when two platen clamp sleepers, hydraulic cylinder piston Bar stops stretching out, and the middle position of solenoid directional control valve makes hydraulic jack pressurize；

Hydraulic oil makes the double rod hydraulic cylinder piston 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 is carried 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 so that two the first square tube shape telescopic arms is entrusted respectively Two the first tumblers and carry cylinder of rail inward, simultaneously hydraulic oil make the second spiral rotary actuator start positive turning Dynamic, make to carry cylinder of rail when rotating forward 90 °, the second spiral rotary actuator stops rotating forward, the middle position of solenoid directional control valve Make the second spiral rotary actuator pressurize, when carrying cylinder of rail inward to its cylinder body and rail lower flange contacts side surfaces, Its gusset upper surface contacts with below rail, and the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston stops contracting Return；

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

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, when making gripper make sleeper rotate forward 90 °, 3rd spiral rotary actuator stops rotating forward, and hydraulic oil makes two-way ram cylinder piston rod start to retract, and makes machinery Pawl has promoted sleeper inward, and during position, hydraulic oil makes two-way ram oil cylinder live to shown in Fig. 1 to be a good sleeper inward Stopper rod stops retracting, and hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, makes gripper so that sleeper is rotated backward When 90 °, the 3rd spiral rotary actuator stops rotating backward；

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

Hydraulic oil makes two-way ram cylinder piston rod start to stretch out, and the second square tube shape telescopic arm entrusts the second tumbler Move 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 second spiral rotary actuator start to rotate backward, make the second casing entrust crawl and swivel block device rotate backward 90 °, Second 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, the second square tube shape telescopic arm entrust the second tumbler and crawl and To position shown in Fig. 1, two-way ram cylinder piston rod stops retracting swivel block device inward；

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 be retracted to Stop, hydraulic oil makes the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston start to stretch out, and makes two the first square tubes Shape telescopic arm is entrusted the first tumbler and is carried 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 second spiral rotary actuator start to rotate backward, and makes to carry cylinder of rail When rotating backward 90 °, the second spiral rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes the second spiral swing Hydraulic motor pressurize；First telescopic drive double output shaft hydraulic motor starts to rotate backward, and makes two the first tumblers and carries To position shown in Fig. 1, the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston stops retracting cylinder of rail inward, Advance sleeper end-of-job；

6. nut work is installed: engineering truck traction track car moves to right, the image information of cmos imageing sensor collection, pass through The number of pattern recognition system automatic identification sleeper firm rail outer bolt image, makes railcar move to right a sleeper pitch, four are stayed There is wide-mouth magnetic coupling box in nut coaxial with four bolts on sleeper respectively, hydraulic oil makes the double multi-stage expansion shell type of lifting Double multi-stage sleeves stretching out oil cylinder two ends start to stretch out step by step, and lowering or hoisting gear is entrusted two nut assembling and disassembling devices and declined, and works as decline Nut to interior wide-mouth magnetic coupling box and the pillow threaded bolt contacts that switch tracks, position shown in Fig. 3, the double multi-stage expansion shell type of lifting Double final stage sleeves stretching out oil cylinder two ends stop stretching out, and it is positive synchronous that hydraulic oil makes two the first spiral rotary actuators start Rotate, drive two circular connecting plates to entrust two internal gears respectively and rotate forward, each internal gear is nibbled with two gears simultaneously Close, drive two drive axis, make four interior wide-mouth magnetic coupling box forward direction synchronous axial system, four interior wide-mouth magnetic Flos Mumes Nut in sleeve synchronously screws in four bolts of sleeper pretension, and two the first spiral rotary actuators stop rotating forward, Hydraulic oil makes the double multi-stage sleeve stretching out oil cylinder two ends of the double multi-stage expansion shell type of lifting start to retract step by step, and lowering or hoisting gear entrusts two Individual nut assembling and disassembling device rises to position shown in Fig. 1, and the double chopped-off head sleeve stretching out oil cylinder two ends of the double multi-stage expansion shell type of lifting stops Only retract, nut work is installed and completes；

In lowering or hoisting gear, symmetrically arranged two first series connection parallelogram lindages, make corresponding entablature begin with sill Parallel eventually, change the corresponding work of pillow to adapt to straight line and curved rail length section；Second series connection parallelogram lindage makes horizontal in plate shape Beam is parallel with sill all the time, makes servo-actuated Equipoising support apparatus adaptation straight line and curved rail length section change the corresponding work of pillow；Bullet Property shaft coupling and interior wide-mouth nut can effectively adapt to sleeper bolt position deviation, make interior wide-mouth nut easily screw on sleeper bolt； Synchronous valve in hydraulic system it is ensured that in reciprocator symmetrically arranged two double-act-ing hydraulic J-Horner piston rods synchronously stretch Contracting, makes moving beam parallel with fixed cross beam all the time, makes storage sleeper case make translation it is ensured that two the first multi-stage expansion shell types are oily The sleeve synchronization telescope of cylinder, rigid hanger makes sleeper in handling no swing, and improves handling sleeper speed.

Two linear Stiffness amount of spring compression in position shown in Fig. 1, servo-actuated Equipoising support apparatus are minimum, elastic force Less, now symmetrically arranged 6th fork and the second strut are maximum with entablature angle, and two springs are divided by two slide blocks The power on the 6th fork and the second strut that do not act on is more than its more small power, and the 6th fork and the second strut act on plate shape The vertical component of entablature power is big, makes servo-actuated Equipoising support apparatus bear the deadweight of plate shape entablature and stretches with double multi-stage expansion shell types pair Go out the summation of part deadweight of oil cylinder and balance, servo-actuated Equipoising support apparatus lift with lowering or hoisting gear and balance, in position shown in Fig. 3 Put, two linear Stiffness amount of spring compression are maximum, elastic force is maximum, now symmetrically arranged 6th fork and the second strut with Entablature angle is minimum, two springs pass through the power that two slide blocks are respectively acting on the 6th fork and the second fork be less than maximum The vertical component that elastic force, the 6th fork and the second strut act on plate shape entablature power is less, makes servo-actuated Equipoising support apparatus Bear the deadweight of plate shape entablature and the double summation of part deadweight stretching out oil cylinder of double multi-stage expansion shell type and balance, it is to avoid be double multistage The double multi-stage sleeve stretching out oil cylinder of flexible shell type bears moment of flexure.

Claims (1)

1. one kind have series connection parallelogram lindage replacings sleeper machine it is characterised in that: be by the synchronous assembling and disassembling devices of four nuts, First rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor, Hydraulic system and control System cabine and rail Road car composition；Railcar is provided with multiple castors and two longerons, four nuts synchronization assembling and disassembling devices, the first 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 On, railcar is drawn by engineering truck, and electromotor is oil pump and control system provides power, sets in Hydraulic system and control System cabine There are fuel tank, oil pump, hydraulic control system and automatic control system；

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

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

The first described series connection parallelogram lindage is by sill, the first fork, the second fork, two the 3rd forks and first even Bar forms, and sill is provided with five ears rings and two long slot bores, and first connecting rod is provided with monaural ring and ears ring；

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

Described servo-actuated Equipoising support apparatus are by plate shape entablature, the second series connection parallelogram lindage, the first strut, the second support Bar, slide bar, two slide blocks, two turriform linear Stiffness springs, two the first hex nuts, two the first bolts and two Two bolt compositions, slide bar is provided with fixed disc, is arranged with two light bar segments and two thread segments；Slide block is provided with circular hole and one To coaxial threaded blind hole；

The second described series connection parallelogram lindage is by plate shape entablature, sill, the 4th fork, the 5th fork, the 6th pendulum Bar, the 7th fork, two second connecting rods and two bearing pin compositions；

By the first fork and sill chain connection, chain connection between the second fork, the 4th fork and three components of sill, the One fork ears ring, the 3rd fork ears ring and first connecting rod monaural ring coaxially penetrate pin hinge and connect, the second fork ears Ring, another the 3rd fork ears ring, first connecting rod ears ring and double multi-stage expansion shell type pair are stretched out oil cylinder monaural ring and are coaxially worn Enter pin hinge to connect, composition the first series connection parallelogram lindage, repeat aforementioned assembly operation, be symmetrical in sill and entablature The vertical plane of symmetry assembles another the first series connection parallelogram lindage；

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

A pair of tapped blind hole of the first strut ears ring, the second strut ears ring and slide block is coaxial, and two the second bolts are respectively Pretension, makes chain connection between the first strut, the second strut and three components of slide block, the 6th fork, the 7th fork and the second strut Respectively with plate shape entablature chain connection, form servo-actuated Equipoising support apparatus；

A pair of tapped blind hole of the first strut ears ring, the second strut ears ring and slide block is coaxial, and two the second bolts are respectively Pretension, makes chain connection between the first strut, the second strut and three components of slide block, the 6th fork, the 7th fork and the second strut With plate shape entablature chain connection, form servo-actuated Equipoising support apparatus；

Double multi-stage expansion shell types pair are stretched out oil cylinder and is fixed on plate shape entablature, by four the 3rd forks with entablature hinge even Connect, first laser displacement transducer is symmetrically fixed on below entablature；Composition lowering or hoisting gear；

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

Upper lid is sheathed on the first spiral rotary actuator output shaft circular shaft section, makes lid and the first spiral rotary actuator Ring flange is connected, more circular connecting plate is sheathed on the first spiral rotary actuator output shaft six prism shaft part, the second hexagonal Nut pretension, internal gear is coaxially connected with circular connecting plate, and geared sleeve is connected located at power transmission shaft first axle journal, the first thrust bearing It is sheathed on power transmission shaft second axle journal, power transmission shaft makes the first thrust bearing contact with housing through housing axis hole, the second thrust axis On power transmission shaft the 3rd axle journal, the 3rd hex nut screws on power transmission shaft thread segment pretension to bearing sleeve, and yielding coupling makes power transmission shaft 4th axle journal is coaxially connected with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, the gear teeth flank of tooth of two gears Gear teeth face with internal gear respectively, upper lid is connected with shell flange disk, and one end of two suspension rods is symmetrically fixed on housing Both sides, form nut assembling and disassembling device, and the other end of two suspension rods is symmetrically fixed on two sides of entablature, and sill is fixed on rail On two side rail inner faces of road car, composition sleeper four nut synchronization assembling and disassembling device；

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

The first described telescopic component is by the first square tube shape fixed arm, two the first square tube shape telescopic arms and second laser displacements Sensor forms, and the first square tube shape telescopic arm is provided with dividing plate；

The first described retractable driving device is by the first square tube shape 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 disk；

Two the first square tube shape telescopic arms are sheathed thereon from the double rod hydraulic jack two ends of dual Piston respectively, make first party Double rod hydraulic cylinder piston rod ring flanges are connected tubular telescopic arm dividing plate with dual Piston, and the first square tube shape fixed arm is sheathed on On two the first square tube shape telescopic arms, the double rod hydraulic jack square flange of dual Piston is made symmetrically to be fixed on the first square tube shape Fixed arm endoporus upper surface, forms retractable driving device, and second laser displacement transducer is symmetrically fixed on the first square tube shape and fixes Arm upper surface；

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

Second spiral rotary actuator is fixed on the first square tube shape telescopic arm plate front end base plate, hollow cantilever multidiameter It is sheathed on the second spiral rotary actuator output shaft, make cantilever hollow multidiameter connecting plate be fixed on the first square tube shape and stretch Arm end face, the first thrust bearing is sheathed on the hollow multidiameter of cantilever the 3rd axle journal, and the first casing cantilever ladder axle sleeve is sheathed on On second spiral rotary actuator output shaft, the first thrust bearing is made to insert the first casing cantilever ladder axle sleeve the 3rd axle sleeve Section, cantilever ladder axle sleeve the second axle sleeve section is sheathed on hollow multidiameter second axle journal, and it is empty that the second thrust bearing is sheathed on cantilever On heart multidiameter first axle journal, insert cantilever ladder axle sleeve first axle set, the first hex nut screws in cantilever hollow multidiameter spiral shell Stricture of vagina section pretension, makes the first casing and cantilever hollow multidiameter chain connection, and circular connecting plate is sheathed on the second spiral and swings hydraulic pressure Motor output shaft six prism shaft part, makes circular connecting plate and the first casing cantilever ladder axle sleeve free end be connected, the second hexagonal spiral shell Mother screws on the second spiral rotary actuator output shaft thread segment pretension, makes the second spiral rotary actuator output shaft and first Casing is connected, and 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 method Blue disk is fixed on above the first square tube shape telescopic arm, forms the first tumbler, and two the first connecting plates make the first casing and case Type connector is fixed with one, and two is carried cylinder of rail cylinder body and is respectively fixedly connected with two box connector semicylindrical openings, and cmos schemes As sensor is fixed on outside railcar longeron, form rail-lifting equipment；

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

The second described telescopic component is to be sensed by the second square tube shape fixed arm, the second square tube shape telescopic arm and the 3rd laser displacement Device forms, and the second square tube shape fixed arm is provided with blind end, and the second square tube shape telescopic arm is provided with dividing plate；

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

Second square tube shape telescopic arm is sheathed on thereon from two-way ram oil cylinder piston rod end, make the second square tube shape telescopic arm every Plate is connected with two-way ram cylinder piston rod ring flange, and the second square tube shape solid determines arm from the second square tube shape telescopic arm opening Sheathed thereon, make two-way ram cylinder flange disk and the second square tube solid determined arm blind end and is connected, composition second is flexible to be driven Dynamic device, two-way ram oil cylinder and the second square tube shape telescopic arm form moving sets, and the 3rd laser displacement sensor is symmetrically connected Above the second square tube shape fixed arm；

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

Described crawl and swivel block device are by the second casing, the 3rd spiral rotary actuator, hydraulic jack, the first thrust axis Hold, the second thrust bearing, the 3rd hex nut, piston, piston rod, ladder u shape support, first connecting rod, second connecting rod, two One fork, two rollers, end cap and two mechanical gripper device compositions, the second casing be provided with the first circular hole portion, fan-shaped hole section, second Circular hole portion, axle sleeve section and the 3rd circular hole portion, the 3rd spiral rotary actuator output shaft is provided with ring flange, and ring flange is provided with spacing Fan-shaped boss, fan-shaped hole section is provided with the first confined planes and the second confined planes, hydraulic jack be provided with ring flange, the first axle journal, second Axle journal and the 3rd axle journal, ring flange is provided with spacing sector boss, and piston is provided with axis hole, and piston rod is provided with axle journal and ears ring, rank Terraced u shape support is provided with flange, axis hole, two slotted eyes, two pin-and-holes, four the first monaural rings and eight the second monaural rings, and 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 monaural ring, pin-and-hole and ears Ring；

Described gripper is made up of ladder u shape support, four the second forks, two helical springs and two pressing plates, 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；

Will be convex for spacing for the 3rd spiral rotary actuator output shaft ring flange sector boss sector spacing with hydraulic jack ring flange Platform aligns connected, and the first thrust bearing is sheathed on hydraulic jack first axle journal, and hydraulic jack is penetrated the second casing shoulder hole Interior, make the 3rd spiral rotary actuator output shaft ring flange and hydraulic jack ring flange insert second casing the first circular hole portion, Spacing sector boss left surface is contacted with fan-shaped hole section first confined planes, and the first thrust bearing inserts second casing the second circular hole Section, makes the 3rd spiral rotary actuator be fixed on the second box bottom, so that end cap and the second casing is connected；

Second thrust bearing is sheathed on so as to insert the second casing the 3rd circular hole portion section on oil cylinder the 3rd axle journal, piston rod is worn Cross ladder u shape rack shaft hole, piston shaft hole sleeve, located at piston rod axle journal, the 3rd hex nut pretension, piston is inserted hydraulic oil In cylinder cylinder barrel, ladder u shape bracket flange is penetrated hydraulic jack cylinder barrel and is connected, make oil cylinder second axle journal and the second housing bushing section Chain connection, piston rod ears ring, second connecting rod ears ring and first connecting rod monaural ring is coaxially penetrated pin hinge and connects, the One fork ears ring coaxially penetrates pin hinge with roller and is connected, and the first fork pin-and-hole is coaxially penetrated with ladder u shape support pin-and-hole Pin hinge connects, and first connecting rod ears ring and second connecting rod ears ring coaxially penetrate pin with two the first fork monaural rings respectively Pivot hinge connects；

The ears ring of four the second forks coaxially penetrates pin hinge with four the second monaural rings of ladder u shape support respectively and is connected, 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 circles Cylindrical spring one end is connected with two, ladder u shape support first monaural rings respectively, two helical spring other ends respectively with pressure Two the first monaural rings of plate are connected, and form gripper, the pulling force of two helical springs, so that the roller hinged with the first fork is begun Contact with pressing plate eventually, repeat aforementioned assembly operation, assemble another gripper, composition crawl and swivel block device；

First casing is fixed with one by two the second connecting plates with the second casing, forms swivel block and push-and-pull sleeper device；

Described sleeper handling apparatus are by the second rail-lifting equipment, reciprocating motion storage sleeper device and rigid hanger hoisting apparatus group Become；

The second described rail-lifting equipment sets up a range finding reference plate, remaining composition and version one than the first rail-lifting equipment Sample；

Carry out and the first rail-lifting equipment identical assembly operation, second laser displacement transducer is symmetrically fixed on the first square tube shape Fixed arm side, range finding reference plate is fixed on the first square tube shape telescopic arm side, forms the second rail-lifting equipment, by the first square tube shape Fixed arm is symmetrically fixed on two longerons of railcar；

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

Described reciprocator is by base plate, fixed cross beam, two double-act-ing hydraulic J-Horners, moving beam and the 4th laser Displacement transducer forms, and double-act-ing hydraulic J-Horner cylinder body is provided with square flange and ring flange, piston rod free end are provided with flange Disk, moving beam is provided with two rollers；

Two double-act-ing hydraulic J-Horner cylinder body ring flanges are symmetrically fixed on fixed cross beam side, two double-act-ing hydraulic J-Horners Piston rod ring flange is symmetrically fixed on moving beam side, and base plate is fixed on fixed cross beam lower surface, two double-action hydraulics Oil cylinder square flange is fixed on plate upper surface, and two rollers of moving beam are contacted with plate upper surface, the 4th laser position Displacement sensor is symmetrically fixed on fixed cross beam side, forms reciprocator, base plate is fixed on track car crossbeam and first On square tube shape fixed arm, storage sleeper case is fixed on moving beam, so that two rollers of storage sleeper case is contacted with substrate, Composition moves back and forth storage sleeper device；

Described rigid hanger hoisting apparatus be by two telescopic cantilever boom devices, telescoping crossbeam device, rigid hanger, two grab Put sleeper device and the 5th laser displacement sensor composition；

Described telescopic cantilever boom device is by the first ladder square tube shape fixed arm, the first ladder square tube shape telescopic arm, square tube shape Telescopic arm, the first multi-stage expansion shell type oil cylinder, cantilever beam, end plate, cantilever and the 6th laser displacement sensor composition, the first ladder Square tube shape fixed arm is provided with ring flange and cylinder shoulder, and the first ladder square tube shape telescopic arm is provided with ring flange and cylinder shoulder, and square tube shape is stretched Arm is provided with ring flange and blind end, the first multi-stage expansion shell type oil cylinder be provided with first flange disk, the first extension sleeve, second stretch Sleeve and second flange disk, cantilever beam is provided with ring flange；

End plate is symmetrically fixed on the first multi-stage expansion shell type oil cylinder first flange disk, it is multistage that square tube shape telescopic arm is sheathed on first Flexible shell type oil cylinder, makes the first multi-stage expansion shell type oil cylinder second flange disk symmetrically be fixed on square tube shape telescopic arm blind end, the One ladder square tube shape telescopic arm is sheathed on square tube shape telescopic arm, and the first ladder square tube shape fixed arm is sheathed on the first ladder square tube On shape telescopic arm, the first ladder square tube fixed arm ring flange is made to be connected with end plate, cantilever beam ring flange is fixed on square tube shape and stretches On arm blind end, cantilever is fixed on cantilever beam ring flange, and the 6th laser displacement sensor is fixed on cantilever, and composition is flexible outstanding Arm boom device；

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

End cap is symmetrically fixed on the second multi-stage expansion shell type oil cylinder first flange disk, the 3rd ladder square tube shape telescopic arm is sheathed on On second multi-stage expansion shell type oil cylinder, make the second multi-stage expansion shell type oil cylinder second flange disk and the 3rd ladder square tube shape telescopic arm Blind end is connected, and the second ladder square tube shape telescopic arm is sheathed on the 3rd ladder square tube shape telescopic arm, then by the second ladder square tube Shape fixed arm is sheathed on the second ladder square tube shape telescopic arm, so that end cap is connected with ladder square tube shape fixed arm ring flange, push pedal It is fixed on the 3rd ladder square tube shape telescopic arm blind end, the 5th laser displacement sensor is symmetrically fixed on the second ladder square tube shape Fixed arm side, forms telescoping crossbeam device；

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

One end of two pull bars is symmetrically fixed on below entablature, the other end of two pull bars is symmetrically fixed on sill Face, forms rigid hanger；

Described pick-and-place sleeper device is by the 4th spiral rotary actuator, the 3rd yielding coupling and interior wide-mouth nut group Become, the 4th spiral rotary actuator is provided with ring flange and output shaft, and interior wide-mouth nut is provided with axle journal；

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

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