CN106381784A

CN106381784A - Automatic sleeper replacing device

Info

Publication number: CN106381784A
Application number: CN201610797517.7A
Authority: CN
Inventors: 俞安; 于向军
Original assignee: Kunming University
Current assignee: Kunming University
Priority date: 2016-08-31
Filing date: 2016-08-31
Publication date: 2017-02-08

Abstract

The invention discloses an automatic sleeper replacing device. The automatic sleeper replacing device consists of a sleeper four-nut synchronous assembling and disassembling device, a rail lifting device, a sleeper rotating, pushing and pulling device, an electricity generator, a hydraulic system, a control system box and a railcar, wherein four casters and two stringers are arranged on the railcar; the sleeper four-nut synchronous assembling and disassembling device the rail lifting device, the sleeper rotating, pushing and pulling device, the electricity generator, the hydraulic system and the control system box are arranged on the two stringers of the railcar; and the railcar is drawn by a rider-type truck. Through the adoption of the automatic sleeper replacing device disclosed by the invention, working devices can be automatically aligned to the corresponding working positions; the purpose that four nuts are synchronously assembled and disassembled can be realized, so that the pretightening forces of the four nuts are consistent, the fatigue life of bolts is prolonged, and the reliability of the connection between a sleeper and steel rails is guaranteed; the automatic sleeper replacing device can be adapted to the relevant work of sleeper replacement in a straight line railway section and a curved line railway section; the sleeper rotating, pushing and pulling device is an integrated device, so that the automatic sleeper replacing device disclosed by the invention is simple and compact in structure, automatically controlled, convenient to operate, and high in working efficiency of sleep replacement.

Description

Automatic exchange sleeper device

Technical field

The present invention relates to a kind of railway maintenance machinery, particularly to automatic exchange sleeper device.

Background technology

, during long use, due to due to natural subsidence and vibration, railway ballast local is heavy for railroad sleeper Fall, needs to carry out maintenance, and indivedual sleepers damage, and needs to change in time, during carrying out railway roadbed maintenance or sleeper replacement, adopts With manual work, waste time and energy, inefficiency.(can not be commonly called as in effective train passage gap：Skylight) in complete work, Only adopt small-sized efficient automated machine, could not closed a road to traffic operation using train passage gap.

Content of the invention

It is an object of the invention to provide automatic exchange sleeper device.

The present invention be by sleeper four nut synchronization assembling and disassembling device, rail-lifting equipment, swivel block and push-and-pull sleeper device, electromotor, Hydraulic system and control System cabine and railcar composition, railcar is provided with four castors and two longerons, and sleeper four nut is synchronous Assembling and disassembling device, rail-lifting equipment, swivel block and push-and-pull sleeper device, electromotor and Hydraulic system and control System cabine are arranged on railcar Two longerons on, railcar is drawn by engineering truck, and electromotor is that oil pump and control system provide power, Hydraulic system and control It is provided with fuel tank, oil pump, hydraulic control system and automatic control system in System cabine；

Described sleeper four nut synchronization assembling and disassembling device is by entablature assembly, the first lowering or hoisting gear and two nut assembly and disassembly Device forms；

Described entablature assembly is made up of the first square tube shape fixed arm and two the first square tube shape telescopic arms, first party Tubular fixed arm is provided with symmetrical two long slot bore, and the first square tube shape telescopic arm is provided with blind end and two monaural rings；

The first described lowering or hoisting gear is by the first lifting drive, symmetrically arranged two the first parallelogram lindages With first laser displacement transducer composition；

The first described lifting drive is by the first square tube shape fixed arm, the double rod hydraulic jack and two of dual Piston Individual first square tube shape telescopic arm composition, the double rod cylinder body of hydraulic oil cylinder of dual Piston is provided with square flange, piston rod free end It is provided with ring flange；

The first described parallelogram lindage is made up of sill, two forks and the first square tube shape telescopic arm, lower horizontal stroke Beam is provided with four ears rings and symmetrical two long slot bores；

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 with dual Piston, and the first square tube shape fixed arm is sheathed on On two the first square tube shape telescopic arms, the double rod cylinder body of hydraulic oil cylinder square flange of dual Piston is made symmetrically to be fixed on first party Tubular fixed arm endoporus upper surface, forms the first lifting drive；

By one end of two forks respectively with the first square tube shape telescopic arm chain connection, the other end of two forks respectively with Sill chain connection, forms the first parallelogram lindage, is symmetrical in sill and the vertical of the first square tube shape fixed arm is symmetrical Face assembles another the first parallelogram lindage, and first laser displacement transducer is symmetrically fixed on the first square tube shape fixed arm Face, forms the first lowering or hoisting gear；

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

Upper lid is sheathed on the first spiral rotary actuator output shaft circular shaft section, makes lid swing hydraulic pressure with the first spiral The contact of motor ring flange is connected, more circular connecting plate is sheathed on the first spiral rotary actuator output shaft six prism shaft part, Second hex nut pretension, internal gear is coaxially fixed with one with circular connecting plate, and geared sleeve is connected located at power transmission shaft first axle journal, First thrust bearing is sheathed on power transmission shaft second axle journal, and power transmission shaft makes the first thrust bearing and housing connect through housing axis hole Touch, the second thrust bearing is sheathed on power transmission shaft the 3rd axle journal, the 3rd hex nut screws on power transmission shaft thread segment pretension, elasticity connection Axial organ makes power transmission shaft the 4th axle journal coaxially be fixed with one with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, and two The gear teeth flank of tooth of the individual gear gear teeth face with internal gear respectively, upper lid is fixed with one with shell flange disk, two suspension rods One end be symmetrically fixed on housing both sides, form nut assembling and disassembling device, the other end of two suspension rods is symmetrically fixed on the first square tube Two sides of shape fixed arm, sill is fixed on two side rail inner faces of railcar, composition sleeper four nut synchronously assembly and disassembly dress Put；

Described rail-lifting equipment by cmos image sensor, entablature, the second lowering or hoisting gear, carry rail assembly and form；

The second described lowering or hoisting gear be by sill assembly, the second lifting drive, two symmetrically arranged second Parallelogram lindage and second laser displacement transducer composition；

Described sill assembly is made up of the second square tube shape fixed arm and two the second square tube shape telescopic arms, second party Tubular fixed arm is provided with symmetrical two long slot bore, and the second square tube shape telescopic arm is provided with blind end and two ears rings；

The second described lifting drive and the first lifting drive composition, except aforesaid second square tube shape is solid Determine outside arm and the first square tube shape fixed arm interferometry difference, the second square tube shape telescopic arm and the first square tube shape telescopic arm interferometry difference, Remaining all component structural form is the same；

Carry out and the first lifting drive identical assembly operation, form the second lifting drive；

The second described parallelogram lindage is made up of the second square tube shape telescopic arm, two forks and entablature；

By one end of two forks respectively with the second square tube shape telescopic arm chain connection, the other end of two forks respectively with Entablature chain connection, forms the second parallelogram lindage, is symmetrical in entablature and the vertical of the second square tube shape fixed arm is symmetrical Face assembles another the second parallelogram lindage, and second laser displacement transducer is symmetrically fixed on the second square tube shape fixed arm Face, forms the second lowering or hoisting gear；

Described carry rail assembly be by two suspension rods, third party's tubular fixed arm, the double rod hydraulic jack of dual Piston, two Individual box type telescopic arm and two carry cylinder of rail composition, and suspension rod is provided with first flange disk and second flange disk, and third party's tubular is fixed Arm is provided with two symmetrical semicylindrical openings, and the double rod cylinder body of hydraulic oil cylinder of dual Piston is provided with square flange, piston rod freely End is provided with ring flange, and box type telescopic arm is provided with semicylindrical opening, carries that cylinder of rail cylinder body is provided with gusset, piston rod free end is provided with Fagging；

By two box type telescopic arms, double two ring flanges of rod hydraulic cylinder piston rod are connected with dual Piston respectively, and the 3rd Square tube shape fixed arm is sheathed on two box type telescopic arms, so that the double rod hydraulic jack square flange of dual Piston is symmetrically connected In third party's tubular fixed arm endoporus upper surface, two suspension rod second flange disks are symmetrically fixed on third party's tubular fixed arm Face, composition carries rail assembly, and two suspension rod first flange disks are symmetrically fixed on entablature side, and cmos image sensor is fixed on the Below two square tube shape fixed arms, form rail-lifting equipment；

Described swivel block and push-and-pull sleeper device are by telescopic component, retractable driving device, tumbler, two connecting plates With crawl and swivel block device composition；

Described telescopic component is to be sensed by the 4th square tube shape fixed arm, the 4th square tube shape telescopic arm and the 3rd laser displacement Device forms, and the 4th square tube shape fixed arm is provided with blind end, and the 4th square tube shape telescopic arm is provided with dividing plate；

Described retractable driving device is to be stretched by the 4th square tube shape fixed arm, two-way ram oil cylinder and the 4th 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；

4th square tube shape telescopic arm is sheathed on two-way ram oil cylinder, two-way ram cylinder piston rod ring flange with 4th square tube shape telescopic arm dividing plate is connected, then the 4th square tube shape fixed arm is sheathed on the 4th square tube shape telescopic arm, makes double cropping It is connected with piston oil-cylinder ring flange and the 4th square tube shape fixed arm blind end, form retractable driving device, two-way ram oil cylinder Form moving sets with the 4th square tube shape telescopic arm, the 3rd laser displacement sensor is symmetrically fixed on the 4th square tube shape fixed arm Face；

Described tumbler is by the 4th square tube shape telescopic arm, the second spiral rotary actuator, the hollow ladder of cantilever Axle, the first thrust bearing, the first casing, the second thrust bearing, the first hex nut, circular connecting plate, the second hex nut, end Lid and equi intensity cantilever composition, the second spiral rotary actuator output shaft is provided with thread segment and six prism shaft parts, and cantilever is empty Heart multidiameter is provided with thread segment, the first axle journal, the second axle journal, the 3rd axle journal and connecting plate, and connecting plate is provided with spacing arc groove, the One casing is provided with spacer pin and cantilever ladder axle sleeve, and cantilever multidiameter is arranged with the first axle sleeve, the second axle sleeve and the 3rd axle sleeve, end It is covered with bearing pin, circular connecting plate is provided with six prism axis holes, equi intensity cantilever is provided with pin shaft hole and ring flange；

Second spiral rotary actuator is fixed on the 4th square tube shape telescopic arm plate front end base plate, hollow cantilever rank Terraced axle sleeve, on the second spiral rotary actuator, makes cantilever hollow multidiameter connecting plate be fixed on the 4th square tube shape telescopic arm End face, the first thrust bearing is sheathed on the hollow multidiameter of cantilever the 3rd axle journal, and the first casing cantilever ladder axle sleeve is sheathed on sky On heart cantilever multidiameter, the first thrust bearing is made to insert the first casing cantilever ladder axle sleeve the 3rd axle sleeve section, cantilever ladder axle sleeve Second axle sleeve section is sheathed on hollow multidiameter second axle journal, and the second thrust bearing is sheathed on cantilever hollow multidiameter the first axle journal On, insert cantilever ladder axle sleeve first axle set section, the first hex nut screws in cantilever hollow multidiameter thread segment pretension, makes first Casing and cantilever hollow multidiameter chain connection, circular connecting plate is sheathed on the second spiral rotary actuator output shaft six prism Shaft part, makes circular connecting plate be fixed on casing cantilever ladder axle sleeve free end, the second hex nut screws in the second spiral and swings liquid Pressure motor output shaft thread segment pretension, makes the second spiral rotary actuator output shaft and the first casing be connected, end cap is fixed on On first casing, equi intensity cantilever pin-and-hole is sheathed on end cap bearing pin, and equi intensity cantilever ring flange is fixed on the 4th square tube Above shape telescopic arm, form tumbler；

Described crawl and swivel block device are by the second casing, the 3rd spiral rotary actuator, hydraulic jack, first push away Power bearing, the second thrust bearing, the 3rd hex nut, piston, piston rod, ladder U-bracket, first connecting rod, second connecting rod, two Individual first fork, two rollers, end cap and two mechanical gripper device compositions, the second casing be provided with 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 3rd spiral rotary actuator output shaft is solid Even ring flange, 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 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 first fork sets There are monaural ring, pin-and-hole and ears ring；

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

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

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

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

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

The invention has the beneficial effects as follows：

1. can be by automatic for equipment alignment work position；

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

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

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

Brief description

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

Fig. 2 is the sleeper four nut synchronization assembling and disassembling device working condition schematic perspective view of the present invention.

Fig. 3 is the first lifting drive exploded perspective schematic diagram of the present invention.

Fig. 4 is the nut assembling and disassembling device exploded perspective schematic diagram of the present invention.

Fig. 5 is rail-lifting equipment and swivel block and the push-and-pull sleeper working state of device schematic perspective view of the present invention.

Fig. 6 is the second lifting drive exploded perspective schematic diagram of the present invention.

Fig. 7 be the present invention carry rail assembly exploded perspective schematic diagram.

Fig. 8 is the swivel block of the present invention and working condition schematic perspective view cut open by push-and-pull sleeper device side wall.

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

Figure 10 is the tumbler exploded perspective schematic diagram of the present invention.

Figure 11 is crawl and the swivel block device exploded perspective schematic diagram of the present invention.

Specific embodiment

Refer to shown in Fig. 1, the present invention is by sleeper four nut synchronization assembling and disassembling device 7, rail-lifting equipment 8, swivel block and push-and-pull Sleeper device 9, electromotor 18, Hydraulic system and control System cabine 19 and railcar 20 form, and railcar 20 is provided with four castors 201 and two longerons 202, sleeper four nut synchronization assembling and disassembling device 7, rail-lifting equipment 8, swivel block and push-and-pull sleeper device 9, electromotor 18 and Hydraulic system and control System cabine 19 be arranged on two longerons 202 of railcar, railcar 20 is drawn by engineering truck, send out Motor 18 is oil pump and control system provides power, is provided with fuel tank, oil pump, hydraulic control in Hydraulic system and control System cabine 19 System and automatic control system；

Refer to shown in Fig. 1 and Fig. 3, described sleeper four nut synchronization assembling and disassembling device 7 is by entablature assembly 71, first Lowering or hoisting gear 72 and two nut assembling and disassembling devices 73 form；

Described entablature assembly 71 is by the first square tube shape fixed arm 711 and 712 groups of two the first square tube shape telescopic arms Become, the first square tube shape fixed arm 711 is provided with symmetrical two long slot bore 7111, and the first square tube shape telescopic arm 712 is provided with blind end 7121 and two monaural rings 7122；

The first described lowering or hoisting gear 72 be by the first lifting drive 721, symmetrically arranged two first parallel four Linkage 722 and first laser displacement transducer 723 form；

The first described lifting drive 721 is by the first square tube shape fixed arm 711, the double rod hydraulic oil of dual Piston Cylinder 7211 and two the first square tube shape telescopic arms 712 form, and double rod hydraulic jack 7211 cylinder body of dual Piston is provided with square method Blue disk 72111, piston rod free end are provided with ring flange 72112；

The first described parallelogram lindage 722 is to be stretched by 7221, two forks 7222 of sill and the first square tube shape Arm 712 forms, and sill 7221 is provided with four ears rings 72211 and symmetrical two long slot bores 72212；

Two the first square tube shape telescopic arms 712 are sheathed on it from double rod hydraulic jack 7211 two ends of dual Piston respectively On, so that the double rod hydraulic cylinder piston rod ring flange 72112 of the first square tube shape telescopic arm 712 and dual Piston is connected, first party Tubular fixed arm 711 is sheathed on two the first square tube shape telescopic arms 712, makes the double rod cylinder body of hydraulic oil cylinder of dual Piston square Ring flange 72111 is symmetrically fixed on the first square tube shape fixed arm 711 endoporus upper surface, forms the first lifting drive 721；

By one end of two forks 7222 respectively with the first square tube shape telescopic arm 712 chain connection, two forks 7222 The other end respectively with sill 7221 chain connection, form the first parallelogram lindage 722, be symmetrical in sill 7221 and first The vertical plane of symmetry of square tube shape fixed arm 711 assembles another the first parallelogram lindage 722, by first laser displacement transducer 723 are symmetrically fixed on above the first square tube shape fixed arm 711, form the first lowering or hoisting gear 72；

Refer to shown in Fig. 5, described nut assembling and disassembling device 73 is to swing hydraulic pressure horse by two suspension rods 731, the first spiral Reach 732, upper lid 733, circular connecting plate 734, the second hex nut 735, internal gear 737, two gears of 736, two power transmission shafts 738th, 740, two the second thrust bearings 741 of 739, two the first thrust bearings of housing, 742, two elasticity of the 3rd hex nut Shaft coupling 743 and two interior wide-mouth magnetic coupling boxs 744 form, and the first spiral rotary actuator 732 is provided with ring flange 7321st, its output shaft is provided with circular shaft section 7322 and six prism shaft parts 7323, and upper lid 733 is provided with axis hole 7331, circular connecting plate 734 It is provided with six prism holes 7341, power transmission shaft 737 is provided with the first axle journal 7371, the second axle journal 7372, the 3rd axle journal 7373, the 4th axle journal 7374 and thread segment 7375, housing 739 is provided with ring flange 7391 and two axis holes 7392, and interior wide-mouth magnetic coupling box 744 sets There is axle journal 7441；

Upper lid 733 is sheathed on the first spiral rotary actuator output shaft circular shaft section 7322, makes lid 733 and the first spiral shell Rotation rotary actuator ring flange 7321 contact is connected, more circular connecting plate 734 is sheathed on the first spiral rotary actuator Output shaft six prism shaft part 7323, the second hex nut 735 pretension, internal gear 736 and circular connecting plate 734 are coaxially connected one Body, gear 738 is sheathed on power transmission shaft the first axle journal 7371 and is connected, and the first thrust bearing 740 is sheathed on power transmission shaft second axle journal On 7372, power transmission shaft 737 makes the first thrust bearing 740 contact with housing 739 through housing axis hole 7392, the second thrust bearing 741 are sheathed on power transmission shaft the 3rd axle journal 7373, and the 3rd hex nut 742 screws on power transmission shaft thread segment 7375 pretension, elasticity connection Axial organ 743 makes power transmission shaft the 4th axle journal 7374 coaxially be fixed with one with interior wide-mouth magnetic coupling box axle journal 7441, internal gear 736 Insert in housing 739, the gear teeth flank of tooth gear teeth face with internal gear 736 respectively, upper lid 733 and the shell of two gears 738 Body ring flange 7391 is fixed with one, and one end of two suspension rods 731 is symmetrically fixed on housing 739 both sides, forms nut assembling and disassembling device 73, the other end of two suspension rods 731 is symmetrically fixed on 711 2 sides of the first square tube shape fixed arm, and sill 7221 is fixed on On two longeron 202 medial surface of railcar, composition sleeper four nut synchronization assembling and disassembling device 7；

Refer to shown in Fig. 5 to Fig. 7, described rail-lifting equipment 8 is by cmos image sensor 80, entablature 81, second Lowering or hoisting gear 82, carry rail assembly 83 and form；

The second described lowering or hoisting gear 82 is symmetrically to be set by sill assembly 821, the second lifting drive 822, two The second parallelogram lindage 823 put and second laser displacement transducer 825 form；

Described sill assembly 821 is by the second square tube shape fixed arm 8211 and two the second square tube shape telescopic arms 8212 Composition, the second square tube shape fixed arm 8211 is provided with symmetrical two long slot bore 82111, and the second square tube shape telescopic arm 8212 is provided with envelope Closed end 82121 and two ears rings 82122；

The second described lifting drive 822 and the first lifting drive 721 form the same, except aforesaid second party Tubular fixed arm 8211 and 180 ° of the first square tube shape fixed arm 711 interferometry difference, the second square tube shape telescopic arm 8212 and first party 180 ° of tubular telescopic arm 712 interferometry difference is outer, and remaining all component structural form is the same；

Carry out and the first lifting drive 721 identical assembly operation, form the second lifting drive 822；

The second described parallelogram lindage 823 is by the second square tube shape telescopic arm 8212, two forks 8231 and entablatures 81 compositions；

By one end of two forks 8231 respectively with the second square tube shape telescopic arm 8212 chain connection, two forks 8231 The other end respectively with entablature 81 chain connection, form the second parallelogram lindage 823, be symmetrical in entablature 81 and the second square tube The vertical plane of symmetry of shape fixed arm 8211 assembles another the second parallelogram lindage 823, by second laser displacement transducer 825 Symmetrically it is fixed on above the second square tube shape fixed arm 8211, form the second lowering or hoisting gear 82；

The described rail assembly 83 that carries is by two suspension rods 831, third party's tubular fixed arm 832, the double rod liquid of dual Piston 833, two box type telescopic arms 834 of compressing cylinder and two carry cylinder of rail 835 and form, and suspension rod 831 is provided with first flange disk 8311 He Second flange disk 8312, third party's tubular fixed arm 832 is provided with two symmetrical semicylindrical openings 8321, the double rod liquid of dual Piston Compressing cylinder 833 cylinder body is provided with square flange 8331, piston rod free end is provided with ring flange 8332, and box type telescopic arm 834 is provided with Semicylindrical opening 8341, carries that cylinder of rail 835 cylinder body is provided with gusset 8351, piston rod free end is provided with fagging 8352；

Two box type telescopic arms 834 are solid with double two ring flanges 8332 of rod hydraulic cylinder piston rod of dual Piston respectively Even, third party's tubular fixed arm 832 is sheathed on two box type telescopic arms 834, makes the double rod hydraulic jack of dual Piston square Ring flange 8331 is symmetrically fixed on third party's tubular fixed arm 832 endoporus upper surface, and two suspension rod 831 second flange disks 8312 are right Claim to be fixed on above third party's tubular fixed arm 832, composition carries rail assembly 83, and two suspension rod 831 first flange disks 8311 are symmetrical It is fixed on entablature 81 side, cmos image sensor 80 is fixed on below the second square tube shape fixed arm 8211, composition carries rail dress Put 8；

Refer to shown in Fig. 8 to Figure 11, described swivel block and push-and-pull sleeper device 9 are by telescopic component 90, telescopic drive Device 91,92, two connecting plates 93 of tumbler and crawl and swivel block device 94 form；

Described telescopic component 90 is by the 4th square tube shape fixed arm 901, the 4th square tube shape telescopic arm 902 and the 3rd laser Displacement transducer 903 forms, and the 4th square tube shape fixed arm 901 is provided with blind end 9011, the 4th square tube shape telescopic arm 902 be provided with every Plate 9021；

Described retractable driving device 91 is by the 4th square tube shape fixed arm 901, two-way ram oil cylinder 911 and four directions Tubular telescopic arm 902 forms, and two-way ram oil cylinder 911 cylinder body is provided with square slider 9111 and ring flange 9112, piston rod set There is ring flange 9113；

4th 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 4th square tube shape telescopic arm dividing plate 9021 are connected, then the 4th square tube shape fixed arm 901 is sheathed on the 4th square tube On shape telescopic arm 902, two-way ram cylinder flange disk 9112 and the 4th square tube shape fixed arm blind end 9011 is made to be connected, composition Retractable driving device 91, two-way ram oil cylinder 911 and the 4th square tube shape telescopic arm 902 form moving sets, the 3rd laser displacement Sensor 903 is symmetrically fixed on above the 4th square tube shape fixed arm 901；

Described tumbler 92 is by the 4th square tube shape telescopic arm 902, the second spiral rotary actuator 921, cantilever Hollow multidiameter 922, the first thrust bearing 923, the first casing 924, the second thrust bearing 925, the first hex nut 926, circle Shape connecting plate 927, the second hex nut 928, end cap 929 and equi intensity cantilever 930 form, the second spiral rotary actuator 921 output shafts are provided with thread segment 9211 and six prism shaft parts 9212, and the hollow multidiameter of cantilever 922 is provided with thread segment 9221, first Axle journal 9222, the second axle journal 9223, the 3rd axle journal 9224 and connecting plate 9225, connecting plate 9225 is provided with spacing arc groove 92251, First casing 924 is provided with spacer pin 9241 and cantilever ladder axle sleeve 9242, and cantilever ladder axle sleeve 9242 is provided with the first axle sleeve 92421st, the second axle sleeve 92422 and the 3rd axle sleeve 92423, end cap 929 is provided with bearing pin 9291, and circular connecting plate 927 is provided with six ribs Axis of a cylinder hole 9271, equi intensity cantilever 930 is provided with pin shaft hole 9301 and ring flange 9302；

Second spiral rotary actuator 921 is fixed on the 4th square tube shape telescopic arm dividing plate 9021 front end base plate, empty Heart cantilever multidiameter 922 is sheathed on the second spiral rotary actuator 921, so that cantilever hollow multidiameter connecting plate 9225 is connected In the 4th square tube shape telescopic arm 902 end face, the first thrust bearing 923 is sheathed on the hollow multidiameter of cantilever the 3rd axle journal 9224, First casing cantilever ladder axle sleeve 9242 is sheathed on hollow cantilever multidiameter 922, makes the first thrust bearing 923 insert the first case Body cantilever ladder axle sleeve the 3rd axle sleeve section 92423, cantilever ladder axle sleeve the second axle sleeve section 92422 is sheathed on hollow multidiameter second On axle journal 9223, the second thrust bearing 925 is sheathed on cantilever hollow multidiameter the first axle journal 9222, inserts cantilever ladder axle sleeve First axle sleeve section 92421, the first hex nut 926 screws in cantilever hollow multidiameter thread segment 9221 pretension, makes the first casing 924 Hollow multidiameter 922 chain connection with cantilever, circular connecting plate 927 is sheathed on the second spiral rotary actuator output shaft six rib Axis of a cylinder section 9212, makes circular connecting plate 927 be fixed on casing cantilever ladder axle sleeve 9242 free end, the second hex nut 928 revolves Enter the second spiral rotary actuator output shaft thread segment 9211 pretension, make the second spiral rotary actuator 921 output shaft with First casing 924 is connected, and end cap 929 is fixed on the first casing 924, and equi intensity cantilever pin-and-hole 9301 is sheathed on end cap bearing pin On 9291, equi intensity cantilever ring flange 9302 is fixed on above the 4th square tube shape telescopic arm 902, forms tumbler 92；

Described crawl and swivel block device 94 are by the second casing 941, the 3rd spiral rotary actuator 942, hydraulic oil Cylinder 943, the first thrust bearing 944, the second thrust bearing 945, the 3rd hex nut 946, piston 947, piston rod 948, ladder U Shape support 949, first connecting rod 950, second connecting rod 952, two rollers 953 of 951, two the first forks, end cap 954 and two machines Machinery claw 955 device forms, and the second casing 941 is provided with 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 3rd spiral rotary actuator 942 output shaft Connected ring flange 9421, ring flange 9421 is provided with spacing sector boss 94211, and 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 first fork 952 is provided with monaural ring 9521, pin-and-hole 9522 and double Earrings 9523；

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

By spacing for the 3rd spiral rotary actuator output shaft ring flange sector boss 94211 and hydraulic jack ring flange limit The fan-shaped boss 94311 in position aligns connected, and the first thrust bearing 944 is sheathed on hydraulic jack the first axle journal 9432, by hydraulic oil Cylinder penetrates the second casing 941 ladder in the hole, makes the 3rd spiral rotary actuator output shaft ring flange 9421 and hydraulic jack method Second casing the first circular hole portion 9413 inserted by blue disk 9431, and spacing sector boss 94211 left surface is spacing with fan-shaped hole section first Face 94131 contacts, and the first thrust bearing 944 inserts second casing the second circular hole portion 9414, makes the 3rd spiral rotary actuator 942 are fixed on the second casing 941 base plate, so that end cap 954 and the second casing 941 is connected；

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

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

First casing 924 is fixed with one by two connecting plates 93 with the second casing 941, forms swivel block and push-and-pull sleeper device 9.

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

1. dismounting nut work：Using manually or mechanically having cleared up ballast between the sleeper of bad sleeper both sides, on the right side of bad sleeper Bolt machine oil labelling outside second sleeper, when engineering truck traction track car runs near bad sleeper, cmos image sensor The image information of collection, by pattern recognition system automatic identification, makes engineering truck be parked in cmos image sensor and machine oil labelling The coaxial position of bolt, four bolts that four interior wide-mouth magnetic coupling boxs are respectively fixedly connected with sleeper are coaxial, position shown in Fig. 1 Put, oil pump is started working, hydraulic oil makes the first lifting drive the double rod hydraulic cylinder piston rod of dual Piston to start to stretch out, respectively Promote the two first square tube shape telescopic arms connected with it synchronously to stretch out, make symmetrically arranged two the first parallelogram lindages The two pairs of forks are entrusted two nut assembling and disassembling devices and are declined with respect to sill synchronization backswing, the first lowering or hoisting gear, by the One laser displacement sensor measures the displacement signal of itself and sill, to control the first lifting to drive the double rod hydraulic pressure of dual Piston Oil cylinder and the work of the first spiral rotary actuator, when interior wide-mouth magnetic coupling box is sheathed on nut, position shown in Fig. 2, First lifting drives the double rod hydraulic cylinder piston rod of dual Piston to stop stretching out, and hydraulic oil makes two the first spirals swing hydraulic pressure Motor starts reverse sync and rotates, and drives two circular connecting plates to entrust two internal gears respectively and rotates, each internal gear is simultaneously Engage with two gears, drive two drive axis, so that four interior wide-mouth magnetic coupling box reverse sync is rotated, in four Wide-mouth magnetic coupling box synchronously screws off four nuts, and it is interior wide that the magnetic of interior wide-mouth magnetic coupling box makes the nut screwing off stay In mouth magnetic coupling box, two the first spiral rotary actuators stop rotating backward, and it is double that hydraulic oil makes the first lifting drive The double rod hydraulic cylinder piston rod of piston type starts to retract, and pulls two the first square tube shape telescopic arms being connected with it synchronous respectively Retract, make two pairs of forks of symmetrically arranged two the first parallelogram lindages with respect to the opposite synchronous hunting of sill, first Lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is risen to position shown in Fig. 1, and the first lifting drives the double rod hydraulic pressure of dual Piston Cylinder piston rod stops retracting, and completes to dismantle nut work；

2. pull-out bad sleeper work：Engineering truck traction track car moves to left, by pattern recognition system automatic identification sleeper bar The number of rail outer bolt image, makes railcar move to left a sleeper pitch, swivel block and push-and-pull sleeper device are just gone up positioned at bad sleeper Side, hydraulic oil makes two-way ram cylinder piston rod start to stretch out, and promotes the 4th square tube shape telescopic arm to stretch out, the 4th square tube shape is stretched Contracting arm entrusts tumbler and crawl and swivel block device moves out, and measures itself and equal strength by the 3rd laser displacement sensor The displacement signal of cantilever beam, to control two-way ram oil cylinder, the second spiral rotary actuator and the 3rd spiral to swing hydraulic pressure Motor operations, tumbler and crawl and swivel block device move out to correct position, and two-way ram cylinder piston rod stops Stretch out, its piston rod start retract, pull the 4th square tube shape telescopic arm retract, the 4th square tube shape telescopic arm entrust tumbler and Capture and swivel block device inward, hydraulic oil makes the second spiral rotary actuator start to rotate forward simultaneously, drive first Casing rotates forward, and the first casing is entrusted the second casing being connected with it and rotated forward, and the second casing entrusts crawl and swivel block dress Put and rotate forward, when the first casing rotates forward to its spacer pin and cantilever hollow multidiameter connecting plate spacing arc groove one termination When tactile, crawl entrusted by the second casing and swivel block device rotates forward 90 °, and the second spiral rotary actuator stops rotating forward, The middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, when two pressing plate inward of gripper are to bad sleeper During the appropriate location of both sides, two-way ram cylinder piston rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod stretch out, and promotes the One connecting rod and second connecting rod motion, make two symmetrically arranged 3rd forks swing in opposite directions, are articulated with the 3rd fork ears ring Roller pushes down pressing plate, and roller rolls makes pressing plate overcome the pulling force of two cylindrically coiled springs to make translation, two in-parallel four bars Mechanism is positive to be swung, and when two platen clamp sleepers, the middle position of solenoid directional control valve makes hydraulic jack pressurize；

Hydraulic oil makes the second lifting drive the double rod hydraulic cylinder piston rod of dual Piston to start to stretch out, and promotes respectively and it Two connected the second square tube shape telescopic arms synchronously stretch out, and make two pairs of forks of symmetrically arranged two the second parallelogram lindages With respect to entablature dorsad synchronous hunting, the second lowering or hoisting gear is entrusted rail-lifting equipment and is declined, by second laser displacement transducer Measure the displacement signal of itself and entablature, to control the second lifting to drive the double rod hydraulic jack of dual Piston and carry rail assembly pair Piston type double rod hydraulic jack work, carries cylinder of rail cylinder body gusset upper surface and rail lower surface when rail-lifting equipment drops to When coplanar, the second lifting drives the double rod hydraulic cylinder piston rod of dual Piston to stop stretching out, and hydraulic oil makes to carry rail assembly dual-active The double rod hydraulic cylinder piston rod of plug starts to stretch out, and promotes two box type telescopic arms synchronously to stretch out respectively, so that two boxes is stretched Contracting arm is entrusted two respectively and is carried cylinder of rail and moves out, and when carrying cylinder of rail cylinder body with rail lower flange contacts side surfaces, carries rail oil Cylinder cylinder body gusset upper surface contacts with below rail, carries the double rod hydraulic cylinder piston rod of rail assembly dual Piston and stops stretching Go out, hydraulic oil makes to carry cylinder of rail piston rod and stretches out, when be fixed on the fagging contact railway roadbed ballast carrying cylinder of rail piston rod and by its After compacting, with carrying constantly stretching out of cylinder of rail piston rod, the cylinder body carrying cylinder of rail is entrusted gusset and is moved upwards, makes rail top Rise, the middle position of solenoid directional control valve makes to propose cylinder of rail pressurize；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, and makes hydraulic jack entrust positive turn of gripper Dynamic, gripper makes sleeper rotate forward, when the 3rd spiral rotary actuator ring flange and the spacing sector of hydraulic jack ring flange When boss is contacted with second casing scallop hole the second confined planes, gripper makes sleeper rotate forward 90 °, and the 3rd spiral swings hydraulic pressure Motor stops rotating forward, and hydraulic oil makes two-way ram cylinder piston rod start to stretch out, and gripper pulls bad sleeper to outward transport Dynamic, when bad sleeper moves out to end face thereafter and above rail lower flange trailing flank is coplanar, two-way ram oil cylinder piston Bar stops stretching out, and hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and makes hydraulic jack entrust gripper reverse Rotate, gripper makes sleeper rotate backward, when the 3rd spiral rotary actuator ring flange and the spacing fan of hydraulic jack ring flange When shape boss is contacted with second casing scallop hole the first confined planes, gripper makes sleeper rotate backward 90 °, position shown in Fig. 5, the Three spiral rotary actuators stop rotating backward；

Hydraulic oil makes hydraulic cylinder piston rod start to retract, and pulls first connecting rod and second connecting rod motion, makes two 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 two-way ram cylinder piston rod start to stretch out, and the 4th square tube shape telescopic arm is entrusted tumbler and grabbed Take and swivel block device moves out to appropriate location, two-way ram cylinder piston rod stops stretching out；Hydraulic oil makes the second spiral Rotary actuator starts to rotate backward, and drives the first casing to rotate backward, the second casing being connected with it entrusted by the first casing Rotate backward, crawl entrusted by the second casing and swivel block device rotates backward, when the first casing rotates backward to its spacer pin and hangs During another end in contact of the spacing arc groove of arm hollow multidiameter connecting plate, crawl entrusted by the second casing and swivel block device rotates backward 90 °, the second spiral rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes the second spiral rotary actuator protect Pressure, two-way ram cylinder piston rod starts to retract, and the 4th square tube shape telescopic arm entrusts tumbler and crawl and swivel block device To position shown in Fig. 1, two-way ram cylinder piston rod stops retracting inward；

Hydraulic oil makes to carry cylinder of rail piston rod to start to retract, and its piston rod hauls fagging and moves upwards, and rail falls to former Position, bad sleeper is pushed down so as to upper surface is parallel with two rail lower surfaces, carries cylinder of rail piston rod and be retracted to stop, high Force feed makes to carry the double rod hydraulic cylinder piston rod of rail assembly dual Piston and starts to retract, and pulls two box type telescopic arms synchronous respectively Retract, two box type telescopic arms are entrusted two respectively and carried cylinder of rail inward, when its gusset and rail disengage and contact, carry The double rod hydraulic cylinder piston rod of rail assembly dual Piston stops retracting；

Hydraulic oil makes the second lifting drive the double rod hydraulic cylinder piston rod of dual Piston to start to retract, and pulls respectively and it Two connected the second square tube shape telescopic arms synchronously stretch out, and make two pairs of forks of symmetrically arranged two the second parallelogram lindages With respect to the opposite synchronous hunting of entablature, the second lowering or hoisting gear is entrusted rail-lifting equipment and is risen, when rail-lifting equipment rises to shown in Fig. 1 Position, the second lifting drives the double rod hydraulic cylinder piston rod of dual Piston to stop retracting, and oil pump quits work, and pulls out bad sleeper End-of-job, engineering truck traction track car is removed, using manually or mechanically removing bad sleeper；

3. advanced sleeper to work：After manually or mechanically good sleeper being set, engineering truck traction track car run to When near good sleeper, the image information of cmos image sensor collection, by pattern recognition system automatic identification, so that engineering truck is stopped In the cmos image sensor position coaxial with machine oil labelling bolt, swivel block and push-and-pull sleeper device are located above good sleeper, carry Directly over rail device is located on the right side of good sleeper between sleeper, oil pump is started working, and hydraulic oil makes two-way ram cylinder piston rod open Beginning stretches out, and so that tumbler and crawl and swivel block device is moved out, when the 4th square tube shape telescopic arm extend out to stop, double cropping Stop stretching out with piston oil-cylinder piston rod；

Hydraulic oil makes the second spiral rotary actuator start to rotate forward, and makes the second casing entrust crawl and swivel block device Rotate forward 90 °, the second spiral rotary actuator stops rotating forward, the middle position of solenoid directional control valve makes the second spiral swing liquid Pressure motor pressurize, hydraulic oil make two-way ram cylinder piston rod start retract, make tumbler and crawl and swivel block device to Interior motion, when two presser motion most intimate friend's sleeper both sides appropriate locations of gripper, position shown in Fig. 5, two-way ram oil Cylinder piston rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod stretch out, when two platen clamp sleepers, solenoid directional control valve Middle position makes hydraulic jack pressurize；

Hydraulic oil makes the second lifting drive the double rod hydraulic cylinder piston rod of dual Piston to start to stretch out, the second lowering or hoisting gear Entrust rail-lifting equipment to decline, when rail-lifting equipment drop to carry cylinder of rail cylinder body gusset upper surface and rail lower surface coplanar when, Second lifting drives the double rod hydraulic cylinder piston rod of dual Piston to stop stretching out, hydraulic oil make to carry rail assembly dual Piston double go out Bar hydraulic cylinder piston rod starts to stretch out, and when carrying cylinder of rail cylinder body with rail lower flange contacts side surfaces, carries cylinder of rail cylinder body and adds Power plate upper surface contacts with below rail, carries the double rod hydraulic cylinder piston rod of rail assembly dual Piston and stops stretching out, hydraulic oil Make to carry cylinder of rail piston rod and stretch out, make rail jack-up, the middle position of solenoid directional control valve makes to propose cylinder of rail pressurize；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, when gripper makes sleeper rotate forward 90 °, the Three spiral rotary actuators stop rotating forward, and hydraulic oil makes two-way ram cylinder piston rod start to retract, and makes gripper Promote sleeper inward, during position, two-way ram cylinder piston rod stops contracting to shown in Fig. 1 to have made sleeper inward Return, hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and gripper makes sleeper rotate backward 90 °, the 3rd spiral Rotary actuator stops rotating backward；

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

Hydraulic oil makes two-way ram cylinder piston rod start to stretch out, and the 4th square tube shape telescopic arm is entrusted tumbler and grabbed Take and swivel block device moves out to appropriate location, two-way ram cylinder piston rod stops stretching out；Hydraulic oil makes the second spiral Rotary actuator starts to rotate backward, make the second casing entrust crawl and swivel block device rotate backward 90 °, second spiral swing Hydraulic motor stops rotating backward, and the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, two-way ram oil Cylinder piston rod starts to retract, and the 4th square tube shape telescopic arm entrusts tumbler and crawl and swivel block device inward to Fig. 1 institute Show position, two-way ram cylinder piston rod stops retracting；

Hydraulic oil makes to carry cylinder of rail piston rod to start to retract, and rail falls to original position, carries cylinder of rail piston rod and be retracted to Stop, hydraulic oil makes to carry the double rod hydraulic cylinder piston rod of rail assembly dual Piston to start to retract, when carrying cylinder of rail inward Disengage when contact to its gusset and rail, the double rod hydraulic cylinder piston rod of dual Piston stops retraction；

Hydraulic oil makes the second lifting drive the double rod hydraulic cylinder piston rod of dual Piston to start to retract, when the second lifting dress Put and entrust rail-lifting equipment and rise to position shown in Fig. 1, the second lifting drives the double rod hydraulic cylinder piston rod of dual Piston to stop Retract, advanced sleeper end-of-job；

4. nut work is installed：Engineering truck traction track car moves to right, by pattern recognition system automatic identification sleeper rail The number of outer bolt image, makes railcar move to right a sleeper pitch, four are left wide-mouth magnetic coupling box difference in nut Coaxial with four bolts being fixed on sleeper, hydraulic oil makes the first lifting drive the double rod hydraulic cylinder piston rod of dual Piston Start to stretch out, the first lowering or hoisting gear is entrusted two nut assembling and disassembling devices and declined, when it drops in interior wide-mouth magnetic coupling box Nut and the pillow threaded bolt contacts that switched tracks, position shown in Fig. 2, the first lifting drives the double rod hydraulic cylinder piston rod of dual Piston Stopping is stretched out, and hydraulic oil makes two the first spiral rotary actuator forward direction synchronous axial system, drives two circular connecting plates respectively Entrust two internal gears to rotate forward, each internal gear is engaged with two gears simultaneously, drive two drive axis, make four Interior wide-mouth magnetic coupling box forward direction synchronous axial system, the nut in four interior wide-mouth magnetic coupling boxs synchronously screws in sleeper four Bolt pretension, two the first spiral rotary actuators start stopping and rotate forward, and hydraulic oil makes the first lifting drive dual-active The double rod hydraulic cylinder piston rod of plug starts to retract, and the first lowering or hoisting gear is entrusted two nut assembling and disassembling devices and risen to Fig. 1 institute Show position, the first lifting drives the double rod hydraulic cylinder piston rod of dual Piston to stop retracting, and oil pump quits work, and installs nut Work completes, and engineering truck traction track car leaves.

In falling unit, symmetrically arranged two the first parallelogram lindages are so as to square tube shape telescopic arm and sill are put down all the time OK, to adapt to straight line and the sleeper nut assembly and disassembly work of curved rail length section；Yielding coupling and interior wide-mouth nut can effectively adapt to Sleeper bolt position deviation, makes interior wide-mouth nut easily screw on sleeper bolt.

Claims

1. automatic exchange sleeper device it is characterised in that：It is by sleeper four nut synchronization assembling and disassembling device, rail-lifting equipment, swivel block And push-and-pull sleeper device, electromotor, Hydraulic system and control System cabine and railcar form, railcar is provided with four castors and two Individual longeron, sleeper four nut synchronization assembling and disassembling device, rail-lifting equipment, swivel block and push-and-pull sleeper device, electromotor and hydraulic system and Control system case is arranged on two longerons of railcar, and railcar is drawn by engineering truck, and electromotor is oil pump and control system Power is provided, in Hydraulic system and control System cabine, is provided with fuel tank, oil pump, hydraulic control system and automatic control system；

Described sleeper four nut synchronization assembling and disassembling device is by entablature assembly, the first lowering or hoisting gear and two nut assembling and disassembling devices Composition；

Described entablature assembly is made up of the first square tube shape fixed arm and two the first square tube shape telescopic arms, the first square tube shape Fixed arm is provided with symmetrical two long slot bore, and the first square tube shape telescopic arm is provided with blind end and two monaural rings；

The first described lowering or hoisting gear is by the first lifting drive, symmetrically arranged two the first parallelogram lindages and One laser displacement sensor composition；

The first described lifting drive is by the first square tube shape fixed arm, the double rod hydraulic jack of dual Piston and two the One 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 is provided with Ring flange；

The first described parallelogram lindage is made up of sill, two forks and the first square tube shape telescopic arm, and sill sets There are four ears rings and symmetrical two long slot bores；

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 with dual Piston, and the first square tube shape fixed arm is sheathed on two On first square tube shape telescopic arm, the double rod cylinder body of hydraulic oil cylinder 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 lifting drive；

By one end of two forks respectively with the first square tube shape telescopic arm chain connection, the other end of two forks respectively with lower horizontal stroke Beam chain connection, forms the first parallelogram lindage, is symmetrical in the vertical plane of symmetry group of sill and the first square tube shape fixed arm Fill another the first parallelogram lindage, first laser displacement transducer be symmetrically fixed on above the first square tube shape fixed arm, Form the first lowering or hoisting gear；

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

Upper lid is sheathed on the first spiral rotary actuator output shaft circular shaft section, makes lid and the first spiral rotary actuator Ring flange contact is connected, more circular connecting plate is sheathed on the first spiral rotary actuator output shaft six prism shaft part, and second Hex nut pretension, internal gear is coaxially fixed with one with circular connecting plate, and geared sleeve is connected located at power transmission shaft first axle journal, and first Thrust bearing is sheathed on power transmission shaft second axle journal, and power transmission shaft makes the first thrust bearing contact with housing through housing axis hole, the Two thrust bearings are sheathed on power transmission shaft the 3rd axle journal, and the 3rd hex nut screws on power transmission shaft thread segment pretension, yielding coupling Power transmission shaft the 4th axle journal is made coaxially to be fixed with one with interior wide-mouth magnetic coupling box axle journal, internal gear is inserted in housing, two teeth The gear teeth flank of tooth gear teeth face with internal gear respectively of wheel, upper lid is fixed with one with shell flange disk, and the one of two suspension rods End is symmetrically fixed on housing both sides, forms nut assembling and disassembling device, and the other end of two suspension rods is symmetrically fixed on the first square tube shape admittedly Determine two sides of arm, sill is fixed on two side rail inner faces of railcar, composition sleeper four nut synchronization assembling and disassembling device；

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

Described sill assembly is made up of the second square tube shape fixed arm and two the second square tube shape telescopic arms, the second square tube shape Fixed arm is provided with symmetrical two long slot bore, and the second square tube shape telescopic arm is provided with blind end and two ears rings；

The second described lifting drive and the first lifting drive composition, except aforesaid second square tube shape fixed arm Outside the first square tube shape fixed arm interferometry difference, the second square tube shape telescopic arm and the first square tube shape telescopic arm interferometry difference, remaining All component structural forms are the same；

By one end of two forks respectively with the second square tube shape telescopic arm chain connection, the other end of two forks respectively with upper horizontal stroke Beam chain connection, forms the second parallelogram lindage, is symmetrical in the vertical plane of symmetry group of entablature and the second square tube shape fixed arm Fill another the second parallelogram lindage, second laser displacement transducer be symmetrically fixed on above the second square tube shape fixed arm, Form the second lowering or hoisting gear；

The described rail assembly that carries is by two suspension rods, third party's tubular fixed arm, dual Piston double rod hydraulic jack, two casees Type telescopic arm and two carry cylinder of rail composition, and suspension rod is provided with first flange disk and second flange disk, and third party's tubular fixed arm sets There are two symmetrical semicylindrical openings, 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, box type telescopic arm is provided with semicylindrical opening, carry that cylinder of rail cylinder body is provided with gusset, piston rod free end is provided with support Plate；

By two box type telescopic arms, double two ring flanges of rod hydraulic cylinder piston rod are connected with dual Piston respectively, third party's cylinder Shape fixed arm is sheathed on two box type telescopic arms, makes the double rod hydraulic jack square flange of dual Piston symmetrically be fixed on the Three square tube shape fixed arm endoporus upper surfaces, two suspension rod second flange disks are symmetrically fixed on above third party's tubular fixed arm, group Become to carry rail assembly, two suspension rod first flange disks are symmetrically fixed on entablature side, and cmos image sensor is fixed on second party Below tubular fixed arm, form rail-lifting equipment；

Described swivel block and push-and-pull sleeper device are by telescopic component, retractable driving device, tumbler, two connecting plates and to grab Take and swivel block device composition；

Described telescopic component is by the 4th square tube shape fixed arm, the 4th square tube shape telescopic arm and the 3rd laser displacement sensor group Become, the 4th square tube shape fixed arm is provided with blind end, and the 4th square tube shape telescopic arm is provided with dividing plate；

Described retractable driving device is by the 4th square tube shape fixed arm, two-way ram oil cylinder and the 4th square tube shape telescopic arm group Become, two-way ram cylinder block is provided with square slider and ring flange, piston rod are provided with ring flange；

4th square tube shape telescopic arm is sheathed on two-way ram oil cylinder, two-way ram cylinder piston rod ring flange and the 4th Square tube shape telescopic arm dividing plate is connected, then the 4th square tube shape fixed arm is sheathed on the 4th square tube shape telescopic arm, so that double acting is lived Plug cylinder flange disk and the 4th square tube shape fixed arm blind end are connected, composition retractable driving device, two-way ram oil cylinder and the Four square tube shape telescopic arms form moving sets, and the 3rd laser displacement sensor is symmetrically fixed on above the 4th square tube shape fixed arm；

Described tumbler be by the 4th square tube shape telescopic arm, the second spiral rotary actuator, the hollow multidiameter of cantilever, One thrust bearing, the first casing, the second thrust bearing, the first hex nut, circular connecting plate, the second hex nut, end cap and Equi intensity cantilever forms, and the second spiral rotary actuator output shaft is provided with thread segment and six prism shaft parts, the hollow rank of cantilever Terraced axle is provided with thread segment, the first axle journal, the second axle journal, the 3rd axle journal and connecting plate, and connecting plate is provided with spacing arc groove, the first case Body is provided with spacer pin and cantilever ladder axle sleeve, and cantilever multidiameter is arranged with the first axle sleeve, the second axle sleeve and the 3rd axle sleeve, and end cap sets There is bearing pin, circular connecting plate is provided with six prism axis holes, equi intensity cantilever is provided with pin shaft hole and ring flange；

Second spiral rotary actuator is fixed on the 4th square tube shape telescopic arm plate front end base plate, hollow cantilever multidiameter It is sheathed on the second spiral rotary actuator, make cantilever hollow multidiameter connecting plate be fixed on the 4th square tube shape telescopic arm end Face, the first thrust bearing is sheathed on the hollow multidiameter of cantilever the 3rd axle journal, and the first casing cantilever ladder axle sleeve is sheathed on hollow On cantilever multidiameter, the first thrust bearing is made to insert the first casing cantilever ladder axle sleeve the 3rd axle sleeve section, cantilever ladder axle sleeve Two axle sleeve sections are sheathed on hollow multidiameter second axle journal, and the second thrust bearing is sheathed on cantilever hollow multidiameter the first axle journal On, insert cantilever ladder axle sleeve first axle set section, the first hex nut screws in cantilever hollow multidiameter thread segment pretension, makes first Casing and cantilever hollow multidiameter chain connection, circular connecting plate is sheathed on the second spiral rotary actuator output shaft six prism Shaft part, makes circular connecting plate be fixed on casing cantilever ladder axle sleeve free end, the second hex nut screws in the second spiral and swings liquid Pressure motor output shaft thread segment pretension, makes the second spiral rotary actuator output shaft and the first casing be connected, end cap is fixed on On first casing, equi intensity cantilever pin-and-hole is sheathed on end cap bearing pin, and equi intensity cantilever ring flange is fixed on the 4th square tube Above shape telescopic arm, form tumbler；

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

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

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

Second thrust bearing is sheathed on hydraulic jack 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 3rd 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 second fork ears ring coaxially penetrates pin hinge with roller and is connected, the second 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 first fork monaural rings respectively Enter pin hinge to connect；

The ears ring of four the second 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 second forks coaxially penetrates pin hinge with four the second monaural rings of pressing plate respectively and is connected, two Individual helical spring one end is connected with two the first monaural rings of ladder U-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 first fork Wheel is contacted with pressing plate all the time, repeats aforementioned assembly operation, assembles another gripper, composition crawl and swivel block device；