CN106436507A - Sleeper replacing device with sleeper four-nut synchronous assembly and disassembly device - Google Patents

Abstract

The invention discloses a sleeper replacing device with a sleeper four-nut synchronous assembly and disassembly device. The sleeper replacing device is composed of the four-nut synchronous assembly and disassembly device, a sleeper lifting device, a retracking and sleep pushing and pulling device, a sleeper hoisting device, a power generator, a hydraulic system, a control system box and a track car. The track car is provided with multiple trundles and two longitudinal beams, the four-nut synchronous assembly and disassembly device, the sleeper lifting device, the retracking and sleep pushing and pulling device, the sleeper hoisting device, the power generator, the hydraulic system and the control system box are arranged on the two longitudinal beams of the track car, and the track car is dragged by an engineering van. A working device can be rapidly aligned with a working position; four-nut synchronous assembly and disassembly are achieved, the pretightening force of four nuts is consistent, the fatigue life of bolts is prolonged, and the reliability of the sleeper and steel rail connection is guaranteed; sleepers are rapidly hoisted and placed; the sleeper replacing device adapts to linear and curved rail road segment sleeper replacing work; the retracking and sleep pushing and pulling device is an integrated device, the structure is simple and compact, automatic control is achieved, operation is convenient, and sleeper replacing work efficiency is high.

Description

One kind have sleeper four nut synchronization assembling and disassembling device change pillow machine

Technical field

The present invention relates to a kind of railway maintenance machinery, particularly to one kind, there is changing of sleeper four nut synchronization assembling and disassembling device Pillow machine.

Background technology

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

Content of the invention

It is an object of the invention to provide one kind have sleeper four nut synchronization assembling and disassembling device change pillow machine.

The present invention is by four nut synchronization assembling and disassembling devices, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling dress Put, generator, Hydraulic system and control System cabine and railcar form.Railcar is provided with multiple castors and two longerons, four spiral shells Female synchronization assembling and disassembling device, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, generator and hydraulic system and control System cabine processed is arranged on two longerons of railcar, and railcar is drawn by engineering truck, and generator is oil pump and control system carries For power, in Hydraulic system and control System cabine, it 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 cmos image sensor, the first entablature assembly, lifting dress Put and form with two nut assembling and disassembling devices；

The first described entablature assembly is made up of the first square tube shape fixed arm and two the first square tube shape telescopic arms, the One square tube shape fixed arm is provided with symmetrical two long slot bore, and the first square tube shape telescopic arm is provided with two monaural rings and symmetrical two Groove, groove is provided with bolt hole；

Described lowering or hoisting gear is by lifting drive, symmetrically arranged two parallelogram lindages and first laser position Displacement sensor forms；

Described lifting drive is by the first square tube shape fixed arm, double output shaft hydraulic motor, two elastic shaft couplings Device, two monaural ring bearings, left-handed screw, left-handed square nut, right handed screw, dextrorotation square nut, two the first square tube shapes Telescopic arm, two square sliders, four bolts and two first hex nuts composition, right handed screw be provided with the first axle journal, second Axle journal and the 3rd axle journal, left-handed screw is the same with right handed screw version, and it is blind that dextrorotation square nut is provided with two coaxial threaded Hole, left-handed square nut is the same with dextrorotation square nut version, and square slider is provided with axis hole；

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；

Monaural ring bearing is sheathed on right handed screw second axle journal, dextrorotation square nut screws on the suitable position of right handed screw Put, square slider is sheathed on right handed screw the 3rd axle journal, the first hex nut pretension, and yielding coupling makes double output shaft hydraulic pressure On the right side of motor, output shaft and right handed screw first axle journal are coaxially connected, and the first square tube shape telescopic arm is sheathed on from right handed screw right-hand member Thereon, make that the first square tube shape telescopic arm groove bolt hole is coaxial with dextrorotation square nut tapped blind hole, two bolts screw in respectively Pretension, repeats aforementioned assembly operation, by monaural ring bearing, left-handed screw, left-handed square nut, square slider, the first hexagonal spiral shell Mother, yielding coupling, double output shaft hydraulic motor and the first square tube shape telescopic arm are assembled into one, by the first square tube shape fixed arm set On two the first square tube shape telescopic arms, double output shaft hydraulic motor is made symmetrically to be fixed on the first square tube shape fixed arm endoporus Surface, two monaural ring bearings are symmetrically fixed on the first square tube shape fixed arm endoporus upper surface, form lifting drive, square Slide block and the first square tube shape telescopic arm form moving sets；

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 parallelogram lindage, is symmetrical in the vertical plane of symmetry group of sill and the first square tube shape fixed arm Fill another parallelogram lindage, first laser displacement transducer is symmetrically fixed on above the first square tube shape fixed arm, composition Lowering or hoisting gear；

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

Upper lid is sheathed on the first spiral rotary actuator output shaft circular shaft section, makes lid swing hydraulic pressure with the first spiral Motor ring flange is connected, more circular connecting plate is sheathed on the first spiral rotary actuator six prism shaft part, the second hexagonal spiral shell Female pretension, internal gear is coaxially connected with circular connecting plate, and geared sleeve is connected located at power transmission shaft first axle journal, the first thrust axis bearing sleeve On power transmission shaft second axle journal, power transmission shaft makes the first thrust bearing contact with housing through housing axis hole, the second thrust bearing It is sheathed on power transmission shaft the 3rd axle journal, the 3rd hex nut screws on power transmission shaft thread segment pretension, yielding coupling makes power transmission shaft Four axle journals are coaxially connected with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, and the gear teeth flank of tooth of two gears divides Gear teeth face not with internal gear, upper lid is connected with shell flange disk, and one end of two suspension rods is symmetrically fixed on housing two Side, forms nut assembling and disassembling device, and the other end of two suspension rods is symmetrically fixed on two sides of the first square tube shape fixed arm, sill It is fixed on two side rail inner faces of railcar, cmos image sensor is fixed on outside railcar longeron, form sleeper four spiral shell Female synchronization assembling and disassembling device；

Described rail-lifting equipment is by first crossbeam telescopic component, first crossbeam retractable driving device, two the first swings Device, eight forks, eight hex nuts, two box connecting rods, eight bolts, two flexible shell types carry cylinder of rail composition, pendulum Bar is provided with six prism hole monaural rings and monaural ring, and box connecting rod is arranged with four bolts hole and semicylindrical opening, and flexible shell type carries Cylinder of rail cylinder body is provided with gusset, piston rod free end is provided with fagging；

Described first crossbeam telescopic component be by the second square tube shape fixed arm, two the second square tube shape telescopic arms, second Laser displacement sensor and second range finding reference plate composition, the second square tube shape telescopic arm be provided with blind end and symmetrical two recessed Groove, groove is provided with bolt hole；

Described first crossbeam retractable driving device is the same with the composition of lifting drive, except aforesaid second square tube shape Fixed arm and the first square tube shape fixed arm version is different, the second square tube shape telescopic arm and the first square tube shape telescopic arm structure Form is different, and remaining all component structural form is the same；

Carry out and lifting drive identical assembly operation, form first crossbeam retractable driving device；Second laser position Displacement sensor is symmetrically fixed on the second square tube shape fixed arm side, and the second range finding reference plate is fixed on the second square tube shape telescopic arm side Face；

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

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

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

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

Described swivel block and push-and-pull sleeper device be by second cross beam telescopic component, second cross beam retractable driving device, Two pendulous devices, four the first forks, crawl and swivel block device, four the first hex nuts and four bolts compositions, the first pendulum Bar is provided with six prism hole monaural rings and monaural ring；

Described second cross beam telescopic component is by third party's tubular fixed arm, third party's tubular telescopic arm, the 3rd laser Displacement transducer and the 3rd range finding reference plate composition, third party's tubular telescopic arm is provided with blind end and symmetrical two grooves, recessed Groove is provided with bolt hole；

The second described retractable driving device is by third party's cylinder fixed arm, hydraulic motor, yielding coupling, screw rod, list Earrings bearing, square nut, square slider, the second hex nut, two the second bolts and third party's tubular telescopic arm composition, spiral shell Bar is provided with the first axle journal, the second axle journal and the 3rd axle journal, and square nut is provided with two coaxial threaded blind holes, and square slider is provided with axle Hole；

Monaural ring bearing is sheathed on screw rod second axle journal, square nut screws on screw rod appropriate location, square slider set On screw rod the 3rd axle journal, the second hex nut pretension, yielding coupling makes hydraulic motor output shaft and screw rod first axle journal Coaxially it is fixed with one, third party's tubular telescopic arm is sheathed thereon from screw rod left end, make third party's tubular telescopic arm groove bolt Hole is coaxial with square nut tapped blind hole, and two the second bolts screw in pretension respectively, and the second square tube fixed arm is from screw rod right-hand member set It is provided thereon, make hydraulic motor be fixed on third party's tubular fixed arm endoporus upper surface, monaural ring bearing is fixed on third party's cylinder Shape fixed arm endoporus upper surface, forms the second retractable driving device, and square slider forms moving sets with third party's tubular telescopic arm, 3rd laser displacement sensor is symmetrically fixed on third party's tubular fixed arm side, and the 3rd range finding reference plate is fixed on third party's cylinder Shape telescopic arm side；

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

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 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 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 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 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, makes the 3rd spiral rotary actuator output shaft ring flange spacing sector boss and hydraulic jack ring flange spacing sector boss Insert in fan-shaped hole section, so that two spacing sector boss left surfaces is contacted with fan-shaped hole section first confined planes, make the first thrust axis Bearing enters second casing the second circular hole portion, so that the 3rd spiral rotary actuator is fixed on the second box bottom, make end cap with 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, nut pretension, piston is inserted hydraulic jack cylinder In cylinder, 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 hinge Connect, piston rod ears ring, second connecting rod ears ring and first connecting rod monaural ring are coaxially penetrated pin hinge and connects, the second pendulum Bar ears ring coaxially penetrates pin hinge with roller and is connected, and the second fork pin-and-hole and ladder U-bracket pin-and-hole coaxially penetrate bearing pin Chain connection, first connecting rod ears ring and second connecting rod ears ring coaxially penetrate pin hinge even respectively with the first fork monaural ring Connect；

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

Two the first forks six prism hole monaural ring is sheathed on two multidiameter the one or six prism shaft parts respectively, two One hex nut pretension respectively, more other two the first forks six prism hole monaural ring is sheathed on two multidiameters second respectively Six prism shaft parts, in addition two the first hex nuts respectively pretensions, make one end of four the first forks respectively with two multidiameters Two ends 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 third party's tubular telescopic arm blind end, composition swivel block and push-and-pull sleeper device；

Described sleeper handling apparatus are made up of reciprocating motion storage sleeper device and rigid hanger hoisting apparatus；

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

Described reciprocator is by base plate, the 3rd crossbeam telescopic component, reciprocating movement driving device, is symmetrical arranged Two parallelogram lindages and the 4th laser displacement sensor composition；

The 3rd described crossbeam telescopic component is made up of the 4th square tube shape fixed arm and two the 4th square tube shape telescopic arms, 4th square tube shape fixed arm is provided with symmetrical two long slot bore, the 4th square tube shape telescopic arm be provided with blind end, two monaural rings and Two symmetrical grooves, groove is provided with bolt hole；

Described reciprocating movement driving device is the same with the composition of lifting drive, except aforesaid 4th square tube shape is fixed Arm orientation and the first square tube shape fixed arm orientation is different, the 4th square tube shape telescopic arm orientation and the first square tube shape telescopic arm orientation Different；Remaining all component structural form is the same；

Described parallelogram lindage is made up of the 4th square tube shape telescopic arm, two forks and moving beam, moving beam It is provided with two rollers；

Carry out and lifting drive identical assembly operation, form reciprocating movement driving device；

By one end of two forks respectively with the 4th square tube shape telescopic arm chain connection, the other end of two forks respectively with Moving beam chain connection, forms parallelogram lindage, repeats aforementioned assembly operation, be symmetrical in the 4th square tube shape fixed arm and shifting The vertical plane of symmetry of dynamic crossbeam assembles another parallelogram lindage, and base plate is fixed on below the 4th square tube shape fixed arm, makes shifting Two rollers of dynamic crossbeam are contacted with plate upper surface, the 4th laser displacement sensor is symmetrically fixed on the 4th square tube shape and fixes Arm side, forms reciprocator；

Base plate is fixed on track car crossbeam, the second square tube shape fixed arm and third party's tubular fixed arm, stores sleeper Case is fixed on moving beam, so that the roller of storage sleeper case is contacted with substrate, and composition moves back and forth storage sleeper device；

Described rigid hanger hoisting apparatus is by two cantilever beams, telescoping crossbeam device, jack up unit, two pick-and-place rails Pillow device and the 5th laser displacement sensor composition；

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

End cap is symmetrically fixed on multi-stage expansion shell type oil cylinder first flange disk, the second ladder square tube shape telescopic arm is sheathed on On multi-stage expansion shell type oil cylinder, make multi-stage expansion shell type oil cylinder second flange disk and the second ladder square tube shape telescopic arm blind end solid Even, the first ladder square tube shape telescopic arm is sheathed on the second ladder square tube shape telescopic arm, then will be sheathed for ladder square tube shape fixed arm On the first ladder square tube shape telescopic arm, end cap is made to be connected with ladder square tube shape fixed arm ring flange, push pedal is fixed on second-order Terraced square tube shape telescopic arm blind end, the 5th laser displacement sensor is symmetrically fixed on ladder square tube shape fixed arm side, composition Telescoping crossbeam device；

Described jack up unit is by the second entablature assembly, raising driving means, symmetrically arranged two parallel four-bars Mechanism and and the 6th laser displacement sensor composition；

The second described entablature assembly is made up of the 5th square tube shape fixed arm and two the 5th square tube shape telescopic arms, and the 5th Square tube shape fixed arm is provided with symmetrical two long slot bore and two ears rings, and the 5th square tube shape telescopic arm is provided with blind end and two Monaural ring；

Described raising driving means are the same with the composition of lifting drive, except aforementioned 5th square tube shape fixed arm and One square tube shape fixed arm version is different, the 5th square tube shape telescopic arm orientation and the first square tube shape telescopic arm orientation differ Sample, remaining all component structural form is the same；

Described parallelogram lindage is made up of the 5th square tube shape telescopic arm, two the second forks and sill, lower horizontal stroke Beam is provided with two circular holes；

Carry out and lifting drive identical assembly operation, form raising driving means；

By one end of two the second forks respectively with the 5th square tube shape telescopic arm chain connection, two the second forks another End respectively with sill chain connection, form parallelogram lindage, repeat aforementioned assembly operation, be symmetrical in the 5th square tube shape and fix The vertical plane of symmetry of arm and sill assembles another parallelogram lindage, and the 6th laser displacement sensor is symmetrically fixed on Below five square tube shape fixed arms, form jack up unit；

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

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

Two cantilever beams are symmetrically fixed on two longerons of railcar, ladder square tube shape fixed arm is fixed on two cantilevers Below girder cantilever, two ears rings, two monaural rings with the second ladder square tube shape telescopic arm respectively of the 5th square tube shape fixed arm Coaxial bolts connect, and form sleeper handling apparatus.

The invention has the beneficial effects as follows：

1. quickly equipment can be directed at operating position；

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

3. can quickly handling and put sleeper work；

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

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

Brief description

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

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

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

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

Fig. 5 is the nut assembling and disassembling device exploded perspective schematic diagram of the present invention.

Fig. 6 is rail-lifting equipment, swivel block and push-and-pull sleeper device and the handling sleeper device off working state solid of the present invention Schematic diagram.

Fig. 7 is close-up schematic view at C in Fig. 6.

Fig. 8 is the rail-lifting equipment working condition schematic perspective view of the present invention.

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

Figure 10 is the first pendulous device exploded perspective schematic diagram of the present invention.

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

Figure 12 is the second 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.

Figure 14 is rail-lifting equipment and swivel block and the push-and-pull sleeper working state of device schematic perspective view of the present invention

Figure 15 is the handling sleeper working state of device schematic perspective view of the present invention.

Figure 16 is the reciprocator schematic perspective view of the present invention.

Figure 17 is the reciprocating movement driving device exploded perspective schematic diagram of the present invention.

Figure 18 is the storage sleeper case schematic perspective view of the present invention.

Figure 19 is the telescoping crossbeam device exploded perspective schematic diagram of the present invention.

Figure 20 is the raising driving means exploded perspective schematic diagram of the present invention.

Figure 21 is the left view of Fig. 6.

Figure 22 is close-up schematic view at D in Figure 21.

Specific embodiment

Refer to shown in Fig. 1 and Fig. 2, the present invention is by four nut synchronization assembling and disassembling devices 7, rail-lifting equipment 8, transition and push-and-pull Sleeper device 9, sleeper handling apparatus 16, generator 18, Hydraulic system and control System cabine 19 and railcar 20 form.Railcar 20 are provided with multiple castors 201 and two longerons 202, four nut synchronization assembling and disassembling devices 7, rail-lifting equipment 8, transition and push-and-pull sleeper dress Put two longerons 202 that 9, sleeper handling apparatus 16, generator 18 and Hydraulic system and control System cabine 19 are arranged on railcar On, railcar 20 is drawn by engineering truck, and generator 18 is oil pump and control system provides power, Hydraulic system and control System cabine It is provided with fuel tank, oil pump, hydraulic control system and automatic control system in 19；

Refer to shown in Fig. 3 and Fig. 4, described sleeper four nut synchronization assembling and disassembling device 7 be by cmos image sensor 70, First entablature assembly 71, lowering or hoisting gear 72 and two nut assembling and disassembling devices 73 form；

The first described entablature assembly 71 is by the first square tube shape fixed arm 711 and two the first square tube shape telescopic arms 712 compositions, 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 two Individual monaural ring 7121 and symmetrical two grooves 7122, groove 7122 is provided with bolt hole 71221；

Described lowering or hoisting gear 72 is by lifting drive 721, symmetrically arranged two parallelogram lindages 722 and One laser displacement sensor 723 forms；

Described lifting drive 721 is by the first square tube shape fixed arm 711, double output shaft hydraulic motor 7211, two Individual yielding coupling 7212, two monaural ring bearings 7213, left-handed screw 7214, left-handed square nut 7215, right handed screw 7216th, 7217, two the first square tube shape telescopic arms of dextrorotation square nut, 7218, four bolt 7219 and of 712, two square sliders Two the first hex nuts 7220 form, and right handed screw 7216 is provided with the first axle journal 72161, the second axle journal 72162 and the 3rd axle Neck 72163, left-handed screw 7214 is the same with right handed screw 7216 version, and dextrorotation square nut 7217 is provided with two coaxial spiral shells Line blind hole 72171, left-handed square nut 7215 is the same with dextrorotation square nut 7217 version, and square slider 7218 is provided with axle Hole 72181；

Described parallelogram lindage 722 is by 7221, two forks 7222 of sill and the first square tube shape telescopic arm 712 Composition, sill 7221 is provided with four ears rings 72211 and symmetrical two long slot bores 72212；

Monaural ring bearing 7213 is sheathed on right handed screw the second axle journal 72162, dextrorotation square nut 7217 screws on the right side Rotation screw rod 7216 appropriate location, square slider 7218 is sheathed on right handed screw the 3rd axle journal 72163, the first hex nut 7220 Pretension, yielding coupling 7212 makes double output shaft hydraulic motor 7211 right side output shaft and right handed screw 7,216 first axle journal 72161 are coaxially connected, and the first square tube shape telescopic arm 7212 is sheathed thereon from right handed screw 7216 right-hand member, so that the first square tube shape is stretched Contracting arm groove bolt hole 71221 is coaxial with dextrorotation square nut tapped blind hole 72171, and two bolts 7219 screw in pretension respectively, Repeat aforementioned assembly operation, by monaural ring bearing 7213, left-handed screw 7214, left-handed square nut 7215, square slider 7218, First hex nut 7220, yielding coupling 7212, double output shaft hydraulic motor 7211 and the first square tube shape telescopic arm 712 assemble Integrally, the first square tube shape fixed arm 711 is sheathed on two the first square tube shape telescopic arms 712, makes double output shaft hydraulic motor 7211 are symmetrically fixed on the first square tube shape fixed arm 711 endoporus upper surface, and two monaural ring bearings 7213 are symmetrically fixed on first Square tube shape fixed arm 711 endoporus upper surface, forms lifting drive 721, square slider 7218 and the first square tube shape telescopic arm 712 formation moving sets；

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 parallelogram lindage 722, be symmetrical in sill 7221 and the first square tube The vertical plane of symmetry of shape fixed arm 711 assembles another parallelogram lindage 722, will be symmetrical for first laser displacement transducer 723 It is fixed on above the first square tube shape fixed arm 711, form 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, 741, two the 3rd hex nuts of 740, two the second thrust bearings of 739, two the first thrust bearings of housing 742, two Yielding coupling 743 and two interior wide-mouth magnetic coupling boxs 744 form, and the first spiral rotary actuator 732 is provided with flange Disk 7321, its output shaft are 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 are provided with six prism holes 7341, and power transmission shaft 737 is provided with the first axle journal 7371, the second axle journal 7372, the 3rd axle journal the 7373, the 4th Axle journal 7374 and thread segment 7375, housing 739 is provided with ring flange 7391 and two axis holes 7392, interior wide-mouth magnetic coupling box 744 are provided with axle journal 7441；

Upper lid 733 is sheathed on the first spiral rotary actuator output shaft circular shaft section 7322, makes lid 733 and the first spiral shell Rotation rotary actuator ring flange 7321 is connected, more circular connecting plate 734 is sheathed on the first spiral rotary actuator six rib Axis of a cylinder section 7323, the second hex nut 735 pretension, internal gear 736 is coaxially connected with circular connecting plate 734, and gear 738 is sheathed on Power transmission shaft the first axle journal 7371 is connected, and the first thrust bearing 740 is sheathed on power transmission shaft the second axle journal 7372, and power transmission shaft 737 is worn Crossing housing axis hole 7392 makes the first thrust bearing 740 contact with housing 739, and the second thrust bearing 741 is sheathed on power transmission shaft the 3rd On axle journal 7373, the 3rd hex nut 742 screws on power transmission shaft thread segment 7375 pretension, and yielding coupling 743 makes power transmission shaft the 4th Axle journal 7374 is coaxially connected with interior wide-mouth magnetic coupling box axle journal 7441, and internal gear 736 is inserted in housing 739, two gears 738 gear teeth flank of tooth gear teeth face with internal gear 736 respectively, upper lid 733 and shell flange disk 7391 are connected, and two are hung One end of bar 731 is symmetrically fixed on housing 739 both sides, forms nut assembling and disassembling device 73, and the other end of two suspension rods 731 is symmetrically solid It is connected in 711 2 sides of the first square tube shape fixed arm, sill 7221 is fixed on two longeron 202 medial surfaces of railcar, Cmos image sensor 70 is fixed on outside railcar longeron 202, composition sleeper four nut synchronization assembling and disassembling device 7；

Refer to shown in Fig. 6, Fig. 8 to Figure 10, described rail-lifting equipment 8 is horizontal by first crossbeam telescopic component 81, first Beam retractable driving device 83, eight forks of 82, two the first pendulous devices, 85, two box connecting rods 86 of 84, eight hex nuts, 87, two flexible shell types of eight bolts carry cylinder of rail 88 and form, and fork 84 is provided with six prism hole monaural rings 841 and monaural ring 842, Box connecting rod 86 is arranged with four bolts hole 861 and semicylindrical opening 862, and flexible shell type carries cylinder of rail 88 cylinder body and is provided with reinforcing Plate 881, piston rod free end are provided with fagging 882；

Described first crossbeam telescopic component 81 is by 811, two the second square tube shape telescopic arms of the second square tube shape fixed arm 812nd, second laser displacement transducer 813 and the second range finding reference plate 814 form, and the second square tube shape telescopic arm 812 is provided with closing End 8121 and symmetrical two grooves 8122, groove 8122 is provided with bolt hole 81221；

Described first crossbeam retractable driving device 82 is the same with the composition of lifting drive 72, except aforesaid second party Tubular fixed arm 811 and the first square tube shape fixed arm 711 version is different, the second square tube shape telescopic arm 812 and first party Tubular telescopic arm 712 version is different, and remaining all component structural form is the same；

Carry out and lifting drive 72 identical assembly operation, form first crossbeam retractable driving device 82；Second swashs Optical displacement sensor 813 is symmetrically fixed on the second square tube shape fixed arm 811 side, and the second range finding reference plate 814 is fixed on second Square tube shape telescopic arm 812 side；

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

By on two sector gears 834 respectively sheathed first diameter of axle 8351 being fixed on two multidiameters, two multidiameters 835 are each passed through two axis holes 8311 of casing, so that multidiameter 835 second axle journal 8352 is formed with casing axis hole 8311 and rotate pair, It is fixed on sheathed for partial gear 833 on the second spiral rotary actuator 832 output shaft, be placed in the first casing 831, The gear teeth of partial gear 833 are made to contact along the facewidth with the gear teeth of two sector gears respectively, the second spiral rotary actuator 832 are fixed on the first casing 831 base plate, and two axis holes 8371 of embedded cover plate 837 are sheathed on two multidiameters respectively On three axle journals 8353, so that embedded cover plate 837 and the first casing 831 is connected, form the first pendulous device 83；

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

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

Refer to shown in Fig. 6, Fig. 7, Figure 11 to Figure 13, described swivel block and push-and-pull sleeper device 9 are to be stretched by second cross beam Contracting assembly 90, second cross beam retractable driving device 91,92, four the first forks 93 of the second pendulous device, crawl and swivel block device 94th, four the first hex nuts 96 and four bolts 97 form, and the first fork 93 is provided with six prism hole monaural rings 931 and monaural ring 932；

Described second cross beam telescopic component 90 be by third party's tubular fixed arm 901, third party's tubular telescopic arm 902, 3rd laser displacement sensor 903 and the 3rd range finding reference plate 904 form, and third party's tubular telescopic arm 902 is provided with blind end 9021 and symmetrical two grooves 9022, groove 9022 is provided with bolt hole 90221；

The second described retractable driving device 91 is by third party's cylinder fixed arm 901, hydraulic motor 911, yielding coupling 912nd, screw rod 913, monaural ring bearing 914, square nut 915, square slider 916,917, two the second spiral shells of the second hex nut Bolt 918 and third party's tubular telescopic arm 902 form, and screw rod 913 is provided with the first axle journal 9131, the second axle journal 9132 and the 3rd axle journal 9133, square nut 915 is provided with two coaxial threaded blind holes 9151, and square slider 916 is provided with axis hole 9161；

Monaural ring bearing 914 is sheathed on screw rod the second axle journal 9132, square nut 915 screws on the suitable position of screw rod 913 Put, square slider 916 is sheathed on screw rod the 3rd axle journal 9133, the second hex nut 917 pretension, and yielding coupling 912 makes liquid Pressure motor 911 output shaft is coaxially fixed with one with screw rod the first axle journal 9131, and third party's tubular telescopic arm 902 is left from screw rod 913 End is sheathed to make third party's tubular telescopic arm groove bolt hole 90221 coaxial with square nut tapped blind hole 9151 thereon, two Second bolt 918 screws in pretension respectively, and the second square tube fixed arm 901 is sheathed thereon from screw rod 913 right-hand member, makes hydraulic motor 911 are fixed on third party's tubular fixed arm 901 endoporus upper surface, and monaural ring bearing 914 is fixed on third party's tubular fixed arm 901 Endoporus upper surface, forms the second retractable driving device 91, and square slider 916 forms moving sets with third party's tubular telescopic arm 902, 3rd laser displacement sensor 903 is symmetrically fixed on third party's tubular fixed arm 901 side, and the 3rd range finding reference plate 904 is connected In third party's tubular telescopic arm 902 side；

The second described pendulous device 92 forms with the first pendulous device 83 and version is the same, carries out and the first swing Device 83 identical assembly operation, forms the second pendulous device 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 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 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 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 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, makes the spacing sector of the 3rd spiral rotary actuator output shaft ring flange Boss 94211 and hydraulic jack ring flange spacing sector boss 94311 are inserted in fan-shaped hole section 9413, make two spacing sectors convex Platform left surface is contacted with fan-shaped hole section the first confined planes 94131, makes the first thrust bearing 944 insert second casing the second circular hole portion 9414, so that the 3rd spiral rotary actuator 942 is fixed on the second casing 941 base plate, make end cap 954 and the second casing 941 It 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, nut 946 pretensions, piston 947 are inserted in hydraulic jack 943 cylinder barrel, ladder U-bracket flange 9491 are penetrated hydraulic jack 943 cylinder Cylinder 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 9482, second Connecting rod ears ring 9511 and first connecting rod monaural ring 9502 coaxially penetrate pin hinge connection, the second fork ears ring 9523 and rolling Wheel 953 coaxially penetrates pin hinge and connects, and the second fork pin-and-hole 9522 and ladder U-bracket pin-and-hole 9494 coaxially penetrate bearing pin hinge Chain connects, and first connecting rod ears ring 9501 and second connecting rod ears ring 9511 are coaxially penetrated with the first fork monaural ring 9521 respectively 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 831 is fixed on third party's tubular telescopic arm blind end 9021, composition swivel block and push-and-pull sleeper device 9；

Refer to shown in Figure 14 to Figure 22, described sleeper handling apparatus 16 are by reciprocating motion storage sleeper device 160 Form with rigid hanger hoisting apparatus 168；

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

Described reciprocator 161 is by base plate 162, the 3rd crossbeam telescopic component 163, reciprocating movement driving device 164th, symmetrically arranged two parallelogram lindages 165 and the 4th laser displacement sensor 166 form；

The 3rd described crossbeam telescopic component 163 is to be stretched by the 4th square tube shape fixed arm 1631 and two the 4th square tube shapes Arm 1632 forms, and the 4th square tube shape fixed arm 1631 is provided with symmetrical two long slot bore 16311, the 4th square tube shape telescopic arm 1632 It is provided with 16321, two monaural rings 16322 of blind end and symmetrical two grooves 16323, groove 16323 is provided with bolt hole 16324；

Described reciprocating movement driving device 164 is the same with the composition of lifting drive 72, except aforesaid 4th square tube Shape fixed arm 1631 orientation and the first square tube shape fixed arm 711 orientation is different, the 4th square tube shape telescopic arm 1632 orientation and One square tube shape telescopic arm 712 orientation is different；Remaining all component structural form is the same；

Described parallelogram lindage 165 is by the 4th square tube shape telescopic arm 1632, two forks 1651 and moving beams 1652 compositions, moving beam 1652 is provided with two rollers 16521；

Carry out and lifting drive 122 identical assembly operation, form reciprocating movement driving device 164；

By one end of two forks 1651 respectively with the 4th square tube shape telescopic arm 1632 chain connection, two forks 1651 The other end respectively with moving beam 1652 chain connection, form parallelogram lindage 165, repeat aforementioned assembly operation, be symmetrical in The vertical plane of symmetry of the 4th square tube shape fixed arm 1631 and moving beam 1652 assembles another parallelogram lindage 165, base plate 162 are fixed on below the 4th square tube shape fixed arm 1631, so that two rollers 16521 of moving beam and base plate 162 upper surface is connect Touch, the 4th laser displacement sensor 166 is symmetrically fixed on the 4th square tube shape fixed arm 1631 side, form reciprocator 161；

Base plate 162 is fixed on railcar 20 crossbeam, the second square tube shape fixed arm 811 and third party's tubular fixed arm 901 On, storage sleeper case 167 is fixed on moving beam 1652, so that the roller 1671 of storage sleeper case 167 and base plate 162 is connect above Touch, composition moves back and forth storage sleeper device 160；

Described rigid hanger hoisting apparatus 168 is by two cantilever beams 169, telescoping crossbeam device 170, jack up unit 171st, two pick-and-place sleeper devices 172 and the 5th laser displacement sensor 173 form；

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

End cap 1705 is symmetrically fixed on multi-stage expansion shell type oil cylinder first flange disk 17041, the second ladder square tube shape is stretched Contracting arm 1703 is sheathed on multi-stage expansion shell type oil cylinder 1704, makes multi-stage expansion shell type oil cylinder second flange disk 17044 and second Ladder square tube shape telescopic arm 1703 blind end is connected, and the first ladder square tube shape telescopic arm 1702 is sheathed on the second ladder square tube shape and stretches On contracting arm 1703, then ladder square tube shape fixed arm 1701 is sheathed on the first ladder square tube shape telescopic arm 1702, makes end cap 1705 are connected with ladder square tube shape fixed arm ring flange 17011, and push pedal 1706 is fixed on the second ladder square tube shape telescopic arm 1703 Blind end, the 5th laser displacement sensor 173 is symmetrically fixed on ladder square tube shape fixed arm 1701 side, forms telescoping crossbeam Device 170；

Described jack up unit 171 be by the second entablature assembly 1711, raising driving means 1712, symmetrically arranged two Individual parallelogram lindage 1713 and and the 6th laser displacement sensor 1714 form；

The second described entablature assembly 1711 is by the 5th square tube shape fixed arm 17111 and two the 5th square tube shape telescopic arms 17114 compositions, the 5th square tube shape fixed arm 17111 is provided with symmetrical two long slot bore 17112 and two ears rings 17113, the Five square tube shape telescopic arms 17114 are provided with blind end 17115 and two monaural rings 17116；

Described raising driving means 1712 are the same with the composition of lifting drive 72, except aforementioned 5th square tube shape is fixed Arm 17111 and the first square tube shape fixed arm 711 version is different, the 5th square tube shape telescopic arm 17114 orientation and first party Tubular telescopic arm 712 orientation is different, and remaining all component structural form is the same；

Described parallelogram lindage 1713 be by 17114, two the second forks 17131 of the 5th square tube shape telescopic arm and under Crossbeam 17132 forms, and sill 17132 is provided with two circular holes 17133；

Carry out and lifting drive 72 identical assembly operation, form raising driving means 1712；

By one end of two the second forks 17131 respectively with the 5th square tube shape telescopic arm 17114 chain connection, two second The other end of fork 17131 respectively with sill 17132 chain connection, form parallelogram lindage 1713, repeat aforementioned assembling Operation, is symmetrical in the 5th square tube shape fixed arm 17111 and the vertical plane of symmetry of sill 17132 assembles another parallel four-bar machine Structure 1713, the 6th laser displacement sensor 1714 is symmetrically fixed on below the 5th square tube shape fixed arm 17111, composition raising dress Put 171；

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

4th spiral rotary actuator 1721 is penetrated in sill circular hole 17133, the 4th spiral rotary actuator flange Disk 17211 is fixed on above sill 17132, yielding coupling 1722 make the 4th spiral rotary actuator output shaft 17212 with interior Wide-mouth nut axle journal 17231 is connected, and forms pick-and-place sleeper device 172；

Two cantilever beams 169 are symmetrically fixed on two longerons 202 of railcar, ladder square tube shape fixed arm 1701 is connected Below two cantilever beam 169 cantilevers, two ears rings 17113 of the 5th square tube shape fixed arm respectively with the second ladder square tube shape Two monaural ring 17032 coaxial bolts of telescopic arm connect, and form sleeper handling apparatus 16.

The course of work 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, sleeper to be changed is right Outside the adjacent sleeper in side, bolt is marked with machine oil, and when engineering truck traction track car runs near sleeper to be changed, cmos image passes The image information of sensor collection, by pattern recognition system automatic identification, makes engineering truck be parked in cmos image sensor and machine oil The coaxial position of mark bolt, four interior wide-mouth magnetic coupling boxs are located at directly over four bolts of sleeper to be changed, position shown in Fig. 1 Put, oil pump is started working, hydraulic oil makes lifting drive double output shaft hydraulic motor to start to rotate forward, and drives left-handed screw and the right side Rotation screw rod forward direction synchronous axial system, left-handed nut and right-handed nut promote two the first square tube shape telescopic arms being connected with it same respectively Step is stretched out, and square slider is in the first square tube shape telescopic arm endoporus upper surface slide, it is to avoid left-handed screw and right handed screw are born curved Square, two pairs of forks making symmetrically arranged two parallelogram lindages are with respect to sill dorsad synchronous hunting, lowering or hoisting gear support Two nut assembling and disassembling devices of band decline, and by its displacement signal with sill of first laser displacement sensor, to control Lifting drives double output shaft hydraulic motor and the work of the first spiral rotary actuator, when interior wide-mouth magnetic coupling box is sheathed on On nut, position shown in Fig. 3, lifting drives double output shaft hydraulic motor to stop rotating forward, and hydraulic oil makes two the first spirals Rotary actuator starts reverse sync and rotates, and drives two circular connecting plates to entrust two internal gears respectively and rotates backward, often Individual internal gear is engaged with two gears simultaneously, drives two drive axis, makes four interior wide-mouth magnetic coupling boxs reversely same Step rotates, and four interior wide-mouth magnetic coupling boxs synchronously screw off four nuts, and the magnetic of interior wide-mouth magnetic coupling box makes to screw off Nut stay in interior wide-mouth magnetic coupling box, two first spiral rotary actuators stop rotate backward, hydraulic oil makes Lifting drives double output shaft hydraulic motor to start to rotate backward, and drives left-handed screw and right handed screw reverse sync to rotate, left-handed Nut and right-handed nut pull two the first square tube shape telescopic arms being connected with it synchronously to retract respectively, make symmetrically arranged two The opposite swing synchronous with respect to sill of two pairs of forks of parallelogram lindage, lowering or hoisting gear is entrusted on two nut assembling and disassembling devices Rise to position shown in Fig. 1, dismantle nut end-of-job；

2. pull-out bad sleeper work：Engineering truck traction track car moves to left, firm by pattern recognition system automatic identification sleeper The number of rail outer bolt image, makes railcar move to left four sleeper pitches, swivel block and push-and-pull sleeper device are just gone up positioned at bad sleeper Side, directly over rail-lifting equipment is located on the left of bad sleeper between sleeper, hydraulic oil makes second cross beam telescopic drive hydraulic motor just start To rotation, drive screw rotates forward, and makes square nut promote third party's tubular telescopic arm to stretch out, third party's tubular telescopic arm support Carry the second pendulous device and crawl and swivel block device to move out, itself and the 3rd range finding are measured by the 3rd laser displacement sensor The displacement signal of reference plate, to control second cross beam telescopic drive hydraulic motor, the second spiral rotary actuator and the 3rd spiral shell Swing hydrodynamic pressure motor operations, the second pendulous device and crawl and swivel block device move out to appropriate location, and second cross beam is stretched Contracting drives hydraulic motor to stop rotating forward, and hydraulic oil makes the second spiral rotary actuator start to rotate forward, incomplete tooth Wheel and two sector gear engaged transmission, two multidiameters drive four the first fork forward directions to swing, and so that the second casing is entrusted and grab Take and swivel block device does translation, when two the first forks are contacted with the first positive stop lug boss, the second spiral rotary actuator stops Only rotate forward, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, and hydraulic oil makes second cross beam stretch simultaneously Contracting drives hydraulic motor to start to rotate backward, and drive screw rotates backward, and makes square nut pull the contracting of third party's tubular telescopic arm Return, third party's tubular telescopic arm entrusts the second pendulous device and crawl and swivel block device inward, when two pressures of gripper When plate inward is to bad sleeper both sides appropriate location, second cross beam telescopic drive hydraulic motor stops rotating backward, hydraulic oil Make hydraulic cylinder piston rod start to stretch out, promote first connecting rod and second connecting rod to make symmetrically arranged two the second fork phases respectively To swing, the roller being articulated with the second fork ears ring pushes down pressing plate, and roller rolls makes pressing plate overcome two cylindrically coiled springs Pulling force make translation, two in-parallel four-bar mechanisms are positive to be swung, when two platen clamp sleepers, in solenoid directional control valve Position makes hydraulic jack pressurize；

Hydraulic oil makes first crossbeam telescopic drive double output shaft hydraulic motor start to rotate forward, and drives left-handed screw and the right side Rotation screw rod forward direction synchronous axial system, makes left-handed square nut and dextrorotation square nut promote two the second square tubes being connected with it respectively Shape telescopic arm synchronously stretches out, and by its displacement signal with the second range finding reference plate of second laser displacement sensor, to control First crossbeam telescopic drive double output shaft hydraulic motor processed, the second spiral rotary actuator and flexible shell type put forward cylinder of rail work Make, the second square tube shape telescopic arm entrusts the first pendulous device and flexible shell type carries cylinder of rail and moves out to appropriate location, first Crossbeam telescopic drive double output shaft hydraulic motor stops rotating forward, and it starts to rotate backward, and drives left-handed screw and dextrorotation spiral shell Bar reverse sync rotates, and makes left-handed square nut and dextrorotation square nut pull two the second square tube shapes being connected with it to stretch respectively Contracting arm is synchronously retracted, and the second square tube shape telescopic arm entrusts the first pendulous device and flexible shell type carries cylinder of rail inward, simultaneously Second spiral rotary actuator starts to rotate forward, partial gear and two sector gear engaged transmission, two multidiameters Drive that four forks are positive to be swung, box connecting rod is entrusted flexible shell type and carried cylinder of rail and makees translation, when two forks are spacing with first During boss contact, the second spiral rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes the second spiral swing liquid Pressure motor pressurize, when flexible shell type puies forward cylinder of rail cylinder body and rail lower flange contacts side surfaces, its gusset upper surface and rail Contact below, first crossbeam telescopic drive double output shaft hydraulic motor stops rotating backward；

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

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, and makes hydraulic jack entrust positive turn of gripper Dynamic, gripper makes sleeper rotate forward, when the 3rd spiral rotary actuator ring flange and the spacing sector of hydraulic jack ring flange When boss is contacted with second casing scallop hole the second confined planes, gripper makes sleeper rotate forward 90 °, and the 3rd spiral swings hydraulic pressure Motor stops rotating forward, and hydraulic oil makes second cross beam telescopic drive hydraulic motor start to rotate forward, and so that third party's tubular is stretched Contracting arm entrusts the second pendulous device and crawl and swivel block device moves out, and gripper pulls bad sleeper to move out, when bad rail When pillow moves out to end face thereafter and above rail lower flange trailing flank is coplanar, second cross beam telescopic drive hydraulic motor stops Rotate forward, hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and makes cylinder body of hydraulic oil cylinder entrust gripper anti- To rotation, gripper makes sleeper rotate backward, when the 3rd spiral rotary actuator ring flange and hydraulic jack ring flange are spacing When fan-shaped boss is contacted with second casing scallop hole the first confined planes, gripper makes sleeper rotate backward 90 °, position shown in Figure 14 Put, the 3rd spiral rotary actuator stops rotating backward；

Hydraulic oil makes hydraulic cylinder piston rod start to retract, and pulls first connecting rod and second connecting rod to make respectively symmetrically arranged Two the second fork backswings, under the pulling force effect of two cylindrically coiled springs, make two pressing plates make translation, two parallel connections Parallelogram lindage backswing, when two pressing plates and sleeper side disengage and contact, hydraulic cylinder piston rod stops retracting；

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

Hydraulic oil makes second cross beam telescopic drive hydraulic motor start to rotate backward, and third party's tubular telescopic arm entrusts second , to position shown in Fig. 1, second cross beam telescopic drive hydraulic motor stops anti-for pendulous device and crawl and swivel block device inward To rotation；

Hydraulic oil makes flexible shell type propose the extension sleeve retraction of the cylinder of rail second level, and second level extension sleeve is retracted to stop, Second level extension sleeve starts to retract with first order extension sleeve, and second level extension sleeve hauls fagging and moves upwards, under rail Drop down onto original position, bad sleeper is pushed down so as to upper surface is parallel with two rail lower surfaces, flexible shell type carries cylinder of rail and stops work Make；

Hydraulic oil makes first crossbeam telescopic drive double output shaft hydraulic motor start to rotate forward, and makes two the second square tube shapes Telescopic arm is entrusted two flexible shell types respectively and is carried cylinder of rail and moves out, when its gusset and rail disengage when contact, the first horizontal stroke Beam telescopic drive double output shaft hydraulic motor stops rotating forward

Hydraulic oil makes the second spiral rotary actuator rotate backward, and partial gear engages biography with two sector gears Dynamic, two multidiameters drive four fork backswings, and box connecting rod is entrusted flexible shell type and carried cylinder of rail and makees translation, when two are put When bar is contacted with the second positive stop lug boss, flexible shell type carries cylinder of rail and moves to position shown in Fig. 1, the second spiral rotary actuator Stop operating, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, pulls out bad sleeper end-of-job；

3. handling bad sleeper work：Engineering truck traction track car moves to right, firm by pattern recognition system automatic identification sleeper The number of rail outer bolt image, makes railcar move to right a sleeper pitch, and rail-lifting equipment is on the left of bad sleeper between adjacent sleeper Surface, hydraulic oil makes first crossbeam telescopic drive double output shaft hydraulic motor start to rotate forward, and makes two the second square tube shapes Telescopic arm entrusts two the first pendulous devices respectively and flexible shell type carries cylinder of rail and moves out to appropriate location, and first crossbeam is stretched Contracting drives double output shaft hydraulic motor to stop rotating forward, and it starts to rotate backward, and makes two the second square tube shape telescopic arms respectively Entrust two the first pendulous devices and flexible shell type carries cylinder of rail and is inwardly synchronized with the movement, the second spiral rotary actuator is opened simultaneously Beginning rotates forward, and when two forks are contacted with the first positive stop lug boss, the second spiral rotary actuator stops operating, and electromagnetism changes Make the second spiral rotary actuator pressurize to the middle position of valve, when the first pendulous device inward carries cylinder of rail to flexible shell type When cylinder body and rail lower flange contact outside, flexible shell type carries cylinder of rail cylinder body gusset upper surface and contacts with below rail, the One crossbeam telescopic drive double output shaft hydraulic motor stops rotating backward；

Hydraulic oil makes reciprocating motion drive double output shaft hydraulic motor to start to rotate forward, and so that two the 4th square tube shapes is stretched Arm synchronously stretches out, and makes two pairs of forks of symmetrically arranged two parallelogram lindages move towards crossbeam dorsad synchronous hunting, and two Fork is pulled with moving beam to left movement, moving beam entrusts storage sleeper case to left movement, passes by the 4th laser displacement Sensor measures the displacement signal of itself and moving beam, to control reciprocating motion to drive the work of double output shaft hydraulic motor, to work as storage Sleeper case to the left move to storage bad sleeper position in storehouse immediately below pick-and-place sleeper device when, move back and forth drive double output shaft hydraulic pressure Motor stops rotating forward

Hydraulic oil makes multi-stage expansion shell type oil cylinder second level extension sleeve start to stretch out with first order extension sleeve, promotes the Two ladder square tube shape telescopic arms stretch out, and the second ladder square tube shape telescopic arm is entrusted lowering or hoisting gear and moved out, when the second ladder side When tubular telescopic arm is extend out to its shoulder and is touched with first second shoulder grafting of ladder square tube shape telescopic arm, multi-stage expansion shell type oil cylinder the Two grades of extension sleeves start to stretch out, and promote the second ladder square tube shape telescopic arm to stretch out, the second ladder square tube shape telescopic arm pulls the One ladder square tube shape telescopic arm stretches out, by being fixed on the 5th laser displacement sensor measurement of ladder square tube shape fixed arm side Its displacement signal with push pedal, to control multi-stage expansion shell type cylinder efficient, when two interior wide-mouth nuts of pick-and-place sleeper device with Have been pulled out above the bad sleeper between sleeper two bolts in inner side conllinear when, multi-stage expansion shell type oil cylinder second level extension sleeve stops Stretch out；

Hydraulic oil makes raising drive double output shaft hydraulic motor to start to rotate backward, and makes two the 5th square tube shape telescopic arms same Step is retracted, and with respect to the opposite synchronous hunting of sill, raising fills two pairs of forks making symmetrically arranged two parallelogram lindages Put and entrust the decline of pick-and-place sleeper device, measure the displacement signal of itself and sill by the 6th laser displacement sensor, to control Raising drives double output shaft hydraulic motor and the work of the 4th spiral rotary actuator, when on two interior wide-mouth nuts with bad sleeper When inside face, two bolts are close, hydraulic oil makes two the 4th spiral rotary actuators start to rotate forward, and makes two respectively Interior wide-mouth nut forward synchronous axial system, when two interior wide-mouth nuts screw on two bolts in inner side above sleeper, the 4th spiral swings When hydraulic motor rotates forward to hard-over, position shown in Figure 15, two the 4th spiral rotary actuators stop positive turning Dynamic, raising drives double output shaft hydraulic motor to stop rotating backward；

Hydraulic oil makes the extension sleeve that flexible shell type carries cylinder of rail stretch out step by step, makes rail jack-up, in solenoid directional control valve Position makes flexible shell type propose cylinder of rail pressurize；

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

Hydraulic oil makes raising drive double output shaft hydraulic motor to start to rotate forward, and makes jack up unit entrust bad sleeper and rises To suitable height, raising drives double output shaft hydraulic pressure horse to stop rotating forward, and hydraulic oil makes the multi-stage expansion shell type oil cylinder second level Extension sleeve starts to retract, and pulls the second ladder square tube shape telescopic arm to retract, when push pedal is connect with the first ladder square tube shape telescopic arm When tactile, second level extension sleeve is retracted with first order extension sleeve, and the second ladder square tube shape telescopic arm draws push pedal to retract, and push pedal pushes away Dynamic first ladder square tube shape telescopic arm is retracted, when jack up unit is entrusted bad sleeper and moved to directly over the bad sleeper storehouse of storage, many The flexible shell type oil cylinder first order extension sleeve of level stops retracting, and hydraulic oil makes raising drive double output shaft hydraulic motor to start reversely Rotate, jack up unit entrust bad sleeper decline, when bad sleeper decline close to sleeper orlop or previously put into bad sleeper when, high pressure Oil makes two the 4th spiral rotary actuators start to rotate backward, and so that two interior wide-mouth nut reverse sync is rotated respectively, when When bad sleeper is discharged in storehouse, the 4th spiral rotary actuator stops rotating backward, and raising drives double output shaft hydraulic motor Stopping rotates backward, and it starts to rotate forward, and jack up unit rises to position shown in Fig. 1, and raising drives double output shaft hydraulic pressure horse Reach stopping to rotate forward, handling bad sleeper end-of-job；

4. handling is well placed sleeper work：Hydraulic oil makes reciprocating motion drive double output shaft hydraulic motor to start reversely to turn Dynamic, so that two the 4th square tube shape telescopic arms is synchronously retracted, make two pairs of forks of symmetrically arranged two parallelogram lindages relatively In the opposite synchronous hunting of moving beam, two pairs of forks promote moving beams to move right, moving beam entrust storage sleeper case to Right motion, when store sleeper case move right to stored sleeper position in storehouse immediately below pick-and-place sleeper device when, move back and forth drive Dynamic double output shaft hydraulic motor stops rotating backward；

Hydraulic oil makes raising drive double output shaft hydraulic motor to start to rotate backward, and jack up unit entrusts pick-and-place sleeper device Decline, when above two interior wide-mouth nuts with good sleeper, two bolts in inner side are close, hydraulic oil makes two the 4th spirals swing Hydraulic motor starts to rotate forward, and when two interior wide-mouth nuts have screwed on two bolts in inner side above sleeper, the 4th spiral swings Hydraulic motor rotates forward to hard-over, and the 4th spiral rotary actuator stops rotating forward, and raising drives double output shaft Hydraulic motor stops rotating backward, and it starts to rotate forward, and jack up unit has been entrusted sleeper and risen to suitable height, and raising drives Double output shaft hydraulic motor stops rotating forward

Hydraulic oil makes the extension sleeve of multi-stage expansion shell type oil cylinder stretch out step by step, so that the second ladder square tube shape telescopic arm is entrusted Jack up unit moves out, and has entrusted sleeper when jack up unit and has moved out to appropriate location, and hydraulic oil makes raising drive lose-lose Shaft hydraulic motor starts to rotate forward, and when so that raising falling unit has been entrusted sleeper and drop to it and contact with railway roadbed, raising drives Double output shaft hydraulic motor stops rotating forward

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

Hydraulic oil makes the extension sleeve that flexible shell type carries cylinder of rail retract step by step, and rail falls to original position, by good sleeper Push down and make its upper surface and two rail lower surface parastates, flexible shell type carries cylinder of rail first order extension sleeve and stops contracting Return, hydraulic oil makes first crossbeam telescopic drive double output shaft hydraulic motor start to rotate forward, make the first pendulous device and stretch Shell type carries cylinder of rail and moves out, when its gusset and rail disengage and contact, first crossbeam telescopic drive double output shaft hydraulic pressure Horse stops rotating forward, and the second spiral rotary actuator starts to rotate backward simultaneously, when two forks and the second positive stop lug boss During contact, when the first pendulous device and flexible shell type carry cylinder of rail and move to position shown in Fig. 1, the second spiral rotary actuator Stop operating, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize；

Hydraulic oil makes the 4th spiral rotary actuator start to rotate backward, when the 4th spiral rotary actuator reversely turns When moving to hard-over, discharge sleeper, the 4th spiral rotary actuator stops rotating backward, and raising drives double output shaft liquid Pressure motor starts to rotate forward, and makes jack up unit entrust pick-and-place sleeper device and rises to suitable height, hydraulic oil makes multi-stage expansion The extension sleeve of shell type oil cylinder is retracted step by step, makes the second ladder square tube shape telescopic arm entrust jack up unit inward, raising fills Put and move to position shown in Fig. 1, raising drives double output shaft hydraulic pressure horse to stop rotating forward, the first of multi-stage expansion shell type oil cylinder Level extension sleeve stops retracting, and handling is well placed sleeper work and completes；

4. advanced sleeper to work：Engineering truck traction track car moves to left, firm by pattern recognition system automatic identification sleeper The number of rail outer bolt image, makes railcar move to left a sleeper pitch, swivel block and push-and-pull sleeper device are located above good sleeper, Directly over rail-lifting equipment is located on the left of good sleeper between sleeper, hydraulic oil makes second cross beam telescopic drive hydraulic motor start positive turning Dynamic, so that the second pendulous device and crawl and swivel block device is moved out, when the second square tube shape telescopic arm extend out to stop, second Crossbeam telescopic drive hydraulic motor stops rotating forward, and hydraulic oil makes the second spiral rotary actuator rotate forward, when two When first fork is contacted with the first positive stop lug boss, the second spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes Second spiral rotary actuator pressurize；

Hydraulic oil makes second cross beam telescopic drive hydraulic motor start to rotate backward, and makes the second square tube shape telescopic arm entrust Two pendulous devices and crawl and swivel block device inward, when two pressing plate inward most intimate friend's sleeper both sides of gripper are suitable During position, position shown in Figure 14, second cross beam telescopic drive hydraulic motor stops rotating backward, and hydraulic oil makes hydraulic cylinder piston Bar starts to stretch out, and when two platen clamp sleepers, hydraulic cylinder piston rod stops stretching out, and the middle position of solenoid directional control valve makes hydraulic pressure Oil cylinder pressurize；

Hydraulic oil makes first crossbeam telescopic drive double output shaft hydraulic motor start to rotate forward, and so that the second square tube shape is stretched Arm entrusts the first pendulous device and flexible shell type carries cylinder of rail and moves out to appropriate location, first crossbeam telescopic drive dual output Axle hydraulic motor stops rotating forward, and it starts to rotate backward, and the second spiral rotary actuator starts to rotate forward simultaneously, when When two forks are contacted with the first positive stop lug boss, the second spiral rotary actuator stops rotating forward, in solenoid directional control valve Position makes the second spiral rotary actuator pressurize, when flexible shell type carries cylinder of rail cylinder body with rail lower flange contacts side surfaces, its Gusset upper surface contacts with below rail, and first crossbeam telescopic drive double output shaft hydraulic motor stops rotating backward；

Hydraulic oil makes the extension sleeve that flexible shell type carries cylinder of rail stretch out step by step, makes rail jack-up, in solenoid directional control valve Position makes flexible shell type propose cylinder of rail pressurize；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, and gripper makes sleeper rotate forward 90 °, and the 3rd Spiral rotary actuator stops rotating forward, and hydraulic oil makes second cross beam telescopic drive hydraulic motor start to rotate backward, and makes Gripper has promoted sleeper inward, is a good sleeper inward to shown in Fig. 1 during position, second cross beam telescopic drive hydraulic pressure Motor stops rotating backward, and hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and gripper makes sleeper reversely turn Dynamic 90 °, the 3rd spiral rotary actuator stops rotating backward；

Hydraulic oil makes hydraulic cylinder piston rod start to retract, when two pressing plates of gripper and sleeper disengage and contact, hydraulic pressure Cylinder piston rod stops retracting, and hydraulic oil makes the second spiral rotary actuator rotate backward, when two the first forks and second During positive stop lug boss contact, the second spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes the second spiral swing liquid Pressure motor pressurize；

Hydraulic oil makes second cross beam telescopic drive hydraulic motor start to rotate backward, and third party's tubular telescopic arm entrusts second , to position shown in Fig. 1, second cross beam telescopic drive hydraulic motor stops anti-for pendulous device and crawl and swivel block device inward To rotation；

Hydraulic oil makes the extension sleeve that flexible shell type carries cylinder of rail retract step by step, and rail falls to original position, electromagnetic switch The middle position of valve makes flexible shell type propose cylinder of rail pressurize,

Hydraulic oil makes first crossbeam telescopic drive double output shaft hydraulic motor start to rotate forward, when flexible shell type carries rail oil Cylinder cylinder body gusset is disengaged with rail when contacting, and first crossbeam telescopic drive double output shaft hydraulic pressure horse stops rotating forward, simultaneously Second spiral rotary actuator starts to rotate backward, when two forks are contacted with the second positive stop lug boss, the first pendulous device And flexible shell type carries cylinder of rail and moves to position shown in Fig. 1, the second spiral rotary actuator stops rotating backward, electromagnetic switch The middle position of valve makes the second spiral rotary actuator pressurize, has advanced sleeper end-of-job；

6. 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 four sleeper pitches, four are left wide-mouth magnetic coupling box difference in nut Coaxial with four bolts on sleeper, hydraulic oil makes lifting drive double output shaft hydraulic motor to start to rotate forward, lowering or hoisting gear Entrust two nut assembling and disassembling devices to decline, when it drops to nut in interior wide-mouth magnetic coupling box and changes sleeper bolt and connects Touch, position shown in Fig. 3, lifting drives double output shaft hydraulic motor to quit work, hydraulic oil makes two the first spirals swing hydraulic pressure Motor starts positive synchronous axial system, drives two circular connecting plates to entrust two internal gears respectively and rotates forward, each internal gear Engage with two gears simultaneously, drive two drive axis, make four interior wide-mouth magnetic coupling box forward direction synchronous axial system, four Nut in individual interior wide-mouth magnetic coupling box synchronously screws in four bolts of sleeper pretension, and two the first spirals swing hydraulic pressure horse Reach stopping to rotate forward, hydraulic oil makes lifting drive double output shaft hydraulic motor to start to rotate backward, and lowering or hoisting gear entrusts two Nut assembling and disassembling device rises to position shown in Fig. 1, and lifting drives double output shaft hydraulic motor to stop rotating backward, and installs nut work Complete；

Symmetrically arranged two parallelogram lindages in lowering or hoisting gear and jack up unit, make corresponding entablature assembly with Crossbeam is parallel all the time, changes the corresponding work of pillow to adapt to straight line and curved rail length section；Symmetrically arranged in reciprocator Two parallelogram lindages, make moving beam parallel with the 4th square tube shape fixed arm all the time, make storage sleeper case make translation；Elasticity Shaft coupling and interior wide-mouth nut can effectively adapt to sleeper bolt position deviation, make interior wide-mouth nut easily screw on sleeper bolt.

Claims (1)

1. one kind have sleeper four nut synchronization assembling and disassembling device change pillow machine it is characterised in that：It is by four nuts synchronously assembly and disassembly dress Put, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, generator, Hydraulic system and control System cabine and track Car forms；Railcar is provided with multiple castors and two longerons, four nut synchronization assembling and disassembling devices, rail-lifting equipment, transition and sliding rail Pillow device, sleeper handling apparatus, generator and Hydraulic system and control System cabine are arranged on two longerons of railcar, track Car is drawn by engineering truck, and generator is that oil pump and control system provide power, be provided with Hydraulic system and control System cabine fuel tank, Oil pump, hydraulic control system and automatic control system；

Described sleeper four nut synchronization assembling and disassembling device be by cmos image sensor, the first entablature assembly, lowering or hoisting gear and Two nut assembling and disassembling device compositions；

The first 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, the first square tube shape telescopic arm be provided with two monaural rings and symmetrical two recessed Groove, groove is provided with bolt hole；

Described lowering or hoisting gear is to be passed by lifting drive, symmetrically arranged two parallelogram lindages and first laser displacement Sensor forms；

Described lifting drive be by the first square tube shape fixed arm, double output shaft hydraulic motor, two yielding couplings, two Individual monaural ring bearing, left-handed screw, left-handed square nut, right handed screw, dextrorotation square nut, two the first square tube shapes are stretched Arm, two square sliders, four bolts and two the first hex nut compositions, right handed screw is provided with the first axle journal, the second axle journal With the 3rd axle journal, left-handed screw is the same with right handed screw version, and dextrorotation square nut is provided with two coaxial threaded blind holes, left Rotation square nut is the same with dextrorotation square nut version, and square slider is provided with axis hole；

Described parallelogram lindage is made up of sill, two forks and the first square tube shape telescopic arm, and sill is provided with four Individual ears ring and symmetrical two long slot bores；

Monaural ring bearing is sheathed on right handed screw second axle journal, dextrorotation square nut screws on right handed screw appropriate location, side Shape slide block set on right handed screw the 3rd axle journal, the first hex nut pretension, yielding coupling makes double output shaft hydraulic motor Right side output shaft is coaxially connected with right handed screw first axle journal, and the first square tube shape telescopic arm is sheathed on it from right handed screw right-hand member On, make the first square tube shape telescopic arm groove bolt hole coaxial with dextrorotation square nut tapped blind hole, two bolts screw in pre- respectively Tightly, repeat aforementioned assembly operation, by monaural ring bearing, left-handed screw, left-handed square nut, square slider, the first hex nut, Yielding coupling, double output shaft hydraulic motor and the first square tube shape telescopic arm are assembled into one, will be sheathed for the first square tube shape fixed arm On two the first square tube shape telescopic arms, double output shaft hydraulic motor is made symmetrically to be fixed on the first square tube shape fixed arm endoporus upper table Face, two monaural ring bearings are symmetrically fixed on the first square tube shape fixed arm endoporus upper surface, form lifting drive, square cunning Block and the first square tube shape telescopic arm form moving sets；

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 parallelogram lindage, is symmetrical in sill and the vertical plane of symmetry assembling of the first square tube shape fixed arm is another One parallelogram lindage, first laser displacement transducer is symmetrically fixed on above the first square tube shape fixed arm, composition lifting Device；

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

Upper lid is sheathed on the first spiral rotary actuator output shaft circular shaft section, makes lid and the first spiral rotary actuator Ring flange is connected, more circular connecting plate is sheathed on the first spiral rotary actuator six prism shaft part, and the second hex nut is pre- Tightly, internal gear and circular connecting plate are coaxially connected, and geared sleeve is connected located at power transmission shaft first axle journal, and the first thrust bearing is sheathed on On power transmission shaft second axle journal, power transmission shaft makes the first thrust bearing contact with housing through housing axis hole, and 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, and yielding coupling makes power transmission shaft the 4th axle Neck is coaxially connected with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, the gear teeth flank of tooth of two gears respectively with The gear teeth face of internal gear, upper lid is connected with shell flange disk, and one end of two suspension rods is symmetrically fixed on housing both sides, group Become nut assembling and disassembling device, the other end of two suspension rods is symmetrically fixed on two sides of the first square tube shape fixed arm, sill is connected On two side rail inner faces of railcar, cmos image sensor is fixed on outside railcar longeron, and composition sleeper four nut is same Step assembling and disassembling device；

Described rail-lifting equipment be by first crossbeam telescopic component, first crossbeam retractable driving device, two the first pendulous devices, Eight forks, eight hex nuts, two box connecting rods, eight bolts, two flexible shell types carry cylinder of rail composition, and fork is provided with Six prism hole monaural rings and monaural ring, box connecting rod is arranged with four bolts hole and semicylindrical opening, and flexible shell type carries cylinder of rail Cylinder body is provided with gusset, piston rod free end is provided with fagging；

Described first crossbeam telescopic component is by the second square tube shape fixed arm, two the second square tube shape telescopic arms, second lasers Displacement transducer and the second range finding reference plate composition, the second square tube shape telescopic arm is provided with blind end and symmetrical two grooves, recessed Groove is provided with bolt hole；

Described first crossbeam retractable driving device is the same with the composition of lifting drive, except aforesaid second square tube shape is fixed Arm and the first square tube shape fixed arm version is different, the second square tube shape telescopic arm and the first square tube shape telescopic arm structure form Different, remaining all component structural form is the same；

Carry out and lifting drive identical assembly operation, form first crossbeam retractable driving device；Second laser displacement passes Sensor is symmetrically fixed on the second square tube shape fixed arm side, and the second range finding reference plate is fixed on the second square tube shape telescopic arm side；

The first described pendulous device is by the first casing, the second 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 casing Two axis holes, are made multidiameter second axle journal be formed with casing axis hole and rotate pair, be fixed on the second spiral by sheathed for partial gear On rotary actuator output shaft, be placed into making in the first casing the gear teeth of partial gear respectively with two sector gears The gear teeth contact along the facewidth, and the second spiral rotary actuator is fixed on the first box bottom, two axis holes of embedded cover plate It is sheathed on respectively on two multidiameter the 3rd axle journals, so that embedded cover plate and the first casing is connected, form the first pendulous device；

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

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

Described swivel block and push-and-pull sleeper device are by second cross beam telescopic component, second cross beam retractable driving device, the second pendulum Dynamic device, four the first forks, crawl and swivel block device, four the first hex nuts and four bolts compositions, the first fork sets There are six prism hole monaural rings and monaural ring；

Described second cross beam telescopic component is by third party's tubular fixed arm, third party's tubular telescopic arm, the 3rd laser displacement Sensor and the 3rd range finding reference plate composition, third party's tubular telescopic arm is provided with blind end and symmetrical two grooves, and groove sets There is bolt hole；

The second described retractable driving device is by third party's cylinder fixed arm, hydraulic motor, yielding coupling, screw rod, monaural ring Bearing, square nut, square slider, the second hex nut, two the second bolts and third party's tubular telescopic arm composition, screw rod sets There are the first axle journal, the second axle journal and the 3rd axle journal, square nut is provided with two coaxial threaded blind holes, square slider is provided with axis hole；

Monaural ring bearing is sheathed on screw rod second axle journal, square nut screws on screw rod appropriate location, square slider is sheathed on On screw rod the 3rd axle journal, the second hex nut pretension, yielding coupling makes hydraulic motor output shaft coaxial with screw rod first axle journal Be fixed with one, third party's tubular telescopic arm is sheathed thereon from screw rod left end, make third party's tubular telescopic arm groove bolt hole with Square nut tapped blind hole is coaxial, and two the second bolts screw in pretension respectively, and the second square tube fixed arm is sheathed on from screw rod right-hand member Thereon, hydraulic motor is made to be fixed on third party's tubular fixed arm endoporus upper surface, it is solid that monaural ring bearing is fixed on third party's tubular Determine arm endoporus upper surface, form the second retractable driving device, square slider and third party's tubular telescopic arm form moving sets, the 3rd Laser displacement sensor is symmetrically fixed on third party's tubular fixed arm side, and the 3rd range finding reference plate is fixed on third party's tubular and stretches Contracting arm side；

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

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 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 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 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 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, The 3rd spiral rotary actuator output shaft ring flange spacing sector boss and hydraulic jack ring flange spacing sector boss is made to put Enter in fan-shaped hole section, so that two spacing sector boss left surfaces is contacted with fan-shaped hole section first confined planes, make the first thrust bearing Insert second casing the second circular hole portion, so that the 3rd spiral rotary actuator is fixed on the second box bottom, make end cap and Two casings are 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, nut pretension, piston is inserted in hydraulic jack cylinder barrel, Ladder U-bracket flange is penetrated hydraulic jack cylinder barrel be connected, makes 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 are coaxially penetrated pin hinge connect, the second fork is double Earrings coaxially penetrates pin hinge with roller and is connected, and the second fork pin-and-hole and ladder U-bracket pin-and-hole coaxially penetrate pin hinge Connect, first connecting rod ears ring and second connecting rod ears ring coaxially penetrate pin hinge with the first fork monaural ring respectively and be connected；

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 third party's tubular telescopic arm blind end, composition swivel block and push-and-pull sleeper device；

Described sleeper handling apparatus are made up of reciprocating motion storage sleeper device and rigid hanger hoisting apparatus；

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

Described reciprocator be by base plate, the 3rd crossbeam telescopic component, reciprocating movement driving device, symmetrically arranged two Individual parallelogram lindage and the 4th laser displacement sensor composition；

The 3rd described crossbeam telescopic component is made up of the 4th square tube shape fixed arm and two the 4th square tube shape telescopic arms, and the 4th Square tube shape fixed arm is provided with symmetrical two long slot bore, and the 4th square tube shape telescopic arm is provided with blind end, two monaural rings and symmetrical Two grooves, groove is provided with bolt hole；

Described reciprocating movement driving device is the same with the composition of lifting drive, except aforesaid 4th square tube shape fixed arm side Position is different with the first square tube shape fixed arm orientation, the 4th square tube shape telescopic arm orientation and the first square tube shape telescopic arm orientation differ Sample；Remaining all component structural form is the same；

Described parallelogram lindage is made up of the 4th square tube shape telescopic arm, two forks and moving beam, and moving beam is provided with Two rollers；

Carry out and lifting drive identical assembly operation, form reciprocating movement driving device；

By one end of two forks respectively with the 4th square tube shape telescopic arm chain connection, the other end of two forks respectively with movement Crossbeam chain connection, forms parallelogram lindage, repeats aforementioned assembly operation, is symmetrical in the 4th square tube shape fixed arm and mobile horizontal stroke The vertical plane of symmetry of beam assembles another parallelogram lindage, and base plate is fixed on below the 4th square tube shape fixed arm, makes mobile horizontal stroke Two rollers of beam are contacted with plate upper surface, and the 4th laser displacement sensor is symmetrically fixed on the 4th square tube shape fixed arm side Face, forms reciprocator；

Base plate is fixed on track car crossbeam, the second square tube shape fixed arm and third party's tubular fixed arm, storage sleeper case is solid It is connected on moving beam, so that the roller of storage sleeper case is contacted with substrate, composition moves back and forth storage sleeper device；

Described rigid hanger hoisting apparatus is by two cantilever beams, telescoping crossbeam device, jack up unit, two pick-and-place sleeper dresses Put and form with the 5th laser displacement sensor；

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

End cap is symmetrically fixed on multi-stage expansion shell type oil cylinder first flange disk, the second ladder square tube shape telescopic arm is sheathed on multistage On flexible shell type oil cylinder, multi-stage expansion shell type oil cylinder second flange disk and the second ladder square tube shape telescopic arm blind end is made to be connected, First ladder square tube shape telescopic arm is sheathed on the second ladder square tube shape telescopic arm, then ladder square tube shape fixed arm is sheathed on On one ladder square tube shape telescopic arm, end cap is made to be connected with ladder square tube shape fixed arm ring flange, push pedal is fixed on the second ladder side Tubular telescopic arm blind end, the 5th laser displacement sensor is symmetrically fixed on ladder square tube shape fixed arm side, and composition is flexible Beam device；

Described jack up unit is by the second entablature assembly, raising driving means, symmetrically arranged two parallelogram lindages Form with the 6th laser displacement sensor；

The second described entablature assembly is made up of the 5th square tube shape fixed arm and two the 5th square tube shape telescopic arms, the 5th square tube Shape fixed arm is provided with symmetrical two long slot bore and two ears rings, and the 5th square tube shape telescopic arm is provided with blind end and two monaurals Ring；

Described raising driving means are the same with the composition of lifting drive, except aforementioned 5th square tube shape fixed arm and first party Tubular fixed arm version is different, the 5th square tube shape telescopic arm orientation and the first square tube shape telescopic arm orientation are different, its Remaining all component structural forms are the same；

Described parallelogram lindage is made up of the 5th square tube shape telescopic arm, two the second forks and sill, and sill sets There are two circular holes；

Carry out and lifting drive identical assembly operation, form raising driving means；

By one end of two the second forks respectively with the 5th square tube shape telescopic arm chain connection, the other end of two the second forks divides Not with sill chain connection, form parallelogram lindage, repeat aforementioned assembly operation, be symmetrical in the 5th square tube shape fixed arm with The vertical plane of symmetry of sill assembles another parallelogram lindage, and the 6th laser displacement sensor is symmetrically fixed on the 5th side Below tubular fixed arm, form jack up unit；

Described pick-and-place sleeper device is made up of the 4th spiral rotary actuator, yielding coupling and interior wide-mouth nut, the Four spiral rotary actuators are provided with ring flange and output shaft, and interior wide-mouth nut is provided with axle journal；

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

Two cantilever beams are symmetrically fixed on two longerons of railcar, ladder square tube shape fixed arm is fixed on two cantilever beams and hangs Below arm, two ears rings of the 5th square tube shape fixed arm are coaxial with two monaural rings of the second ladder square tube shape telescopic arm respectively Bolt connection, forms sleeper handling apparatus.