CN106400625A - Automatic rail lifting and sleeper replacing machine - Google Patents

Abstract

The invention discloses an automatic rail lifting and sleeper replacing machine. The automatic rail lifting and sleeper replacing machine is composed of a sleeper four nut synchronous mounting and dismounting device, a rail lifting device, a sleeper rotating, pushing and pulling device, a generator, a hydraulic system and control system box and a rail car. The rail car is provided with four trundles and two longitudinal beams. The sleeper four nut synchronous mounting and dismounting device, the rail lifting device, the sleeper rotating, pushing and pulling device, the generator and the hydraulic system and control system box are arranged on the two longitudinal beams of the rail car. The rail car is drawn by a shop truck. According to the automobile rail lifting and sleeper replacing machine, working devices can be automatically aligned to working positions; four nuts can be synchronously mounted and dismounted, pretightening force of the four nuts can be consistent, the fatigue life of bolts is prolonged, and reliability of connection between a sleeper and a rail is ensured; the machine can adapt to related work of sleeper replacing on linear rail sections and curved rail sections; and the sleeper rotating, pushing and pulling device is an integrated device, and the machine is simple and compact in structure, capable of achieving automatic control, convenient to operate and high in sleeper replacing working efficiency.

Description

A kind of automatization carries rail and changes pillow machinery

Technical field

The present invention relates to a kind of railway maintenance machinery, carry rail particularly to a kind of automatization and change pillow machinery.

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 a kind of automatization carries rail changes pillow machinery.

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, the first lowering or hoisting gear and two nut assembling and disassembling devices Composition；

The first described lowering or hoisting gear be by two first series connection parallelogram lindages, the first lifting drive, first Servo-actuated Equipoising support apparatus and first laser displacement transducer composition；

The first described series connection parallelogram lindage is by the first sill, the first fork, the second fork, two the 3rd pendulum Bar, first connecting rod and entablature composition, the first sill is provided with five ears rings and symmetrical two long slot bores, and the first fork sets There is ladder slotted eye, first connecting rod is provided with monaural ring and ears ring；

The first described lifting drive stretches out oil cylinder by double multi-stage expansion shell types pair and two first connecting rods form, The double final stage extension sleeve free end stretching out oil cylinder of double multi-stage expansion shell types is provided with monaural ring；

The first described servo-actuated Equipoising support apparatus are by plate shape entablature, the second series connection parallelogram lindage, the first support Bar, the second strut, slide bar, two slide blocks, two turriform linear Stiffness springs, two the first hex nuts, two the first spiral shells Bolt and two the second bolt compositions, slide bar is provided with fixed disc, is arranged with two light bar segments and two thread segments；Slide block sets There are circular hole and a pair of coaxial threaded blind hole；

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

Stretch out double for double multi-stage expansion shell types oil cylinder and be symmetrically fixed on plate shape entablature, the first fork and the first sill Chain connection, chain connection between the second fork, the 4th fork and three components of the first sill, the first fork ears ring, the 3rd Fork ears ring and first connecting rod monaural ring coaxially penetrate pin hinge and connect, the second fork ears ring, another the 3rd fork Ears ring, first connecting rod ears ring and double multi-stage expansion shell type be double to stretch out oil cylinder monaural ring and coaxially penetrates pin hinge and connect, and two Individual 3rd fork and entablature chain connection, composition the first series connection parallelogram lindage, repeats aforementioned assembly operation, is symmetrical in down Crossbeam and the entablature vertical plane of symmetry assemble another the first series connection parallelogram lindage；

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

Coaxial, two the second bolts by a pair of tapped blind hole of the first strut ears ring, the second strut ears ring and slide block Pretension respectively, makes chain connection between the first strut, the second strut and three components of slide block, and the second strut is with entablature hinge even Connect, form the first servo-actuated Equipoising support apparatus；

First laser displacement transducer is symmetrically fixed on below entablature, 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, it is solid that the other end of two suspension rods is symmetrically fixed on square tube shape 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；

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 and the first lowering or hoisting gear composition, the sill in the second lowering or hoisting gear and first Lower Crossbeam Structure form in lowering or hoisting gear is different, in the first fork and the first lowering or hoisting gear in the second lowering or hoisting gear One swing rod structure form is different, and remaining all component structural form is the same；

Carry out and the first lowering or hoisting gear identical assembly operation, form the second lowering or hoisting gear；

The described rail assembly that carries is by two suspension rods, suspension bracket, the second spiral rotary actuator, opposed cam, two cunnings Dynamic assembly, two cylindrical screw extension springs, I-shaped tubular fixed arm and two carry cylinder of rail composition, suspension rod be provided with first flange disk and Second flange disk, the second spiral rotary actuator output shaft free end is provided with ring flange；

Described slide assemblies are made up of I-shaped tubular travelling arm and roller, and I-shaped tubular travelling arm is provided with semicolumn Hole, symmetrical two monaural rings and tappet, I-shaped tubular travelling arm tappet is provided with ears ring, and I-shaped tubular fixed arm is provided with symmetrical Two semicylindrical openings, carry that cylinder of rail cylinder body is provided with gusset, piston rod free end is provided with fagging；

By roller and I-shaped tubular travelling arm tappet ears ring chain connection, form slide assemblies, carry cylinder of rail and be fixed on In I-shaped tubular travelling arm semicylindrical opening, opposed cam is coaxially connected with spiral rotary actuator output shaft ring flange, and second Spiral rotary actuator is symmetrically fixed on below suspension bracket, and suspension bracket is symmetrically fixed on above I-shaped tubular fixed arm, by two cunnings Dynamic assembly is sheathed thereon from I-shaped tubular fixed arm two ends, makes roller and opposed cam contact, the two ends of cylindrical screw extension spring It is connected with two I-shaped tubular travelling arm homonymy monaural rings respectively, make two to carry cylinder of rail and be symmetrical arranged, two suspension rod second methods Blue disk is symmetrically fixed on above suspension bracket, and composition carries rail assembly, and two suspension rod first flange disks are symmetrically fixed on entablature side, Cmos image sensor is fixed on below sill, forms rail-lifting equipment；

Described swivel block and push-and-pull sleeper device are by telescopic component, retractable driving device, pendulous device, four the first pendulum Bar, crawl and swivel block device, four the first hex nuts and four bolts composition, the first fork be provided with six prism hole monaural rings and Monaural ring；

The second described telescopic component be by square tube shape fixed arm, square tube shape telescopic arm, second laser displacement transducer and Second range finding reference plate composition, square tube shape fixed arm is provided with blind end, and square tube shape telescopic arm is provided with blind end；

Described retractable driving device is made up of square tube shape fixed arm, two-way ram oil cylinder and square tube shape telescopic arm, Two-way ram cylinder block is provided with square slider and ring flange, piston rod are provided with ring flange；

Square tube shape telescopic arm is sheathed on two-way ram oil cylinder, two-way ram cylinder piston rod ring flange and square tube Shape telescopic arm blind end is connected, then square tube shape fixed arm is sheathed on square tube shape telescopic arm, makes two-way ram cylinder flange Disk is connected with square tube shape fixed arm blind end, forms retractable driving device, and two-way ram oil cylinder is formed with square tube shape telescopic arm Moving sets, second laser displacement transducer is symmetrically fixed on above square tube shape fixed arm, and the second range finding reference plate is fixed on square tube Above shape telescopic arm；

Described pendulous device is by the first casing, the 3rd 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 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 3rd 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 3rd 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 pendulum Dynamic device；

Described crawl and swivel block device are by the second casing, the 4th 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 4th 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 second fork sets There are monaural ring, pin-and-hole and ears ring；

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

By spacing for the 4th 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 4th 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 4th 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 second casing axle Set section chain connection, piston rod ears ring, second connecting rod ears ring and first connecting rod monaural ring are coaxially penetrated pin hinge even Connect, the 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 coaxially penetrate pin with the first fork monaural ring respectively Pivot hinge connects；

The ears ring of four the 3rd forks is coaxially penetrated pin hinge with four the second monaural rings of ladder U-bracket respectively 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 be connected, four the first fork monaural rings are coaxial with four screwed holes of the second casing respectively, and pretensions distinguished by four bolts, make Four the first forks are connected with the second chest hinge respectively, form in-parallel four-bar mechanism；

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

The invention has the beneficial effects as follows：

1. can be by automatic for equipment rapid alignment operating position；

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

3. 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 close-up schematic view at C in Fig. 1.

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

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

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

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

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

Fig. 8 is the second lifting drive exploded perspective schematic diagram of the present invention.

Fig. 9 is the second servo-actuated Equipoising support apparatus exploded perspective schematic diagram of the present invention.

Figure 10 be the present invention carry rail assembly schematic perspective view.

Figure 11 is the retractable driving device exploded perspective schematic diagram of the present invention.

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

Figure 13 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 Fig. 3 to shown in 5, described sleeper four nut synchronization assembling and disassembling device 7 is to lift dress by entablature 71, first Put 72 and two nut assembling and disassembling devices 73 form；

The first described lowering or hoisting gear 72 is by two first series connection parallelogram lindages 721, the first lifting drives 723rd, the first servo-actuated Equipoising support apparatus 724 and first laser displacement transducer 725 form；

The first described series connection parallelogram lindage 721 is by the first sill 7211, the first fork 7212, the second fork 7213rd, two the 3rd forks 7214, first connecting rod 7215 and entablature 71 form, and the first sill 7211 is provided with five ears rings 72111 and symmetrical two long slot bores 72112, the first fork 7212 is provided with ladder slotted eye 72121, and first connecting rod 7215 is provided with list Earrings 72151 and ears ring 72152；

The first described lifting drive 723 is to stretch out oil cylinder 7231 and two first companies by double multi-stage expansion shell types are double Bar 7215 forms, and the double final stage extension sleeve free end stretching out oil cylinder 7231 of double multi-stage expansion shell types is provided with monaural ring 72311；

The first described servo-actuated Equipoising support apparatus 724 are by plate shape entablature 7240, second series connection parallelogram lindage 7241st, the first strut 7242, the second strut 7243, slide bar 7245, two turriform linear Stiffness springs of 7244, two slide blocks 7246th, 7247, two the first bolts 7248 of two the first hex nuts and two the second bolts 7249 form, and slide bar 7244 sets There is fixed disc 72441, be arranged with two light bar segments 72442 and two thread segments 72443；Slide block 7245 is provided with circular hole 72451 and a pair of coaxial threaded blind hole 72452；

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

Double multi-stage expansion shell types pair are stretched out oil cylinder 7231 be symmetrically fixed on plate shape entablature 7240, the first fork 7212 With the first sill 7211 chain connection, between the second fork 7213, the 4th fork 72312 and 7,211 3 components of the first sill Chain connection, the first fork 7212 ears ring, the 3rd fork 7214 ears ring and first connecting rod monaural ring 72151 coaxially penetrate pin Pivot hinge connects, the second fork 7213 ears ring, another the 3rd fork 7214 ears ring, first connecting rod ears ring 72152 and Double multi-stage expansion shell types are double to stretch out oil cylinder monaural ring 72721 and coaxially penetrates pin hinge and connect, two the 3rd forks 7214 with upper Crossbeam 71 chain connection, composition the first series connection parallelogram lindage 721, repeats aforementioned assembly operation, is symmetrical in sill 7211 Assemble another the first series connection parallelogram lindage 721 with the entablature 71 vertical plane of symmetry；

Two turriform linear Stiffness springs 7246 are sheathed on respectively two light bar segments 72442 of slide bar, then by two Slide block 7245 is sheathed on two light bar segments 72442 of slide bar, two the first hex nut 7247 pretensions respectively respectively, makes two cunnings Block 7245 makes turriform linear Stiffness spring 7246 suitably compress respectively, by the 5th fork 72413 with sill 7211 hinge even Connect, make left side monaural ring ears ring, the 6th fork 7214 pairs with the 4th fork 72412 respectively of two third connecting rods 72416 A pair of tapped blind hole 72452 of earrings and slide block is coaxial, two the first bolts 7248 pretensions respectively, make the 4th fork 72412, the Chain connection between six forks 72414 and 7,245 3 components of slide block, by the right monaural ring of two third connecting rods 72416 respectively with The ears ring of the 5th fork 72413, the 7th fork 72415 ears ring are coaxial, and two bearing pins 72417 respectively penetrate, and make the 3rd even Chain connection between bar 72416, the 5th fork 72413 and 72,415 3 components of the 7th fork, the 6th fork 72414 and the 7th pendulum Bar 72415 respectively with plate shape entablature 7240 chain connection, form second series connection parallelogram lindage 7241；

A pair of tapped blind hole 72452 by the first strut 7242 ears ring, the second strut 7243 ears ring and slide block 7245 Coaxially, two the second bolt 7249 pretensions respectively, make between the first strut 7242, the second strut 7243 and 7,245 3 components of slide block Chain connection, the second strut 7243 and entablature 7230 chain connection, form the first servo-actuated Equipoising support apparatus 724；

First laser displacement transducer 725 is symmetrically fixed on below entablature 71, forms the first lowering or hoisting gear 72；

Refer to shown in Fig. 6, 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 square tube shape fixed arm, and sill 7221 is fixed on track On two longeron 202 medial surface of car, composition sleeper four nut synchronization assembling and disassembling device 7；

Refer to Fig. 7 to shown in 9, described rail-lifting equipment 8 is by 81, second liter of cmos image sensor 80, entablature Falling unit 82, carry rail assembly 83 and form；

The second described lowering or hoisting gear 82 forms the same, sill in the second lowering or hoisting gear 82 with the first lowering or hoisting gear 72 8211 and first sill 7211 versions in lowering or hoisting gear 72 are different, the first fork in the second lowering or hoisting gear 82 8212 and first the first fork 7212 versions in lowering or hoisting gear 72 are different, remaining all component structural form one Sample；

Carry out and the first lowering or hoisting gear 72 identical assembly operation, form the second lowering or hoisting gear 82；

Refer to shown in Figure 10, the described rail assembly 83 that carries is to swing liquid by two suspension rods 831, suspension bracket 832, the second spiral Pressure motor 833,835, the two cylindrical screw extension springs 836 of 834, two slide assemblies of opposed cam, I-shaped tubular fixed arm 837 and Two carry cylinder of rail 838 and form, and suspension rod 831 is provided with first flange disk 8311 and second flange disk 8312, and the second spiral swings liquid Pressure motor 833 output shaft free end is provided with ring flange 8331；

Described slide assemblies 835 are made up of I-shaped tubular travelling arm 8351 and roller 8352, I-shaped tubular travelling arm 8351 are provided with semicylindrical opening 83511, symmetrical two monaural rings 83512 and tappet 83513, I-shaped tubular travelling arm tappet 83513 It is provided with ears ring 83514, I-shaped tubular fixed arm 837 is provided with symmetrical two semicylindrical opening 8371, carries on cylinder of rail 838 cylinder body It is provided with gusset 8381, piston rod free end is provided with fagging 8382；

By roller 8352 and I-shaped tubular travelling arm tappet ears ring 83514 chain connection, form slide assemblies 835, carry Cylinder of rail 838 is fixed in I-shaped tubular travelling arm semicylindrical opening 83511, and opposed cam 834 is defeated with spiral rotary actuator Shaft ring flange 8331 is coaxially connected, and the second spiral rotary actuator 833 is symmetrically fixed on below suspension bracket 832, and suspension bracket 832 is right Claim to be fixed on above I-shaped tubular fixed arm 837, two slide assemblies 835 are sheathed on from I-shaped tubular fixed arm 837 two ends Thereon, roller 8352 is made to contact with opposed cam 834, to be slided with two I-shaped tubulars respectively in the two ends of cylindrical screw extension spring 836 Arm homonymy monaural ring 83512 is connected, and makes two to carry cylinder of rail 838 and is symmetrical arranged, two suspension rod 831 second flange disks 8312 are symmetrical It is fixed on above suspension bracket 832, composition carries rail assembly 83, and two suspension rod 831 first flange disks 8311 are symmetrically fixed on entablature 81 Side, cmos image sensor 80 is fixed on below sill 8211, forms rail-lifting equipment 8；

Refer to Fig. 2, Figure 11 to shown in 13, described swivel block and push-and-pull sleeper device 9 are by telescopic component 90, flexible drive Dynamic device 91,92, four the first forks 93 of pendulous device, crawl and 94, four the first hex nuts 96 of swivel block device and four Bolt 97 forms, and 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 square tube shape fixed arm 901, square tube shape telescopic arm 902, second laser displacement Sensor 903 and the second range finding reference plate 904 form, and square tube shape fixed arm 901 is provided with blind end 9011, square tube shape telescopic arm 902 are provided with blind end 9021；

Described retractable driving device 91 is to be stretched by square tube shape fixed arm 901, two-way ram oil cylinder 911 and square tube shape Arm 902 forms, and two-way ram oil cylinder 911 cylinder body is provided with square slider 9111 and ring flange 9112, piston rod are provided with ring flange 9113；

Square tube shape telescopic arm 902 is sheathed on two-way ram oil cylinder 911, two-way ram cylinder piston rod ring flange 9113 are connected with square tube shape telescopic arm blind end 9021, then square tube shape fixed arm 901 is sheathed on square tube shape telescopic arm 902, So that two-way ram cylinder flange disk 9112 is connected with square tube shape fixed arm blind end 9011, form retractable driving device 91, double Effect piston oil-cylinder 911 and square tube shape telescopic arm 902 form moving sets, the second laser displacement transducer 903 symmetrically side of being fixed on Above tubular fixed arm 901, the second range finding reference plate 904 is fixed on above square tube shape telescopic arm 902；

Described pendulous device 92 is by the first casing 921, the 3rd spiral rotary actuator 922, partial gear 923rd, 924, two multidiameters 925 of two sector gears and embedded cover plate 926 form, and the first casing 921 is provided with two axis holes 9211st, the first positive stop lug boss 9212 and the second positive stop lug boss 9213, multidiameter 925 is provided with the first axle journal 9251, the second axle journal 9252nd, the 3rd axle journal 9253, the one or six prism shaft part 9254 and the two or six prism shaft part 9255, embedded cover plate 926 is provided with two Individual axis hole 9261, the first positive stop lug boss 9262 and the second positive stop lug boss 9263；

By on two sector gears 924 respectively sheathed first diameter of axle 9251 being fixed on two multidiameters, two multidiameters 925 are each passed through two axis holes 9211 of the first casing, so that multidiameter 925 second axle journal 9252 and the first casing axis hole 9211 is formed Rotate secondary, be fixed on sheathed for partial gear 923 on the 3rd spiral rotary actuator 922 output shaft, be placed into the first case In body 921, the gear teeth of partial gear 923 are made to contact along the facewidth with the gear teeth of two sector gears 924 respectively, the 3rd spiral pendulum Hydrodynamic pressure motor 922 is fixed on the first casing 921 base plate, and two axis holes 9261 of embedded cover plate 926 are sheathed on two respectively On individual multidiameter the 3rd axle journal 9253, so that embedded cover plate 926 and the first casing 921 is connected, form pendulous device 92；

Described crawl and swivel block device 94 are by the second casing 941, the 4th 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 4th 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 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 pressing plate 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 4th 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 4th 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 4th 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 second housing bushing section 9415 chain connection, by piston rod ears ring 9482nd, second connecting rod ears ring 9511 and first connecting rod monaural ring 9502 coaxially penetrate pin hinge and connect, the second fork ears Ring 9523 coaxially penetrates pin hinge with roller 953 and is connected, and the second 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 the first fork monaural ring 9521 coaxially penetrate pin hinge 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 the two ends of two multidiameters 925 respectively, four the first fork monaural rings 932 respectively with the second casing four Screwed hole 9411 is coaxial, four bolts 97 pretensions respectively, make four the first forks 93 respectively with the second casing 941 chain connection, Form in-parallel four-bar mechanism；

First casing 921 is fixed on square tube shape telescopic arm blind end 9021, composition 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 interior wide-mouth magnetic coupling boxs are coaxial with four bolts being fixed on sleeper respectively, shown in Fig. 1 Position, oil pump is started working, and hydraulic oil makes the first lifting drive the double sleeve stretching out oil cylinder of double multi-stage expansion shell types to start to stretch out, The multi-stage sleeve that both sides are synchronously stretched out successively promotes two first connecting rod translations, makes two symmetrically arranged first series connection parallel four Each up and down two pairs of fork dorsad synchronous hunting of linkage, the first lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is declined, and passes through First laser displacement sensor its drive the double displacement signals stretching out oil cylinder of double multi-stage expansion shell types with the first lifting, to control System first lifting drives double multi-stage expansion shell types pair to stretch out 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. 3, and the first lifting drives the double final stage set stretching out oil cylinder of double multi-stage expansion shell types Cylinder stops stretching out, and hydraulic oil makes two the first spiral rotary actuators start reverse sync rotation, drives two circles to connect Plate is entrusted two internal gears respectively and is rotated, and each internal gear is engaged with two gears simultaneously, drives two drive axis, makes four Individual interior wide-mouth magnetic coupling box reverse sync rotates, and four interior wide-mouth magnetic coupling boxs synchronously screw off four nuts, interior wide The magnetic of mouth magnetic coupling box makes the nut screwing off stay in interior wide-mouth magnetic coupling box, and two the first spirals swing hydraulic pressure Motor stops rotating backward, and hydraulic oil makes the first lifting drive the double sleeve stretching out oil cylinder of double multi-stage expansion shell types to start to retract, The multi-stage sleeve synchronously retracted successively in both sides pulls two first connecting rod translations, makes two symmetrically arranged first series connection parallel four The opposite swing of the two pairs of swing link synchronous up and down of linkage, the first lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is risen to Fig. 1 institute Show position, the first lifting drives the double chopped-off head sleeve stretching out oil cylinder of double multi-stage expansion shell types to stop retracting, and completes to dismantle nut work Make；

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, oil pump is started working, and hydraulic oil makes two-way ram cylinder piston rod start to stretch out, and promotes square tube shape telescopic arm to stretch out, side Tubular telescopic arm entrusts pendulous device and crawl and swivel block device moves out, by second laser displacement sensor its with The displacement signal of the second range finding reference plate, to control two-way ram oil cylinder, the 3rd spiral rotary actuator and the 4th spiral Rotary actuator works, and pendulous device and crawl and swivel block device move out to correct position, and two-way ram oil cylinder is lived Stopper rod stop stretch out, its start retract, pull square tube shape telescopic arm retract, square tube shape telescopic arm entrust pendulous device and crawl and Swivel block device inward, simultaneously the 3rd spiral rotary actuator rotate forward, partial gear is nibbled with two sector gears Close transmission, two multidiameters drive four the first fork forward directions to swing, and crawl entrusted by the second casing and swivel block device does translation, when When two the first forks are contacted with the first positive stop lug boss, the 3rd spiral rotary actuator stops operating, in solenoid directional control valve Position makes the 3rd spiral rotary actuator pressurize, when two pressing plate inward of gripper are to bad sleeper both sides appropriate location When, two-way ram cylinder piston rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod stretch out, and promotes first connecting rod and second Link motion, makes two symmetrically arranged 3rd forks swing in opposite directions, the roller being articulated with the 3rd fork ears ring pushes down pressing plate, Roller rolls makes pressing plate overcome the pulling force of two cylindrically coiled springs to make translation, and two in-parallel four-bar mechanism forward directions swing, 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 sleeve stretching out oil cylinder of double multi-stage expansion shell types to start to stretch out, the second lifting dress Put and entrust rail-lifting equipment decline, it drives double multi-stage expansion shell types pair with the second lifting by first laser displacement sensor Stretch out the displacement signal of oil cylinder, double multi-stage expansion shell types pair stretch out oil cylinder and the second spiral swings liquid to control the second lifting to drive Pressure motor works, when rail-lifting equipment drop to carry cylinder of rail cylinder body gusset upper surface and rail lower surface coplanar when, second liter Fall drives the double final stage sleeve stretching out oil cylinder of double multi-stage expansion shell types to stop stretching out, and hydraulic oil makes the second spiral rotary actuator Start to rotate forward, drive opposed cam to rotate forward, the foreign steamer contour curved surface of opposed cam passes through two rollers, promotes respectively and endures Bar makes the outside translation of two I-shaped tubular travelling arms, makes two I-shaped tubular travelling arms entrust two respectively and carries cylinder of rail to outward transport Dynamic, when carrying cylinder of rail cylinder body with rail lower flange contacts side surfaces, carry and connecing below cylinder of rail cylinder body gusset upper surface and rail Touch, the second spiral rotary actuator stops rotating forward, and hydraulic oil makes to carry cylinder of rail piston rod and stretches out, carry rail oil when being fixed on After the fagging of cylinder piston rod contacts railway roadbed ballast and is compacted into, with carrying constantly stretching out of cylinder of rail piston rod, carry cylinder of rail Cylinder body entrust gusset and move upwards, make rail jack-up, the middle position of solenoid directional control valve makes to propose cylinder of rail pressurize；

Hydraulic oil makes the 4th spiral rotary actuator start to rotate forward, and makes hydraulic jack entrust positive turn of gripper Dynamic, gripper makes sleeper rotate forward, when the 4th 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 4th 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 4th spiral rotary actuator start to rotate backward, and makes hydraulic jack entrust gripper reverse Rotate, gripper makes sleeper rotate backward, when the 4th 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. 7, the Four 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 the 3rd 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 3rd spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes 3rd spiral rotary actuator pressurize；

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

Hydraulic oil makes to carry cylinder of rail piston rod to start to retract, and its piston rod hauls fagging and moves upwards, and rail falls to former Position, bad sleeper is pushed down so as to upper surface is parallel with two rail lower surfaces, carries cylinder of rail piston rod and be retracted to stop, high Force feed makes the second spiral rotary actuator start to rotate backward, and drives opposed cam to rotate backward, two cylindrical screw extension springs Pulling force make the outline curved face contact all the time with opposed cam for two rollers, the pulling force of two cylindrical screw extension springs pulls two The inside translation of I-shaped tubular travelling arm, makes two I-shaped tubular travelling arms entrust two respectively and carries cylinder of rail inward, when carrying Cylinder of rail gusset is disengaged with rail when contacting, and the second spiral rotary actuator stops rotating backward；

Hydraulic oil makes the second lifting drive the double sleeve stretching out oil cylinder of double multi-stage expansion shell types to start to retract, the second lifting dress Put and entrust rail-lifting equipment rising, when rail-lifting equipment rises to position shown in Fig. 1, the second lifting drives double multi-stage expansion shell types pair to stretch The chopped-off head sleeve going out oil cylinder stops retracting, and oil pump quits work, and pulls out bad sleeper end-of-job, and engineering truck traction track car moves Open, using manually or mechanically removing bad sleeper；

3. advanced sleeper to work：After manually or mechanically setting good sleeper, engineering truck traction track car runs When near sleeper, the image information of cmos image sensor collection, by pattern recognition system automatic identification, so that engineering truck is parked 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 rail Directly over device is located on the right side of good sleeper between sleeper, position shown in Fig. 1, oil pump is started working, and hydraulic oil makes two-way ram oil Cylinder piston rod starts to stretch out, and pendulous device and crawl and swivel block device move out, when square tube shape telescopic arm extend out to stop, Two-way ram cylinder piston rod stops stretching out；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, and makes the second casing entrust crawl and swivel block device Do translation, when two the first forks are contacted with the first positive stop lug boss, the 3rd spiral rotary actuator stops rotating forward, electricity The middle position of magnetic reversal valve makes the 3rd spiral rotary actuator pressurize；

Hydraulic oil makes two-way ram cylinder piston rod start to retract, and so that pendulous device and crawl and swivel block device is inwardly transported Dynamic, when two presser motion most intimate friend's sleeper both sides appropriate locations of gripper, position shown in Fig. 7, two-way ram oil cylinder is lived Stopper rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod stretch out, when two platen clamp sleepers, the middle position of solenoid directional control valve Make hydraulic jack pressurize；

Hydraulic oil makes the second lifting drive the double sleeve stretching out oil cylinder of double multi-stage expansion shell types to start to stretch out, the second lifting dress Put and entrust rail-lifting equipment and decline, to carry cylinder of rail cylinder body gusset upper surface coplanar with rail lower surface when rail-lifting equipment drops to When, the second lifting drives the double final stage sleeve stretching out oil cylinder of double multi-stage expansion shell types to stop stretching out, and hydraulic oil makes the second spiral pendulum Hydrodynamic pressure motor starts to rotate forward, and when carrying cylinder of rail cylinder body with rail lower flange contacts side surfaces, carries cylinder of rail cylinder body afterburning Plate upper surface contacts with below rail, and double second spiral rotary actuators stop rotating forward, and hydraulic oil makes to propose cylinder of rail work Stopper rod stretches out, and makes rail jack-up, and the middle position of solenoid directional control valve makes to propose cylinder of rail pressurize；

Hydraulic oil makes the 4th spiral rotary actuator start to rotate forward, when gripper makes sleeper rotate forward 90 °, the Four 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 4th spiral rotary actuator start to rotate backward, when gripper makes sleeper rotate backward 90 °, the 4th spiral shell Rotation 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 the 3rd spiral rotary actuator start to rotate backward, when two the first forks and the second positive stop lug boss During contact, the 3rd spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes the second spiral rotary actuator protect Pressure；

Hydraulic oil makes to carry cylinder of rail piston rod to start to retract, and rail falls to original position, carries cylinder of rail piston rod and be retracted to Stop, hydraulic oil makes the second spiral rotary actuator start to rotate backward, when carry cylinder of rail inward to its gusset with When rail disengages contact, the second spiral rotary actuator stops rotating backward；

Hydraulic oil makes the second lifting drive the double sleeve stretching out oil cylinder of double multi-stage expansion shell types to start to retract, when the second lifting Device is entrusted rail-lifting equipment and is risen to position shown in Fig. 1, and the second lifting drives the double chopped-off head stretching out oil cylinder of double multi-stage expansion shell types Sleeve stops retracting, and has 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, position shown in Fig. 1, oil pump is started working, and it is double that hydraulic oil makes the first lifting drive The double sleeve stretching out oil cylinder of multi-stage expansion shell type starts to stretch out, and the first lowering or hoisting gear is entrusted two nut assembling and disassembling devices and declined, when It drops to nut and the pillow threaded bolt contacts that switch tracks in interior wide-mouth magnetic coupling box, position shown in Fig. 3, and the first lifting drives The double final stage sleeve stretching out oil cylinder of double multi-stage expansion shell types stops stretching out, and hydraulic oil just makes two the first spiral rotary actuators To synchronous axial system, drive two circular connecting plates to entrust two internal gears respectively and rotate forward, each internal gear simultaneously with two Gear engages, and drives two drive axis, makes four interior wide-mouth magnetic coupling box forward direction synchronous axial system, four interior wide-mouth magnetic Property coupling box in nut synchronously screw in four bolts of sleeper pretension, hydraulic oil makes the first lifting drive double multi-stage expansion sets The double sleeve stretching out oil cylinder of formula starts to retract, and the first lowering or hoisting gear is entrusted two nut assembling and disassembling devices and risen to position shown in Fig. 1, First lifting drives the double chopped-off head sleeve stretching out oil cylinder of double multi-stage expansion shell types to stop being that oil pump quits work, and installs nut work Complete, engineering truck traction track car travels away from.

Symmetrically arranged two first series connection parallelogram lindages in first lowering or hoisting gear and the second lowering or hoisting gear, make Crossbeam is parallel all the time with sill, and the second series connection parallelogram lindage makes plate shape entablature parallel with sill all the time, to adapt to The corresponding work of pillow is changed in straight line and 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；

In position shown in Fig. 1, two linear Stiffness tower springs compress in right amount, now symmetrically arranged 6th fork and second Strut and the second entablature angle are maximum, and two tower springs are respectively acting on the 6th fork and the second strut by two slide blocks Power is more than its more small power, and it is big that tower spring acts on power vertical component on the 6th fork and the second strut, makes first servo-actuated flat Weighing apparatus support meanss are born the double oil cylinder that stretches out of double multi-stage expansion shell types and are conducted oneself with dignity and balance, and the first servo-actuated Equipoising support apparatus are with first liter Falling unit lifts and lifts, and in position shown in Fig. 3, two linear Stiffness tower spring decrements are maximum, and now symmetrically arranged the Six forks and the second strut and the second entablature angle are minimum, two tower springs pass through two slide blocks be respectively acting on the 6th fork with Power on second fork is less than maximum flexibility power, and the power vertical component that tower spring acts on the 6th fork and the second strut is little, makes First servo-actuated Equipoising support apparatus bear the double oil cylinder that stretches out of double multi-stage expansion shell types and conduct oneself with dignity and balance, it is to avoid double multi-stage expansion shell types Double multi-stage expansion sleeves stretching out oil cylinder bear moment of flexure.

Claims (1)

1. a kind of automatization carry rail change pillow machinery it is characterised in that：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 With two longerons, sleeper four nut synchronization assembling and disassembling device, rail-lifting equipment, swivel block and push-and-pull sleeper device, electromotor and hydraulic pressure system System and control system case are arranged on two longerons of railcar, and railcar is drawn by engineering truck, and electromotor is oil pump and control System provides power, is provided with fuel tank, oil pump, hydraulic control system and automatic control system in Hydraulic system and control System cabine；

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

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

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

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

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

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

Stretch out double for double multi-stage expansion shell types oil cylinder and be symmetrically fixed on plate shape entablature, the first fork and the first sill hinge Connect, chain connection between the second fork, the 4th fork and three components of the first sill, the first fork ears ring, the 3rd fork Ears ring and first connecting rod monaural ring coaxially penetrate pin hinge and connect, the second fork ears ring, another the 3rd fork ears Ring, first connecting rod ears ring and double multi-stage expansion shell type be double to stretch out oil cylinder monaural ring and coaxially penetrates pin hinge and connect, two the Three forks and entablature chain connection, composition the first series connection parallelogram lindage, repeats aforementioned assembly operation, is symmetrical in sill Assemble another the first series connection parallelogram lindage with the entablature vertical plane of symmetry；

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

A pair of tapped blind hole of the first strut ears ring, the second strut ears ring and slide block is coaxial, and two the second bolts are respectively Pretension, makes chain connection between the first strut, the second strut and three components of slide block, the second strut and entablature chain connection, group Become the first servo-actuated Equipoising support apparatus；

First laser displacement transducer is symmetrically fixed on below entablature, 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 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 square tube shape fixed arm Two sides, sill is fixed on two side rail inner faces of railcar, composition sleeper four nut synchronization assembling and disassembling device；

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 and the first lowering or hoisting gear composition, the sill in the second lowering or hoisting gear and first lifts Lower Crossbeam Structure form in device is different, the first pendulum in the first fork and the first lowering or hoisting gear in the second lowering or hoisting gear Bar version is different, and remaining all component structural form is the same；

Carry out and the first lowering or hoisting gear identical assembly operation, form the second lowering or hoisting gear；

The described rail assembly that carries is by two suspension rods, suspension bracket, the second spiral rotary actuator, opposed cam, two Slide Groups Part, two cylindrical screw extension springs, I-shaped tubular fixed arm and two carry cylinder of rail composition, and suspension rod is provided with first flange disk and second Ring flange, the second spiral rotary actuator output shaft free end is provided with ring flange；

Described slide assemblies are made up of I-shaped tubular travelling arm and roller, and I-shaped tubular travelling arm is provided with semicylindrical opening, right Claim two monaural rings and tappet, I-shaped tubular travelling arm tappet is provided with ears ring, and I-shaped tubular fixed arm is provided with symmetrical two Semicylindrical opening, carries that cylinder of rail cylinder body is provided with gusset, piston rod free end is provided with fagging；

By roller and I-shaped tubular travelling arm tappet ears ring chain connection, form slide assemblies, carry cylinder of rail and be fixed on I-shaped In tubular travelling arm semicylindrical opening, opposed cam is coaxially connected with spiral rotary actuator output shaft ring flange, the second spiral Rotary actuator is symmetrically fixed on below suspension bracket, and suspension bracket is symmetrically fixed on above I-shaped tubular fixed arm, by two Slide Groups Part is sheathed thereon from I-shaped tubular fixed arm two ends, makes roller and opposed cam contact, and the two ends of cylindrical screw extension spring are respectively It is connected with two I-shaped tubular travelling arm homonymy monaural rings, make two to carry cylinder of rail and be symmetrical arranged, two suspension rod second flange disks Symmetrically it is fixed on above suspension bracket, composition carries rail assembly, two suspension rod first flange disks are symmetrically fixed on entablature side, CMOS schemes As sensor is fixed on below sill, form rail-lifting equipment；

Described swivel block and push-and-pull sleeper device be by telescopic component, retractable driving device, pendulous device, four the first forks, Crawl and swivel block device, four the first hex nuts and four bolt compositions, the first fork is provided with six prism hole monaural rings and list Earrings；

The second described telescopic component is by square tube shape fixed arm, square tube shape telescopic arm, second laser displacement transducer and second Range finding reference plate composition, square tube shape fixed arm is provided with blind end, and square tube shape telescopic arm is provided with blind end；

Described retractable driving device is made up of square tube shape fixed arm, two-way ram oil cylinder and square tube shape telescopic arm, double cropping It is provided with square slider with piston oil-cylinder cylinder body and ring flange, piston rod are provided with ring flange；

Square tube shape telescopic arm is sheathed on two-way ram oil cylinder, two-way ram cylinder piston rod ring flange is stretched with square tube shape Contracting arm blind end is connected, then square tube shape fixed arm is sheathed on square tube shape telescopic arm, make two-way ram cylinder flange disk with Square tube shape fixed arm blind end is connected, and forms retractable driving device, and two-way ram oil cylinder and square tube shape telescopic arm form movement Pair, second laser displacement transducer is symmetrically fixed on above square tube shape fixed arm, and the second range finding reference plate is fixed on square tube shape and stretches Above contracting arm；

Described pendulous device be by the first casing, the 3rd spiral rotary actuator, partial gear, two sector gears, 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 positive stop lug boss, rank Terraced axle 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 It 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 3rd 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 3rd 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 swings dress Put；

Described crawl and swivel block device are by the second casing, the 4th 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 4th 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 second fork is provided with list Earrings, pin-and-hole and ears ring；

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

Will be convex for spacing for the 4th 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 4th 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 4th 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 second housing bushing section Chain connection, piston rod ears ring, second connecting rod ears ring and first connecting rod monaural ring is coaxially penetrated pin hinge and connects, the Two fork ears rings coaxially penetrate pin hinge with roller and are connected, and the second 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 bearing pin hinge respectively with the first fork monaural ring Chain 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 multidiameters two End is connected, and four the first fork monaural rings are coaxial with four screwed holes of the second casing respectively, four bolt pretensions respectively, makes four First fork is connected with the second chest hinge respectively, forms in-parallel four-bar mechanism；

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