CN106381783A - Sleeper replacing machine with swinging rail lifting device - Google Patents

Abstract

The invention discloses a sleeper replacing machine with a swinging rail lifting device. The sleeper replacing machine is composed of the rail lifting device, a sleeper-rotating and sleeper pushing-and-pulling device, a sleeper hoisting device, a generator, a hydraulic system and control system cabinet and a rail car. The rail car is provided with a plurality of trundles and two longitudinal beams. The rail lifting device, the sleeper-rotating and sleeper pushing-and-pulling device, the sleeper hoisting device, the generator and the hydraulic system and control system cabinet are arranged on the two longitudinal beams of the rail car. The rail car is dragged by an engineering truck. The generator supplies power to oil pumps and control systems. An oil tank, the oil pumps, the hydraulic control system and the automatic control system are arranged in the hydraulic system and control system cabinet. According to the sleeper replacing machine, the working devices can be aligned with working positions automatically and rapidly; the sleeper replacing machine can adapt to corresponding operations for sleeper replacing of linear and curved railway sections; and the sleeper-rotating and sleeper pushing-and-pulling device is an integrated device, and is simple in structure, convenient to operate and high in sleeper replacing efficiency, and automatic control is achieved.

Description

Have swing rail-lifting equipment changes pillow machinery

Technical field

The present invention relates to a kind of railway maintenance machinery, rest the head on machinery particularly to having changing of swing rail-lifting equipment.

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 (be commonly called as in effective train passage gap：Skylight) in complete work.

Content of the invention

Rest the head on machinery it is an object of the invention to provide having and swinging changing of rail-lifting equipment.

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

Described rail-lifting equipment be by the first telescopic component, the first retractable driving device, two the first pendulous devices, eight Fork, eight the first hex nuts, two box connecting rods, eight the first bolts and two flexible shell types carry cylinder of rail composition, pendulum Bar is provided with six prism hole monaural rings and monaural ring, and box connecting rod is arranged with four bolts hole and semicylindrical opening, and flexible shell type carries 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, first lasers Displacement transducer and the first range finding reference plate composition, the first square tube shape telescopic arm is provided with blind end；

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 blind end with dual Piston, the first square tube shape fixed arm It is sheathed on two the first square tube shape telescopic arms, make the double rod hydraulic jack square flange of dual Piston symmetrically be fixed on first Square tube shape fixed arm endoporus upper surface, forms the first retractable driving device, and first laser displacement transducer is symmetrically fixed on first Square tube shape fixed arm side, the first range finding reference plate is fixed on the first square tube shape telescopic arm side；

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

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

Two forks six prism hole monaural ring is sheathed on two multidiameter the one or six prism shaft parts respectively, two the one or six Angle nut pretension respectively, more other two forks six prism hole monaural ring is sheathed on two multidiameter the two or six prism axles respectively Section, in addition two the first hex nut pretensions respectively, so that one end of four forks is connected with the two ends of two multidiameters respectively, four Four screwed holes of individual fork monaural ring and box connecting rod are coaxial, four the first tools for bolts ' pretensions, make four forks respectively with box even Bar chain connection, forms in-parallel four-bar mechanism；

Two the first casings are respectively fixedly connected with the blind end of two the first square tube shape telescopic arms, make two first to swing dress Put and be symmetrical arranged, two flexible shell types are carried cylinder of rail cylinder body and is respectively fixedly connected with two box connecting rod semicylindrical openings, make two Flexible shell type carries cylinder of rail and is symmetrical arranged, and forms rail-lifting equipment, the first square tube shape fixed arm is symmetrically fixed on the two of railcar On individual longeron；

Described swivel block and push-and-pull sleeper device are by the second telescopic component, the second retractable driving device, the second swing dress Put, four the first forks, crawl and swivel block device, four the first hex nuts and four bolts compositions, the first fork is provided with six Prism hole monaural ring and monaural ring；

The second described telescopic component is by the second square tube shape fixed arm, the second square tube shape telescopic arm, second laser displacement , with reference to version composition, the second square tube shape fixed arm is provided with blind end, and the second square tube shape telescopic arm is provided with envelope for sensor and the second range finding Closed end；

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 are provided with ring flange；

Second square tube shape telescopic arm is sheathed on two-way ram oil cylinder, two-way ram cylinder piston rod ring flange with Second square tube shape telescopic arm blind end is connected, then the second square tube shape fixed arm is sheathed on the second square tube shape telescopic arm, makes double Effect piston oil-cylinder ring flange and the second square tube shape fixed arm blind end are connected, and form the second retractable driving device, and double acting is lived Plug oil cylinder square slider and the second square tube shape telescopic arm form moving sets, and second laser displacement transducer is symmetrically fixed on second party Tubular fixed arm side, the second range finding is fixed on the second square tube shape telescopic arm side with reference to version；

The second described pendulous device and the first pendulous device composition and version the same；

Carry out and the first pendulous device identical assembly operation, form the second pendulous device；

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

Described gripper is by ladder U-bracket, four the 3rd forks, two helical springs and two pressing plate groups Become, the 3rd 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 second 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 second spiral rotary actuator output shaft ring flange and hydraulic jack ring flange insert first 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 first casing the second circle Hole section, makes the second 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-bracket axis hole, and piston shaft hole sleeve, located at piston rod axle journal, the second hex nut pretension, piston is inserted liquid In compressing cylinder cylinder barrel, ladder U-bracket flange is penetrated hydraulic jack cylinder barrel and is connected, make oil cylinder second axle journal and the first 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-bracket 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 second fork monaural rings respectively Enter pin hinge to connect；

The ears ring of four the 3rd forks is coaxially penetrated pin hinge with four the second monaural rings of ladder U-bracket respectively Connect, another ears ring of four the 3rd forks coaxially penetrates pin hinge with four the second monaural rings of pressing plate respectively and is connected, Two helical spring one end are connected with two the first monaural rings of ladder U-bracket respectively, and two helical spring other ends divide It is not connected with two the first monaural rings of pressing plate, form gripper, the pulling force of two helical springs, make to be articulated with the second fork Roller is contacted with pressing plate all the time, repeats aforementioned assembly operation, assembles another gripper, composition crawl and swivel block device；

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

First casing is fixed on the second square tube shape telescopic arm blind end, composition swivel block and push-and-pull sleeper device, by second Square tube shape fixed arm is symmetrically fixed on two longerons of railcar；

Described sleeper handling apparatus are by reciprocating motion storage sleeper device, rigid hanger hoisting apparatus and cmos image Sensor forms；

Described reciprocating motion storage sleeper device is made up of reciprocator and storage sleeper case, stores sleeper case It is provided with roller 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, two series connection parallelogram lindages, reciprocating movement driving devices and the Three laser displacement sensor compositions；

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

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

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

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

Base plate is fixed on track car crossbeam, the first square tube shape fixed arm and the second square tube shape fixed arm, stores sleeper Case is fixed on moving beam, so that two rollers of storage sleeper case is contacted with substrate, and composition moves back and forth storage sleeper Device；

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

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

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

Described jack up unit is by entablature assembly, raising driving means, symmetrically arranged two parallelogram lindages Form with the 5th laser displacement sensor；

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

Described raising driving means are the same with the composition of the first retractable driving device, except aforementioned third party's tubular fixed arm , third party tubular telescopic arm different with the first square tube shape fixed arm version and the first square tube shape telescopic arm structure form are not Equally, remaining all component structural form is the same；

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

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

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

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

Two cantilever beams are symmetrically fixed on two longerons of railcar, telescoping crossbeam device ladder square tube shape fixed arm is solid Be connected in below two cantilever girder cantilevers, two ears rings of third party's tubular fixed arm respectively with the second ladder square tube shape telescopic arm Two monaural ring coaxial bolts connect, form sleeper handling apparatus.

The invention has the beneficial effects as follows：

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

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

3. swivel block and push-and-pull sleeper are integrating device, and structure is simple, automatically control, easy to operate, changes pillow high working efficiency.

Brief description

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

Fig. 2 is close-up schematic view at C in Fig. 1.

Fig. 3 is the rail-lifting equipment working condition schematic perspective view of the present invention.

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

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

Fig. 6 is the second retractable driving device exploded perspective schematic diagram of the present invention.

Fig. 7 is the second pendulous device exploded perspective schematic diagram of the present invention.

Fig. 8 is crawl and the swivel block device exploded perspective schematic diagram of the present invention.

Fig. 9 is rail-lifting equipment and swivel block and the push-and-pull sleeper working state of device schematic perspective view of the present invention.

Figure 10 is rail-lifting equipment and the sleeper handling apparatus working condition schematic perspective view of the present invention.

Figure 11 is the reciprocator schematic perspective view of the present invention.

Figure 12 is the storage sleeper case schematic perspective view of the present invention.

Figure 13 is the telescoping crossbeam device exploded perspective schematic diagram of the present invention.

Figure 14 is the raising driving means exploded perspective schematic diagram of the present invention.

Figure 15 is the left view of Fig. 1.

Figure 16 is close-up schematic view at D in Figure 15.

Specific embodiment

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

Refer to shown in Fig. 2 to Fig. 5, described rail-lifting equipment 8 is by the first telescopic component 81, the first retractable driving device 82nd, 84, eight the first hex nuts of 83, eight forks of two the first pendulous devices, 86, eight the first spiral shells of 85, two box connecting rods Bolt 87 and two flexible shell types carry cylinder of rail 88 and form, and fork 84 is provided with six prism hole monaural rings 841 and monaural ring 842, box Connecting rod 86 is arranged with four bolts hole 861 and semicylindrical opening 862, and flexible shell type carries cylinder of rail 88 cylinder body and is provided with gusset 881st, piston rod free end is provided with fagging 882；

The first described telescopic component 81 be by 811, two the first square tube shape telescopic arms 812 of the first square tube shape fixed arm, First laser displacement transducer 813 and the first range finding reference plate 814 form, and the first square tube shape telescopic arm 812 is provided with blind end 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 blind end 8121 and dual Piston is connected, First square tube shape fixed arm 811 is sheathed on two the first square tube shape telescopic arms 812, makes the double rod hydraulic jack side of dual Piston Shape ring flange 8211 is symmetrically fixed on the first square tube shape fixed arm 811 endoporus upper surface, forms the first retractable driving device 82, the One laser displacement sensor 813 is symmetrically fixed on the first square tube shape fixed arm 811 side, and the first range finding reference plate 814 is fixed on First square tube shape telescopic arm 812 side；

The first described pendulous device 83 is by the first casing 831, the first spiral rotary actuator 832, incomplete tooth Wheel 834, two multidiameters 835 of 833, two sector gears and embedded cover plate 836 form, and the first casing 831 is provided with two axles Hole 8311, the first positive stop lug boss 8312 and the second positive stop lug boss 8313, multidiameter 835 is provided with the first axle journal 8351, the second axle journal 8352nd, the 3rd axle journal 8353, the one or six prism shaft part 8354 and the two or six prism shaft part 8355, embedded cover plate 836 is provided with two Individual axis hole 8361, the first positive stop lug boss 8362 and the second positive stop lug boss 8363；

By on two sector gears 834 respectively sheathed first diameter of axle 8351 being fixed on two multidiameters, two multidiameters 835 are each passed through two axis holes 8311 of the first casing, so that multidiameter 835 second axle journal 8352 and the first casing axis hole 8311 is formed Rotate secondary, be fixed on sheathed for partial gear 833 on the first spiral rotary actuator 832 output shaft, be placed into the first case In body 831, the gear teeth of partial gear 833 are made to contact along the facewidth with the gear teeth of two sector gears respectively, the first spiral swings Hydraulic motor 832 is fixed on the first casing 831 base plate, and two axis holes 8361 of embedded cover plate 836 are sheathed on two respectively On multidiameter the 3rd axle journal 8353, so that embedded cover plate 836 and the first casing 831 is connected, form the first pendulous device 83；

Two forks six prism hole monaural ring 841 is sheathed on two multidiameter the one or six prism shaft parts 8354 respectively, two Individual first hex nut 85 pretension respectively, more other two forks six prism hole monaural ring 841 is sheathed on two ladders respectively Axle the two or six prism shaft part 8355, in addition two the first hex nuts 85 pretension respectively, make one end of four forks 84 respectively with The two ends of two multidiameters 835 are connected, and four screwed holes 861 of four fork monaural rings 842 and box connecting rods are coaxial, four first Bolt 87 pretension, make four forks 84 respectively with box connecting rod 86 chain connection, formed in-parallel four-bar mechanism；

Two the first casings 831 are respectively fixedly connected with the blind end 8121 of two the first square tube shape telescopic arms, make two One pendulous device 83 is symmetrical arranged, and two flexible shell types is carried cylinder of rail 88 cylinder body and is respectively fixedly connected with two box connecting rod semicolumns In hole 862, make two flexible shell types carry cylinder of rail 88 and be symmetrical arranged, form rail-lifting equipment 8, by the first square tube shape fixed arm 811 Symmetrically it is fixed on two longerons 202 of railcar；

Refer to shown in Fig. 6 to Fig. 8, described swivel block and push-and-pull sleeper device 9 are by the second telescopic component 90, second stretch Contracting driving means 91,92, four the first forks 93 of the second pendulous device, crawl and 94, four the first hex nuts of swivel block device 96 and four bolts 97 form, the first fork 93 is provided with six prism hole monaural rings 931 and monaural ring 932；

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

The second described retractable driving device 91 is by 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 is provided with ring flange 9113；

Second square tube shape telescopic arm 902 is sheathed on two-way ram oil cylinder 911, two-way ram cylinder piston rod method Blue disk 9113 and the second square tube shape telescopic arm blind end 9021 are connected, then the second square tube shape fixed arm 901 is sheathed on second party On tubular telescopic arm 902, two-way ram cylinder flange disk 9112 and the second square tube shape fixed arm blind end 9011 is made to be connected, group Become the second retractable driving device 91, two-way ram oil cylinder square slider 9111 and the second square tube shape telescopic arm 902 to be formed to move Pair, second laser displacement transducer 903 is symmetrically fixed on the second square tube shape fixed arm 901 side, and the second range finding is solid with reference to version 904 It is connected in the second square tube shape telescopic arm 902 side；

The second described pendulous device 92 forms with the first pendulous device 83 and version is the same；

Carry out and the first pendulous device 83 identical assembly operation, form the second pendulous device 92；

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

Described gripper 955 is by ladder U-bracket 9551, two helical springs 9552 of 949, four the 3rd forks Form with two pressing plates 9553, the 3rd 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 second 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 second spiral rotary actuator output shaft ring flange 9421 and hydraulic jack method First 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 first casing the second circular hole portion 9414, makes the second 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-bracket axis hole 9492, and piston axis hole 9471 is sheathed on piston rod axle journal 9481, and second Hex nut 946 pretension, piston 947 is inserted in hydraulic jack 943 cylinder barrel, ladder U-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 first 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-bracket 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 second fork monaurals Ring 9521 coaxially penetrates pin hinge and connects；

The ears ring 95511 of four the 3rd forks 9551 is same with four the second monaural rings 9496 of ladder U-bracket respectively Axle penetrates pin hinge and connects, another ears rings 95511 of four the 3rd forks 9551 respectively with four the second monaurals of pressing plate Ring 95532 coaxially penetrates pin hinge and connects, and two helical spring 9552 one end are single with ladder U-bracket two first respectively Earrings 9495 is connected, and two helical spring 9552 other ends are connected with two the first monaural rings 95531 of pressing plate respectively, form machine Machinery claw 955, the pulling force of two helical springs 9552, make to be articulated with the roller 953 of the second fork 9523 all the time with pressing plate 9553 Contact, repeats aforementioned assembly operation, assembles another gripper 955, composition crawl and swivel block device 94；

Two the first forks six prism hole monaural ring 931 is sheathed on two multidiameter the one or six prism shaft parts respectively 9254, two the first hex nut 96 pretensions respectively, more other two the first forks, six prism hole monaural ring 931 is sheathed respectively In two multidiameter the two or six prism shaft parts 9254, in addition two the first hex nut 96 pretensions respectively, make four the first forks 93 one end is connected with two multidiameter 925 two ends respectively, four the first fork monaural rings 932 respectively with four spiral shells of the second casing Pit 9411 is coaxial, four bolts 97 pretensions respectively, make four the first forks 93 respectively with the second casing 941 chain connection, shape Become in-parallel four-bar mechanism；

First casing 831 is fixed on the second square tube shape telescopic arm blind end 9021, composition swivel block and push-and-pull sleeper device 9, the second square tube shape fixed arm 901 is symmetrically fixed on two longerons 202 of railcar；

Refer to shown in Fig. 9 to Figure 16, described sleeper handling apparatus 16 be by move back and forth storage sleeper device 160, Rigid hanger hoisting apparatus 168 and cmos image sensor 175 form；

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

Described reciprocator 161 is by 162, two series connection parallelogram lindages 163 of base plate, moves back and forth driving Device 165 and the 3rd laser displacement sensor 166 form；

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

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

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

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

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

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

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

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

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

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

Described raising driving means 1712 are the same with the composition of the first retractable driving device 82, except aforementioned third party's tubular Fixed arm 17111 and the first square tube shape fixed arm 811 version is different, third party's tubular telescopic arm 17114 and first party Tubular telescopic arm 812 version is different, and remaining all component structural form is the same；

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

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

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

3rd spiral rotary actuator 1721 is penetrated in sill circular hole 17133, the 3rd spiral rotary actuator Ring flange 17211 is fixed on sill 17132 upper surface, and yielding coupling 1722 makes the 3rd spiral rotary actuator output shaft 17212 are connected with interior wide-mouth nut axle journal 17231, form pick-and-place sleeper device 172；

Two cantilever beams 169 are symmetrically fixed on two longerons 202 of railcar, telescoping crossbeam device 170 ladder square tube Shape fixed arm 1701 is fixed on below two cantilever beam 169 cantilevers, and two ears rings 17113 of third party's tubular fixed arm are respectively It is connected with two monaural ring 17032 coaxial bolts of the second ladder square tube shape telescopic arm, form sleeper handling apparatus 16.

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

1. pull-out bad sleeper work：Using manually or mechanically having cleared up ballast between the sleeper of bad sleeper both sides, bad sleeper is left Bolt machine oil labelling outside the sleeper rail of side second, when engineering truck traction track car runs near sleeper to be changed, CMOS The image information of imageing sensor collection, by pattern recognition system automatic identification, and makes engineering truck be parked in cmos image sensing The device position coaxial with machine oil labelling bolt, swivel block and push-and-pull sleeper device are located at directly over bad sleeper, and rail-lifting equipment is located at bad On the left of sleeper between sleeper directly over, position shown in Fig. 1, oil pump is started working, and hydraulic oil makes two-way ram cylinder piston rod open Beginning stretches out, and promotes the second square tube shape telescopic arm to stretch out, the second square tube shape telescopic arm entrusts the second pendulous device and crawl and swivel block Device moves out, and by its displacement signal with the second range finding reference plate of second laser displacement sensor, to control double Effect piston oil-cylinder, the first spiral rotary actuator and the work of the second spiral rotary actuator, the second pendulous device and grabbing Take and swivel block device move out to correct position, two-way ram cylinder piston rod stops stretching out, and its piston rod starts to retract, The second square tube telescopic arm is pulled to retract, the second square tube telescopic arm entrusts the second pendulous device and crawl and swivel block device is inwardly transported Dynamic, the first spiral rotary actuator starts to rotate forward simultaneously, partial gear and two sector gear engaged transmission, two Multidiameter drives the positive swing of four forks, and crawl entrusted by the second casing and swivel block device makees translation, when two forks and first During positive stop lug boss contact, the first spiral rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes the first spiral pendulum Hydrodynamic pressure motor pressurize, when two pressing plate inward of gripper are to bad sleeper both sides appropriate location, two-way ram oil Cylinder piston rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod start to stretch out, and first connecting rod and second connecting rod make to be symmetrical arranged Two the first forks swing in opposite directions, the roller being articulated with the first fork ears ring pushes down pressing plate, and roller rolls makes pressing plate overcome The pulling force of two cylindrically coiled springs makees translation, and two in-parallel four-bar mechanism forward directions swing, when two platen clamp sleepers When, 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 its with first range finding reference The displacement signal of plate, to control the double rod hydraulic jack of the first telescopic drive dual Piston and the first spiral rotary actuator work Make, two the first square tube shape telescopic arms entrust two the first pendulous devices respectively and flexible shell type carries cylinder of rail and moves out to suitable Work as position, the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston stops stretching out, and its piston rod starts to retract, respectively Two the first square tube shape telescopic arms being connected with it are pulled synchronously to retract, two the first square tube shape telescopic arms entrust two the respectively One pendulous device and flexible shell type carry cylinder of rail inward, and the first spiral rotary actuator starts to rotate forward, no simultaneously Gear and two sector gear engaged transmission completely, two multidiameters drive the positive swing of four forks, and box connecting rod is entrusted and stretched Contracting shell type carries cylinder of rail and does translation, and when two forks are contacted with the first positive stop lug boss, the first spiral rotary actuator stops Rotate, the middle position of solenoid directional control valve makes the first spiral rotary actuator pressurize, when flexible shell type carries cylinder of rail cylinder body and rail During the contacts side surfaces of lower flange, its gusset upper surface contacts with below rail, the double rod hydraulic pressure of the first telescopic drive dual Piston Cylinder piston rod stops retracting；

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

Hydraulic oil makes the second spiral rotary actuator start to rotate forward, and makes the second oil cylinder entrust positive turn of gripper Dynamic, gripper makes sleeper rotate forward, when the second spiral rotary actuator ring flange and the spacing sector of hydraulic jack ring flange When boss is contacted with second casing scallop hole the second confined planes, gripper makes sleeper rotate forward 90 °, and the second spiral swings hydraulic pressure Motor stops rotating forward, and hydraulic oil makes two-way ram cylinder piston rod start to stretch out, and gripper pulls bad sleeper to outward transport Dynamic, when bad sleeper moves out to end face thereafter and above rail lower flange trailing flank is coplanar, two-way ram oil cylinder piston Bar stops stretching out, and hydraulic oil makes the second spiral rotary actuator start to rotate backward, and makes hydraulic jack entrust gripper reverse Rotate, gripper makes sleeper rotate backward, when the second spiral rotary actuator ring flange and the spacing sector of cylinder flange disk are convex When platform is contacted with second casing scallop hole the first confined planes, gripper makes sleeper rotate backward 90 °, position shown in Fig. 9, the second spiral shell Rotation rotary actuator stops rotating backward；

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

Hydraulic oil makes the first spiral rotary actuator rotate backward, and partial gear engages biography with two sector gears Dynamic, two multidiameters drive four the first fork backswings, and crawl entrusted by the second casing and swivel block device does translation, when two When first fork is contacted with the second positive stop lug boss, the first spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes First spiral rotary actuator pressurize；

Hydraulic oil make two-way ram cylinder piston rod start retract, the second square tube telescopic arm entrust the second pendulous device and , to position shown in Fig. 1, two-way ram cylinder piston rod stops retracting for crawl and swivel block device inward；

Hydraulic oil makes flexible shell type carry cylinder of rail second level extension sleeve retraction, and second level extension sleeve bounces back to stop, Second level extension sleeve starts to retract with first order extension sleeve, and second level extension sleeve hauls fagging and moves upwards, under rail Drop down onto original position, bad sleeper to be changed is pushed down and makes its upper surface parallel with two rail lower surfaces, flexible shell type carries cylinder of rail and stops Only work；

Hydraulic oil makes the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston start to stretch out, two the first square tubes Shape telescopic arm is entrusted flexible shell type and is carried cylinder of rail and moves out, when its gusset and rail disengage when contacting, the first telescopic drive The double rod hydraulic cylinder piston rod of dual Piston stops stretching out；

Hydraulic oil makes the first spiral rotary actuator start to rotate backward, and partial gear is engaged with two sector gears Transmission, two multidiameters drive four fork backswings, and box connecting rod is entrusted flexible shell type and carried cylinder of rail and does translation, when two When fork is contacted with the second positive stop lug boss, flexible shell type carries cylinder of rail and moves to position shown in Fig. 1, and the first spiral swings hydraulic pressure horse Reach and stop operating, the middle position of solenoid directional control valve makes the first spiral rotary actuator pressurize, pulls out bad sleeper end-of-job；

2. handling bad sleeper work：Engineering truck traction track car moves to right, firm by pattern recognition system automatic identification sleeper The number of rail outer bolt image, makes railcar move to right a sleeper pitch, and rail-lifting equipment is on the right side of bad sleeper between adjacent sleeper Surface, hydraulic oil makes the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston start to stretch out, and makes the first swing dress Shell type of putting and stretch carries cylinder of rail and moves out to appropriate location, the double rod hydraulic cylinder piston of the first telescopic drive dual Piston Bar stop stretch out, its piston rod start retract, the first spiral rotary actuator starts to rotate forward simultaneously, when two forks with During the first positive stop lug boss contact, the first spiral rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes the first spiral shell Rotation rotary actuator pressurize, when the first pendulous device inward carries outside cylinder of rail cylinder body and rail lower flange to flexible shell type During side contacts, flexible shell type carries cylinder of rail cylinder body gusset upper surface and contacts with below rail, the first telescopic drive dual Piston Double rod hydraulic cylinder piston rods stop retracting；

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

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

Hydraulic oil makes raising drive the double rod hydraulic cylinder piston rod of dual Piston to start to retract, and pulls respectively and is connected with it Two third party's tubular telescopic arms synchronously retract, make two pairs of forks of symmetrically arranged two parallelogram lindages with respect under The opposite synchronous hunting of crossbeam, jack up unit entrust pick-and-place sleeper device decline, by the 5th laser displacement sensor measure its with The displacement signal of sill, to control raising to drive the double rod hydraulic jack of dual Piston and the 3rd spiral rotary actuator work Make, when above two interior wide-mouth nuts with sleeper, two bolts in inner side are close, hydraulic oil makes two the 3rd spirals swing hydraulic pressure Motor starts to rotate forward, and makes two interior wide-mouth nut forward synchronous axial system respectively by two yielding couplings, when in two Wide-mouth nut screws on two bolts in inner side above sleeper, and two the 3rd spiral rotary actuators rotate forward to hard-over, Position shown in Figure 10, two the 3rd spiral rotary actuators stop rotating forward, and raising drives the double rod hydraulic pressure of dual Piston Cylinder piston rod stops retracting；

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

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

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

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

Hydraulic oil makes raising drive the double rod hydraulic cylinder piston rod of dual Piston to start to retract, and jack up unit entrusts pick-and-place Sleeper device declines, and when above two interior wide-mouth nuts with good sleeper, two bolts in inner side are close, hydraulic oil makes two the 3rd Spiral rotary actuator starts to rotate forward, when two interior wide-mouth nuts have screwed on above sleeper two bolts in inner side, two 3rd spiral rotary actuator rotates forward to hard-over, and two the 3rd spiral rotary actuators stop rotating forward, Raising drives the double rod hydraulic cylinder piston rod of dual Piston to stop retracting, and it starts to stretch out, and jack up unit has been entrusted on sleeper Rise to suitable height, raising drives the double rod hydraulic cylinder piston rod of dual Piston to stop stretching out；

Hydraulic oil makes the extension sleeve of multi-stage expansion shell type oil cylinder stretch out step by step, so that the second ladder square tube shape telescopic arm is entrusted Jack up unit moves out, and has entrusted sleeper when jack up unit and has moved out to appropriate location, hydraulic oil makes raising dual Piston Double rod hydraulic cylinder piston rods start to retract, when raising falling unit has been entrusted sleeper and is dropped to it and contact with railway roadbed, raising drive The double rod hydraulic cylinder piston rod of dynamic dual Piston stops retracting；

Hydraulic oil makes multi-stage expansion shell type oil cylinder second level extension sleeve start to retract, the second ladder square tube shape telescopic arm support Band jack up unit inward, has made sleeper penetrate under rail, has made sleeper rear end face with above rail lower flange trailing flank altogether During face, position shown in Figure 10, multi-stage expansion shell type oil cylinder second level extension sleeve stops retracting；

Hydraulic oil makes flexible shell type propose the extension sleeve retraction of the cylinder of rail second level, and second level extension sleeve is retracted to stop, Second level extension sleeve starts to retract with first order extension sleeve, and second level extension sleeve hauls fagging and retracts, and rail falls to Original position, good sleeper is pushed down so as to upper surface and two rail lower surface parastates, and flexible shell type puies forward the cylinder of rail first order Extension sleeve stops retracting, and hydraulic oil makes the first telescopic drive double output shaft hydraulic motor start to rotate forward, makes two first Square tube shape telescopic arm entrusts two the first pendulous devices respectively and flexible shell type carries cylinder of rail and moves out, when its gusset and steel When rail disengages contact, the first telescopic drive double output shaft hydraulic motor stops rotating forward, and the first spiral swings hydraulic pressure horse simultaneously Reach and start to rotate backward, partial gear and two sector gear engaged transmission, two multidiameters drive four forks reversely to put Dynamic, box connecting rod is entrusted flexible shell type and is carried cylinder of rail and makees translation, when two forks are contacted with the second positive stop lug boss, two first Pendulous device and flexible shell type carry cylinder of rail and move to position shown in Fig. 1, and the first spiral rotary actuator stops operating, electromagnetism The middle position of reversal valve makes the first spiral rotary actuator pressurize；

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

4th, sleeper has been advanced to 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 located above good sleeper, Directly over rail-lifting equipment is located on the right side of good sleeper between sleeper, hydraulic oil makes two-way ram cylinder piston rod start to stretch out, and makes the Two pendulous devices and crawl and swivel block device move out, when the second square tube telescopic arm extend out to stop, two-way ram oil Cylinder piston rod stops stretching out,

Hydraulic oil makes the first spiral rotary actuator rotate forward, the second casing entrust crawl and swivel block device do flat Dynamic, when two the first forks are contacted with the first positive stop lug boss, the first spiral rotary actuator stops operating, solenoid directional control valve Middle position make the first spiral rotary actuator pressurize；

Hydraulic oil make two-way ram cylinder piston rod start retract, make the second pendulous device and crawl and swivel block device to Interior motion, when two presser motions of gripper are to when finishing changing sleeper both sides appropriate location, position shown in Fig. 9, double acting is lived Plug cylinder piston rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod stretch out, when two platen clamp sleepers, electromagnetic switch The middle position of 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 the first swing dress Shell type of putting and stretch carries cylinder of rail and moves out to appropriate location, the double rod hydraulic cylinder piston of the first telescopic drive dual Piston Bar stops stretching out, and it starts to retract, and the first spiral rotary actuator starts to rotate forward simultaneously, when two forks and the first limit During the boss contact of position, the first spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes the first spiral swing hydraulic pressure Motor pressurize, when the first pendulous device inward carries cylinder of rail cylinder body with rail lower flange contact outside to flexible shell type, Flexible shell type carries cylinder of rail cylinder body gusset upper surface and contacts with below rail, the double rod hydraulic pressure of the first telescopic drive dual Piston Cylinder piston rod stops retracting, and hydraulic oil makes the extension sleeve that flexible shell type carries cylinder of rail stretch out step by step, makes rail jack-up, electromagnetism The middle position of reversal valve makes flexible shell type propose cylinder of rail pressurize；

Hydraulic oil makes the second spiral rotary actuator start to rotate forward, and gripper makes sleeper rotate forward 90 °, and second Spiral rotary actuator stops rotating forward, and hydraulic oil makes two-way ram cylinder piston rod start to retract, and gripper promotes Good sleeper inward, during position, two-way ram cylinder piston rod stops retracting to shown in Fig. 1 to have made sleeper inward, Hydraulic oil makes the second spiral rotary actuator start to rotate backward, and gripper makes sleeper rotate backward 90 °, and the second spiral swings Hydraulic motor 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 the first spiral rotary actuator rotate backward, when two the first forks are contacted with the second positive stop lug boss When, the first spiral rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes the first spiral rotary actuator protect Pressure；

Hydraulic oil makes two-way ram cylinder piston rod start to retract, and the second pendulous device and crawl and swivel block device are inside Move to position shown in Fig. 1, two-way ram cylinder piston rod stops retracting；

Hydraulic oil makes the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston start to stretch out, when its gusset with When rail disengages contact, the double rod hydraulic cylinder piston rod of the first telescopic drive dual Piston stops stretching out, the first spiral simultaneously Rotary actuator starts to rotate backward, partial gear and two sector gear engaged transmission, and two multidiameters drive four First fork backswing, box connecting rod is entrusted flexible shell type and is carried cylinder of rail and makees translation, when two forks and the second positive stop lug boss During contact, the first spiral rotary actuator stops operating, and two the first pendulous devices and flexible shell type carry cylinder of rail and move to Position shown in Fig. 1, the middle position of solenoid directional control valve makes the first spiral rotary actuator pressurize, has advanced sleeper end-of-job, has led Draw car traction track car to leave.

The symmetrically arranged two series connection parallelogram lindages of reciprocator, make to begin in moving beam reciprocating movement Parallel with fixed cross beam eventually；Yielding coupling and interior wide-mouth nut can effectively adapt to sleeper bolt position deviation, make interior wide-mouth spiral shell Mother easily screws on sleeper bolt；Symmetrically arranged two parallelogram lindages of jack up unit, make the second square tube shape telescopic arm with Crossbeam is parallel all the time, to adapt to straight line and the work of curved rail length section pick-and-place sleeper；Two of jack up unit symmetrically arranged flat Row four-bar mechanism constitutes rigid hanger, it is to avoid the swing of sleeper in handling, improves handling sleeper speed.

Claims (1)

1. have swing rail-lifting equipment change pillow machinery it is characterised in that：Be by rail-lifting equipment, transition and push-and-pull sleeper device, Sleeper handling apparatus, electromotor, Hydraulic system and control System cabine and railcar composition；Railcar is provided with multiple castors and two Longeron, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor and Hydraulic system and control System cabine set Put on two longerons of in rail car, railcar is drawn by engineering truck, electromotor is oil pump and control system provides power, hydraulic pressure It is provided with fuel tank, oil pump, hydraulic control system and automatic control system in system and control system case；Have swing rail-lifting equipment it Change pillow machine the first pendulous device, eight forks, eight the first hex nuts, two box connecting rods, eight the first bolts and two Individual flexible shell type carries cylinder of rail composition, and fork is provided with six prism hole monaural rings and monaural ring, and box connecting rod is arranged with four spiral shells Keyhole and semicylindrical opening, flexible shell type 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, first laser displacements Sensor and the first range finding reference plate composition, the first square tube shape telescopic arm is provided with blind end；

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 blind end with dual Piston, and the first square tube shape fixed arm is sheathed 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 the first retractable driving device, and first laser displacement transducer is symmetrically fixed on the first square tube Shape fixed arm side, the first range finding reference plate is fixed on the first square tube shape telescopic arm side；

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

By on two sector gears respectively sheathed first diameter of axle being fixed on two multidiameters, two multidiameters are each passed through first Two axis holes of casing, make multidiameter second axle journal and the first casing axis hole be formed and rotate pair, are fixed on sheathed for partial gear On first spiral rotary actuator output shaft, it is placed into making in the first casing the gear teeth of partial gear to fan with two respectively The gear teeth of shape gear contact along the facewidth, and the first spiral rotary actuator is fixed on the first box bottom, embedded cover plate Two axis holes are sheathed on two multidiameter the 3rd axle journals respectively, so that embedded cover plate and the first casing is connected, composition first pendulum Dynamic device；

Two forks six prism hole monaural ring is sheathed on two multidiameter the one or six prism shaft parts, two the first hexagonal spiral shells respectively The other pretension of mother stock, more other two forks six prism hole monaural ring is sheathed on two multidiameter the two or six prism shaft parts respectively, Other two the first hex nuts pretension respectively, makes one end of four forks be connected with the two ends of two multidiameters respectively, four Four screwed holes of fork monaural ring and box connecting rod are coaxial, four the first tools for bolts ' pretensions, make four forks respectively with box connecting rod Chain connection, forms in-parallel four-bar mechanism；

Two the first casings are respectively fixedly connected with the blind end of two the first square tube shape telescopic arms, make two the first pendulous devices pair Claim setting, two flexible shell types are carried cylinder of rail cylinder body and is respectively fixedly connected with two box connecting rod semicylindrical openings, make two to stretch Shell type carries cylinder of rail and is symmetrical arranged, and forms rail-lifting equipment, the first square tube shape fixed arm is symmetrically fixed on two of railcar and indulges Liang Shang；

Described swivel block and push-and-pull sleeper device be by the second telescopic component, the second retractable driving device, the second pendulous device, four Individual first fork, crawl and swivel block device, four the first hex nuts and four bolt compositions, the first fork is provided with six prism holes Monaural ring and monaural ring；

The second described telescopic component is by the second square tube shape fixed arm, the second square tube shape telescopic arm, second laser displacement sensing , with reference to version composition, the second square tube shape fixed arm is provided with blind end, and the second square tube shape telescopic arm is provided with blind end for device and the second range finding；

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 are provided with ring flange；

Second square tube shape telescopic arm is sheathed on two-way ram oil cylinder, two-way ram cylinder piston rod ring flange and second Square tube shape telescopic arm blind end is connected, then the second square tube shape fixed arm is sheathed on the second square tube shape telescopic arm, makes double acting Piston oil-cylinder ring flange and the second square tube shape fixed arm blind end are connected, and form the second retractable driving device, two-way ram oil Cylinder square slider and the second square tube shape telescopic arm form moving sets, and second laser displacement transducer is symmetrically fixed on the second square tube shape Fixed arm side, the second range finding is fixed on the second square tube shape telescopic arm side with reference to version；

The second described pendulous device and the first pendulous device composition and version the same；

Carry out and the first pendulous device identical assembly operation, form the second pendulous device；

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

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

Will be convex for spacing for the second 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 second spiral rotary actuator output shaft ring flange and hydraulic jack ring flange insert first 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 first casing the second circular hole Section, makes the second 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-bracket axis hole, piston shaft hole sleeve, located at piston rod axle journal, the second hex nut pretension, piston is inserted hydraulic oil In cylinder cylinder barrel, ladder U-bracket flange is penetrated hydraulic jack cylinder barrel and is connected, make oil cylinder second axle journal and the first 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-bracket pin-and-hole Pin hinge connects, and first connecting rod ears ring and second connecting rod ears ring coaxially penetrate pin with two the second fork monaural rings respectively Pivot hinge connects；

The ears ring of four the 3rd forks is coaxially penetrated respectively pin hinge with four the second monaural rings of ladder U-bracket even Connect, another ears ring of four the 3rd forks coaxially penetrates pin hinge with four the second monaural rings of pressing plate respectively and is connected, two Individual helical spring one end is connected with two the first monaural rings of ladder U-bracket respectively, and two helical spring other ends are respectively It is connected with two the first monaural rings of pressing plate, form gripper, the pulling force of two helical springs, make to be articulated with the rolling of the second fork Wheel is contacted with pressing plate all the time, repeats aforementioned assembly operation, assembles another gripper, composition crawl and swivel block device；

Two the first forks six prism hole monaural ring is sheathed on two multidiameter the one or six prism shaft parts respectively, two the one or six Angle nut pretension respectively, more other two the first forks six prism hole monaural ring is sheathed on two multidiameter the two or six ribs respectively Axis of a cylinder section, in addition two the first hex nuts respectively pretensions, make one end of four the first forks respectively with two multidiameter two ends It is connected, four the first fork monaural rings are coaxial with four screwed holes of the second casing respectively, pretensions distinguished by four bolts, make four the One fork is connected with the second chest hinge respectively, forms in-parallel four-bar mechanism；

First casing is fixed on the second square tube shape telescopic arm blind end, composition swivel block and push-and-pull sleeper device, by the second square tube Shape fixed arm is symmetrically fixed on two longerons of railcar；

Described sleeper handling apparatus are by reciprocating motion storage sleeper device, rigid hanger hoisting apparatus and cmos image sensing Device forms；

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

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

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

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

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

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

Base plate is fixed on track car crossbeam, the first square tube shape fixed arm and the second square tube shape fixed arm, storage sleeper case is solid It is connected 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 is by two cantilever beams, telescoping crossbeam device, jack up unit, two pick-and-place sleeper dresses Put and form with the 4th laser displacement sensor；

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

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

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

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

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

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

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

Described pick-and-place sleeper device is made up of the 3rd spiral rotary actuator, yielding coupling and interior wide-mouth nut, the Three spiral rotary actuators are provided with ring flange and output shaft, and interior wide-mouth nut is provided with axle journal；

3rd spiral rotary actuator is penetrated in sill circular hole, the 3rd spiral rotary actuator ring flange is fixed on down Beam surface upper, yielding coupling makes the 3rd spiral rotary actuator output shaft be connected with interior wide-mouth nut axle journal, and composition is grabbed Put sleeper device；

Two cantilever beams are symmetrically fixed on two longerons of railcar, telescoping crossbeam device ladder square tube shape fixed arm is fixed on Below two cantilever girder cantilevers, two ears rings of third party's tubular fixed arm respectively with the second ladder square tube shape telescopic arm two Individual monaural ring coaxial bolts connect, and form sleeper handling apparatus.