CN106436508A - Railway sleeper automatic replacement device with image identification function - Google Patents

Railway sleeper automatic replacement device with image identification function Download PDF

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Publication number
CN106436508A
CN106436508A CN201610968889.1A CN201610968889A CN106436508A CN 106436508 A CN106436508 A CN 106436508A CN 201610968889 A CN201610968889 A CN 201610968889A CN 106436508 A CN106436508 A CN 106436508A
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CN
China
Prior art keywords
square tube
tube shape
ring
arm
monaural
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610968889.1A
Other languages
Chinese (zh)
Inventor
胡鹰
程艳
王效岗
仇建平
刘少攀
柴文婷
王荣军
李凯
张亭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Taiyuan University of Science and Technology
Original Assignee
Taiyuan University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Taiyuan University of Science and Technology filed Critical Taiyuan University of Science and Technology
Priority to CN201610968889.1A priority Critical patent/CN106436508A/en
Publication of CN106436508A publication Critical patent/CN106436508A/en
Pending legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B29/00—Laying, rebuilding, or taking-up tracks; Tools or machines therefor
    • E01B29/06—Transporting, laying, removing or renewing sleepers
    • E01B29/09—Transporting, laying, removing or renewing sleepers under, or from under, installed rails
    • E01B29/10—Transporting, laying, removing or renewing sleepers under, or from under, installed rails for inserting or removing sleepers
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B27/00—Placing, renewing, working, cleaning, or taking-up the ballast, with or without concurrent work on the track; Devices therefor; Packing sleepers
    • E01B27/06—Renewing or cleaning the ballast in situ, with or without concurrent work on the track
    • E01B27/10—Renewing or cleaning the ballast in situ, with or without concurrent work on the track without taking-up track
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B27/00—Placing, renewing, working, cleaning, or taking-up the ballast, with or without concurrent work on the track; Devices therefor; Packing sleepers
    • E01B27/12—Packing sleepers, with or without concurrent work on the track; Compacting track-carrying ballast
    • E01B27/20—Compacting the material of the track-carrying ballastway, e.g. by vibrating the track, by surface vibrators
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B2203/00—Devices for working the railway-superstructure
    • E01B2203/14—Way of locomotion or support
    • E01B2203/141—Way of locomotion or support on the track to be treated

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Actuator (AREA)

Abstract

The invention discloses railway sleeper automatic replacement equipment with an image identification function. The equipment is composed of a tamping and ballast leveling device, a railway shoulder and railway bed shape restoring device, a grab bucket stone removing device, a ballast collecting and discharging device, a sleeper end stone removing device, a sprocket stone discharging device, a four-nut synchronous assembly and disassembly device, a rail lifting device, a rail switching and push-pull railway sleeper device, a railway sleeper hoisting device, an electric generator, a hydraulic system and control system case and a railway car. The railway sleeper automatic replacement equipment with the image identification function can quickly make a working device align to a working position; ballast among the railway sleepers, on the outer side of the railway sleeper ends and railway beds under the steel rails can be automatically discharged, sandy soil in the ballast can be automatically separated, the ballast can be automatically refilled to both sides of switched railway sleepers, tamped and leveled through vibration, and the shape of railway shoulders and railway beds can be automatically restored; synchronous installation with four nuts can be achieved, fatigue life of bolts can be prolonged, and reliability of the connection between the railway sleepers and the steel rails is guaranteed; the rail switching and push-pull railway sleeper device is an integrated device with a compact structure, can be applicable to all work of sleeper switching on the railways in straight line or curve, and railway sleeper switching efficiency is high.

Description

A kind of railroad sleeper automatic exchange equipment possessing image identification function
Technical field
The present invention relates to a kind of railway maintenance machinery, automatic particularly to a kind of railroad sleeper possessing image identification function Change more exchange device.
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 manually rockfilling clearly Quarrel, wastes time and energy, 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 a kind of railroad sleeper automatic exchange equipment possessing image identification function.
The present invention be by tamping flat quarrel device, road shoulder and railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, Pillow end clear stone device, chain tooth row stone device, four nut synchronization assembling and disassembling devices, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper Handling apparatus, generator, Hydraulic system and control System cabine and railcar composition.It is vertical that railcar is provided with multiple castors and two Beam, tamping flat quarrel device, road shoulder and railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, pillow end clear stone device, chain Tooth row stone device, four nuts synchronization assembling and disassembling devices, the first rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, send out Motor and Hydraulic system and control System cabine are arranged on two longerons of railcar, and railcar is drawn by engineering truck, generator Be 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 from Autocontrol system；
Described tamping is put down quarrel device and is made up of entablature, the first lowering or hoisting gear and the assembly that vibrates, and entablature is provided with two Connecting plate, connecting plate is provided with several bolts hole；
The first described lowering or hoisting gear be by sill assembly, the first lifting drive, symmetrically arranged two parallel Four-bar mechanism and first laser displacement transducer composition；
Described sill assembly is made up of the first square tube shape fixed arm and two the first square tube shape telescopic arms, first party Tubular fixed arm is provided with symmetrical two long slot bore, and the first square tube shape telescopic arm is provided with blind end and two monaural rings；
The first described lifting drive is by the first square tube shape fixed arm, the double rod hydraulic jack and two of dual Piston Individual first square tube shape telescopic arm composition, the cylinder body of the double rod hydraulic jack of dual Piston is provided with square flange, piston rod freely End is provided with ring flange；
Described parallelogram lindage is made up of the first square tube shape telescopic arm, two forks and entablature；
Two the first square tube shape telescopic arms are sheathed thereon from the double rod hydraulic jack two ends of dual Piston respectively, make the Double rod hydraulic cylinder piston rod ring flanges are connected one square tube shape telescopic arm blind end with dual Piston, the first square tube shape fixed arm It is sheathed on two the first square tube shape telescopic arms, make the double rod hydraulic jack square flange of dual Piston symmetrically be fixed on first On square tube shape fixed arm endoporus upper surface, form the first lifting drive；
By one end of two forks respectively with the first square tube shape telescopic arm chain connection, the other end of two forks respectively with Entablature chain connection, forms parallelogram lindage, is symmetrical in the vertical plane of symmetry group of entablature 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 First lowering or hoisting gear；
The described assembly that vibrates be by entablature, several first elastic connecting component, oscillating plate, eight vibrating spears, eight First hex nut and the first dither motor composition, the first elastic connecting component is by bolt, two helical springs, pads Form with hex nut, oscillating plate is provided with several bolts hole and eight circular holes；
Bolt is passed through entablature connecting plate bolt hole, helical spring is sheathed on bolt, then passes through oscillating plate spiral shell Keyhole, then another helical spring is sheathed on bolt, pad is sheathed on bolt, hex nut pretension, oscillating plate with upper Crossbeam realizes elastic connection；Vibrating spear passes through oscillating plate circular hole, the first hex nut pretension, and the first dither motor is symmetrically solid It is connected in above oscillating plate, the first square tube shape fixed arm is symmetrically fixed on two longerons of railcar, composition tamping flat quarrel device；
Described road shoulder and railway roadbed modification device are by the first entablature assembly, the first retractable driving device, the second lifting Device and bucket device composition；
The first described entablature assembly is by the second square tube shape fixed arm, the second square tube shape telescopic arm, second laser position Displacement sensor and the second range finding reference plate composition, the second square tube shape fixed arm is provided with blind end and four ears rings, the second square tube Shape telescopic arm is provided with blind end；
The first described retractable driving device is by the second square tube shape fixed arm, two-way ram oil cylinder and the second square tube shape Telescopic arm forms, and two-way ram cylinder block is provided with square slider and ring flange, piston rod free end are provided with ring flange；
Second square tube shape telescopic arm is sheathed on two-way ram oil cylinder, make the second square tube shape telescopic arm blind end with double Effect piston oil-cylinder piston rod ring flange is connected, then the second square tube shape fixed arm is sheathed on the second square tube shape telescopic arm, and Two-way ram cylinder flange disk is symmetrically fixed on the second square tube shape fixed arm blind end, forms the first retractable driving device, Two-way ram oil cylinder and the second square tube shape telescopic arm form moving sets, and second laser displacement transducer is symmetrically fixed on second Above square tube shape fixed arm, the second range finding reference plate is fixed on above the second square telescopic arm；
The second described lowering or hoisting gear is by two first series connection parallelogram lindages, the second lifting drive, servo-actuated Equipoising support apparatus and the 3rd laser displacement sensor composition；
Described first series connection parallelogram lindage by sill, the first fork, the second fork, two the 3rd forks, the One connecting rod and the second square tube shape fixed arm composition, first connecting rod is provided with monaural ring and ears ring；
The second described lifting drive stretches out oil cylinder by double multi-stage expansion shell types pair and two first connecting rods form, The double two final stage extension sleeve free ends stretching out oil cylinder of double multi-stage expansion shell types are provided with monaural ring；
Described servo-actuated Equipoising support apparatus be by plate shape entablature, the second series connection parallelogram lindage, the first strut, the Two struts, slide bar, two slide blocks, two turriform linear Stiffness springs, two hex nuts, two the second bolts and two Three bolt compositions, slide bar is provided with fixed disc, is arranged with two light bar segments and two thread segments；Slide block is provided with circular hole and one To coaxial threaded blind hole；
Described second series connection parallelogram lindage be by plate shape entablature, sill, the 4th fork, the 5th fork, the Six forks, the 7th fork, two second connecting rods and two bearing pin compositions；
By the first fork and sill chain connection, between the second fork, the 4th fork and three components of sill, hinge connects Connect, the first fork ears ring, the 3rd fork ears ring and first connecting rod monaural ring coaxially penetrate pin hinge and connect, the second fork It is same that ears ring, another the 3rd fork ears ring, first connecting rod ears ring and double multi-stage expansion shell type pair stretch out oil cylinder monaural ring Axle penetrates pin hinge connection, two the 3rd forks and the second square tube shape fixed arm chain connection, composition first series connection parallel four Linkage, repeats aforementioned assembly operation, be symmetrical in sill and the second square tube shape fixed arm vertical plane of symmetry assemble another One series connection parallelogram lindage；
Two turriform linear Stiffness springs are sheathed on respectively two light bar segments of slide bar, then two slide blocks are covered respectively Located at two light bar segments of slide bar, two hex nut pretensions respectively, two slide blocks are made to make turriform linear Stiffness spring respectively Suitably compress, by the 5th fork and sill chain connection, make the left side monaural ring of two second connecting rods respectively with the 4th fork Ears ring, the 6th fork ears ring and slide block a pair of tapped blind hole coaxial, two the first bolts pretensions respectively, make the 4th pendulum Chain connection between bar, the 6th fork and three components of slide block, by the right monaural ring of two second connecting rods respectively with the 5th fork Ears ring, the 7th fork ears ring coaxial, two bearing pins respectively penetrate, and make second connecting rod, the 5th fork and the 7th fork three Chain connection between individual component, the 6th fork and the 7th fork chain connection and between three components of plate shape entablature respectively, composition the Two series connection parallelogram lindages；
Coaxial, two the second bolts by a pair of tapped blind hole of the first strut ears ring, the second strut ears ring and slide block Pretension, makes chain connection between the first strut, the second strut and three components of slide block, the 6th fork, the 7th fork and second respectively Strut and plate shape entablature chain connection, form servo-actuated Equipoising support apparatus；
Double multi-stage expansion shell types pair are stretched out oil cylinder be symmetrically fixed on plate shape entablature, by four the 3rd forks and second Square tube shape fixed arm chain connection, the 3rd laser displacement sensor is symmetrically fixed on below the second square tube shape fixed arm, composition Second lowering or hoisting gear；
Described bucket device is made up of the first bucket assembly, arm and U-shaped suspension rod, arm be provided with monaural ring, first Ears ring, the second ears ring and ring flange；
The first described bucket assembly is made up of hydraulic jack, strut, connecting rod and bucket body, and the piston rod of hydraulic jack is certainly Monaural ring is provided with by end, cylinder body is provided with monaural ring；Strut is provided with ears ring and monaural ring；Connecting rod is provided with monaural ring and ears Ring, bucket body is provided with the first ears ring and the second ears ring；
Cylinder body of hydraulic oil cylinder monaural ring is coaxially penetrated pin hinge with arm the second ears ring be connected, strut monaural ring with Arm the first ears ring coaxially penetrates pin hinge and connects, and bucket body the second ears ring and arm monaural ring coaxially penetrate pin hinge Connect, connecting rod monaural ring coaxially penetrates pin hinge with bucket body the first ears ring and is connected, connecting rod ears ring, strut ears ring and liquid The monocyclic pin hinge that coaxially penetrates of force feed cylinder piston rod connects, and forms the first bucket assembly, and U-shaped suspension rod is solid with arm ring flange Even, form bucket device, U-shaped suspension rod is fixed on the second square tube shape telescopic arm, composition road is takeed on and railway roadbed modification device；
Described grab bucket clear stone device is made up of entablature, two the 3rd lowering or hoisting gears and eight the first grab mechanisms, Entablature is provided with two longerons and two cantilever longitudinal beams；
The 3rd described lowering or hoisting gear and the composition of the first lowering or hoisting gear and version are the same, carry out and the first lifting dress Put identical assembly operation, form the 3rd lowering or hoisting gear；
The first described grab mechanisms are made up of two the second bucket assemblies and arm, and arm is arranged with two monaurals Ring, two the first ears rings, 2 second ears rings and ring flange；
Second bucket assembly and the first bucket assembly composition and version the same；
Two cylinder body of hydraulic oil cylinder monaural rings are coaxially penetrated pin hinge with two the second ears rings of arm respectively be connected, Two strut monaural rings coaxially penetrate pin hinge with two the first ears rings of arm respectively and are connected, two bucket body the second ears rings Coaxially penetrate pin hinge with two monaural rings of arm respectively to be connected, two connecting rod monaural rings respectively with two bucket body first ears Ring coaxially penetrates pin hinge and connects, connecting rod ears ring, strut ears ring and hydraulic cylinder piston rod is monocyclic coaxially penetrates bearing pin Chain connection, forms the first grab mechanisms, eight arm ring flanges is respectively symmetrically and is fixed on two longerons of entablature and two On cantilever longitudinal beam, the composition clear stone device of grab bucket；
Described ballast collection arranging device be by cmos image sensor, casing, two stone removing doors, two collection crossdrifts, two Stone removing door driving means, two collection crossdrift driving means, crossbeam, several second elastic connecting component, the second dither motors Form with two end caps, crossbeam is provided with several bolts hole, and end cap is provided with sand discharge Tu Zui；
Described casing be provided with base plate, flechette-type bottom, two the first Ji Shicang, the second Ji Shicang, two square tube shape holes, two Individual gradual change isosceles trapezoid groove, four first convex stupefied and two second convex stupefied, base plate is provided with several bolts hole, and flechette-type bottom is provided with Several sieve apertures, the first Ji Shicang is provided with Pai Shikou and two Ji Shikou of symmetrical two, and the second Ji Shicang is provided with symmetrical two Pai Shikou and two Ji Shikou, the first convex stupefied top and bottom are provided with symmetrical two ears ring, and the second convex stupefied top and bottom are provided with symmetrically Two ears rings, stone removing door is provided with two the first monaural rings and four the second monaural rings, and collection crossdrift is provided with two the first monaurals Ring, four the second monaural rings and six spill plates；
Described stone removing door driving means drive oil cylinder, the first pull bar and the second pull bar to form by stone removing door, the One pull bar is provided with the first ears ring and the second ears ring, and the second pull bar is provided with the first ears ring and the second ears ring；
Described collection crossdrift driving means drive oil cylinder, the 3rd pull bar and the 4th pull bar to form by collection crossdrift, the Three pull bars are provided with the first ears ring and the second ears ring, and the 4th pull bar is provided with the first ears ring and the second ears ring；
The second described elastic connecting component and the first Flexible Connector composition and version the same；
Stone removing door is driven cylinder piston rod monaural ring, first pull bar the first ears ring, second pull bar the first ears Ring coaxially penetrates pin hinge and connects, and forms stone removing door driving means；
Crossdrift will be collected and drive cylinder piston rod monaural ring, the 3rd pull bar the first ears ring, the 4th pull bar the first ears Ring coaxially penetrates pin hinge and connects, composition collection crossdrift driving means；
By four the second monaural rings of stone removing door respectively with the ears ring of two the first convex stupefied lower surfaces, second convex stupefied below Two ears rings coaxially penetrate pin hinge and connect, four the second monaural rings of collection crossdrift respectively with two first convex stupefied above Ears ring, two ears rings of the second convex stupefied upper surface coaxially penetrate pin hinge connect；
Stone removing door driving oil cylinder is respectively fixedly connected with the madial wall in two square tube shape holes, two the first pull bars second pair Earrings is co-axially inserted pin hinge with two the first monaural rings of stone removing door respectively and is connected, and two second pull bar the second ears rings divide Be not co-axially inserted pin hinge with two the first monaural rings of another stone removing door to be connected, by collect crossdrift drive oil cylinder be respectively fixedly connected with On the lateral wall in two square tube shape holes, two the 3rd pull bar the second ears rings are coaxial with collection two the first monaural rings of crossdrift respectively Insertion pin hinge connects, and two the 4th pull bar the second ears rings are coaxial with two the first monaural rings of another stone removing door respectively Insertion pin hinge connects, and two end caps are respectively fixedly connected with casing；
Bolt is passed through sill bolt hole, helical spring is sheathed on bolt, then passes through box bottom bolt hole, Again another helical spring is sheathed on bolt, pad is sheathed on bolt, hex nut pretension, casing and crossbeam realize bullet Property connect；Second dither motor is symmetrically connected on box bottom, and crossbeam is symmetrically fixed on two longerons of railcar, Cmos image sensor is fixed on below crossbeam, forms ballast collection arranging device；
Described pillow end clear stone device be by the second entablature assembly, the second retractable driving device, the 4th lowering or hoisting gear, Two grab mechanisms and U-shaped bar composition；
The second described entablature assembly and the first entablature assembly composition and version are the same, carry out with first on horizontal Beam assembly identical assembly operation, forms the second entablature assembly；
The second described retractable driving device forms with the first retractable driving device and version is the same, carries out and first Retractable driving device identical assembly operation, forms the second retractable driving device；
The 4th described lowering or hoisting gear and the second lowering or hoisting gear composition and version the same, carry out and the second lowering or hoisting gear Identical assembly operation, forms the 4th lowering or hoisting gear；
The second described grab mechanisms and the first grab mechanisms composition and version the same, carry out and the first grab mechanisms Identical assembles, and forms the second grab mechanisms；
Arm ring flange is connected with U-shaped bar, then U-shaped bar is fixed on the second square tube shape telescopic arm, composition pillow end is clear Stone device；
Described chain tooth row stone device is by the 3rd entablature assembly, the 3rd retractable driving device the 5th lowering or hoisting gear and chain Tooth row stone assembly forms；
The 3rd described entablature assembly is by third party's tubular fixed arm, two third party's tubular telescopic arms, the 4th swashs Optical displacement sensor and the 4th range finding reference plate composition, third party's tubular fixed arm is provided with four ears rings, and third party's tubular is stretched Contracting arm is provided with blind end；
The 3rd described retractable driving device is the same with the composition of the first lifting drive, except aforesaid third party's tubular Fixed arm and the first square tube shape fixed arm version is different, third party's tubular 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 the first lifting drive identical assembly operation, form the 3rd retractable driving device, the 4th laser position Displacement sensor is symmetrically fixed on above third party's shape fixed arm, and the 4th range finding reference plate is fixed on third party's tubular telescopic arm Face；
The 5th described lowering or hoisting gear and the second lowering or hoisting gear composition and version the same, carry out and the second lowering or hoisting gear Identical assembly operation, forms the 5th lowering or hoisting gear；
Described chain tooth row stone assembly is by double output shaft hydraulic motor, two yielding couplings, two chain tooth row stone portions Part, U-shaped bar, eight C-shaped-rod and suspension bracket composition, U-shaped bar is provided with two circular flange disks and square flange, and C-shaped-rod is provided with the One ring flange and second flange disk, suspension bracket is provided with two first flange disks and eight second flange disks；
Described chain tooth row stone part be by square beam, sprocket wheel, sprocket wheel wheel shaft, inducer, inducer wheel shaft, four hold Roller, four BOGEY WHEEL wheel shafts, several chain tooth assembly sum bearing pins composition, square beam be provided with the first ears ring, second Ears ring and four the 3rd ears rings；
By square beam the first ears ring and sprocket coaxiality, penetrate sprocket wheel wheel shaft chain connection, square beam second ears Ring is coaxial with inducer, penetrates inducer wheel shaft chain connection, and square beam the 3rd ears ring is coaxial with BOGEY WHEEL, penetrates load-bearing Wheel wheel shaft chain connection, makes square beam, sprocket wheel, inducer and four BOGEY WHEELs be assembled into one；
Described chain tooth assembly is made up of sleeve and chain link；
Described chain link is made up of two bolts, two nuts, chain tooth plate, the first carrier bar and the second carrier bar, chain tooth plate It is provided with two bolts hole and several equal strength sprocket, the first carrier bar is provided with the first monaural ring, the second monaural ring and the 3rd monaural ring, Second carrier bar is provided with the first monaural ring, the second monaural ring and the 3rd monaural ring；
Will be coaxial to sprocket crab bolt hole and first carrier bar the second monaural ring, penetrate bolt, nut pretension, chain tooth plate another Bolt hole and second carrier bar the second monaural ring are coaxial, penetrate bolt, nut pretension, form chain link, by the first chain of the first chain link Plate the first monaural ring, second chain link the first carrier bar the 3rd monaural ring, sleeve, second chain link the second carrier bar the 3rd monaural ring and first Chain link the second carrier bar the first monaural ring coaxially penetrates pin hinge and connects, and repeats aforementioned operation, until by hinged for several chain links one Body, will be placed on it to the square beam being assembled into one, sprocket wheel, inducer and four BOGEY WHEELs, by the first carrier bar of last chain link First monaural ring, first chain link the first carrier bar the 3rd monaural ring, sleeve, first chain link the second carrier bar the 3rd monaural ring and last chain Save second carrier bar the first monaural ring and coaxially penetrate pin hinge connection, make all chain tooth assembly chain connections annular integrative-structures, Composition chain tooth row stone part,
Double output shaft hydraulic motor double output shaft, two yielding couplings and two sprocket wheel wheel shafts are connected, U-shaped bar is square Ring flange is fixed on the 3rd double output shaft hydraulic motor, eight C-shaped-rod second flange disks be respectively symmetrically be fixed on two square On crossbeam, eight second flange disks of suspension bracket respectively with eight C-shaped-rod first flange disks be connected, two circular flange disks of U-shaped bar and Two first flange disks of suspension bracket are respectively fixedly connected with third party's tubular telescopic arm, form chain tooth row stone device；
Described sleeper four nut synchronization assembling and disassembling device is by the 4th entablature assembly, the 6th lowering or hoisting gear and two nuts Assembling and disassembling device forms；
The 4th described entablature assembly is the same with sill assembly composition, except aforesaid 4th square tube shape fixed arm orientation , fourth square tube shape telescopic arm orientation different with the first square tube shape fixed arm orientation and the first square tube shape telescopic arm orientation differ Sample, remaining all component structural form is the same；
The 6th described lowering or hoisting gear is by the 6th lifting drive, symmetrically arranged two parallelogram lindages and Five laser displacement sensor compositions；
The 6th described lifting drive and the composition of the first lifting drive and version are the same；
Described parallelogram lindage is made up of sill, two forks and the 4th square tube shape telescopic arm, and sill sets There are four ears rings and symmetrical two long slot bores；
Carry out and the first lifting drive identical assembly operation, form the 6th lifting drive；
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 Sill chain connection, forms parallelogram lindage, is symmetrical in the vertical plane of symmetry of the 4th square tube shape fixed arm and sill Assemble another parallelogram lindage, the 5th laser displacement sensor is symmetrically fixed on below the 4th square tube shape fixed arm, group Become the 6th 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, First hex nut, internal gear, two power transmission shafts, two gears, housing, two the first thrust bearings, two the second thrust axis Hold, two the second hex nuts, two yielding couplings and two interior wide-mouth magnetic coupling boxs form, the first spiral swings liquid Pressure motor is provided with ring flange, its output shaft is provided with circular shaft section and six prism shaft parts, is above covered with axis hole, circular connecting plate is provided with six Prism hole, power transmission shaft is provided with the first axle journal, the second axle journal, the 3rd axle journal, the 4th axle journal and thread segment, housing be provided with ring flange and Two axis holes, interior wide-mouth magnetic coupling box is provided with axle journal；
Upper lid is sheathed on the first spiral rotary actuator output shaft circular shaft section, makes lid swing hydraulic pressure with the first spiral Motor ring flange is connected, more circular connecting plate is sheathed on the first spiral rotary actuator output shaft six prism shaft part, and first Hex nut pretension, internal gear is coaxially connected with circular connecting plate, and geared sleeve is connected located at power transmission shaft first axle journal, the first thrust On power transmission shaft second axle journal, power transmission shaft makes the first thrust bearing contact with housing through housing axis hole to bearing holder (housing, cover), and second pushes away On power transmission shaft the 3rd axle journal, the second hex nut screws on power transmission shaft thread segment pretension to power bearing holder (housing, cover), and yielding coupling makes biography Moving axis the 4th axle journal is coaxially connected with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, the gear teeth of two gears The flank of tooth gear teeth face with internal gear respectively, upper lid is connected with shell flange disk, and one end of two suspension rods is symmetrically fixed on Housing both sides, form nut assembling and disassembling device, and the other end of two suspension rods is symmetrically fixed on two sides of the 4th square tube shape fixed arm, Sill is fixed on two side rail inner faces of railcar, composition sleeper four nut synchronization assembling and disassembling device；
Described rail-lifting equipment be by first crossbeam telescopic component, first crossbeam retractable driving device, four connecting plates, two Individual first tumbler, two box connectors and two carry rail hydraulic jack composition, and box connector is arranged with semicolumn Hole, carries that rail cylinder body of hydraulic oil cylinder is provided with gusset, piston rod free end is provided with fagging；
Described first crossbeam telescopic component be by the 5th square tube shape fixed arm, two the 5th square tube shape telescopic arms, the 6th Laser displacement sensor and the 6th range finding reference plate composition, the 5th square tube shape telescopic arm is provided with dividing plate；
Described first crossbeam retractable driving device is the same with the composition of the first lifting drive, except aforesaid 5th side Tubular fixed arm and the first square tube shape fixed arm version is different, the 5th square tube shape telescopic arm and the first square tube shape telescopic arm Version is different, and remaining all component structural form is the same；
Carry out and the first lifting drive identical assembly operation, form first crossbeam retractable driving device；6th swashs Optical displacement sensor is symmetrically fixed on the 5th square tube shape fixed arm side, and the 6th range finding reference plate is fixed on the 5th square tube shape and stretches Arm side；
The first described tumbler is hollow by the 5th square tube shape telescopic arm, the second spiral rotary actuator, cantilever Multidiameter, the first thrust bearing, the first casing, the second thrust bearing, the first hex nut, circular connecting plate, the second hexagonal spiral shell Mother, end cap and equi intensity cantilever composition, the second spiral rotary actuator output shaft is provided with thread segment and six prism shaft parts, hangs The hollow multidiameter of arm is provided with thread segment, the first axle journal, the second axle journal, the 3rd axle journal and connecting plate, and connecting plate is provided with spacing circular arc Groove, the first casing is provided with cantilever ladder axle sleeve and spacer pin, and cantilever multidiameter is arranged with the first axle sleeve, the second axle sleeve and the 3rd axle Set, end cap is provided with bearing pin, and circular connecting plate is provided with six prism holes, and equi intensity cantilever is provided with pin shaft hole and ring flange；
Second spiral rotary actuator is fixed on the 5th square tube shape telescopic arm plate front end base plate, hollow cantilever rank Terraced axle sleeve, on the second spiral rotary actuator output shaft, makes cantilever hollow multidiameter connecting plate be fixed on the 5th square tube shape Telescopic arm end face, the first thrust bearing is sheathed on the hollow multidiameter of cantilever the 3rd axle journal, the first casing cantilever ladder axle sleeve set On hollow cantilever multidiameter, the first thrust bearing is made to insert the first casing cantilever ladder axle sleeve the 3rd axle sleeve section, cantilever rank Terraced axle sleeve the second axle sleeve section is sheathed on hollow multidiameter second axle journal, and the second thrust bearing is sheathed on the hollow multidiameter of cantilever On one axle journal, insert cantilever ladder axle sleeve first axle set, the first hex nut screws on cantilever hollow multidiameter thread segment pretension, makes First casing and cantilever hollow multidiameter chain connection, circular connecting plate is sheathed on the second spiral rotary actuator output shaft six Prism shaft part, makes circular connecting plate be fixed on the first casing cantilever ladder axle sleeve free end, the second hex nut screws in the second spiral shell Swing hydrodynamic pressure motor output shaft thread segment pretension, makes the second spiral rotary actuator output shaft and the first casing be connected, end Lid is fixed on the first casing, and equi intensity cantilever pin-and-hole is sheathed on end cap bearing pin, and equi intensity cantilever ring flange is fixed on Above 5th square tube shape telescopic arm, form the first tumbler, repeat aforementioned assembly operation, assembling symmetrically arranged another the One tumbler, two the first casings are fixed with one by four connecting plates respectively with two box connectors, and two are carried rail liquid Compressing cylinder cylinder body is respectively fixedly connected with two box connector semicylindrical openings, forms rail-lifting equipment, by the 5th square tube shape fixed arm Symmetrically it is fixed on two longerons of railcar；
Described swivel block and push-and-pull sleeper device be by second cross beam telescopic component, second cross beam retractable driving device, Two tumblers, two the second connecting plates and crawl and swivel block device composition；
Described second cross beam telescopic component is by the 6th square tube shape fixed arm, the 6th square tube shape telescopic arm, the 7th laser Displacement transducer and the 7th range finding reference plate composition, the 6th square tube shape fixed arm is provided with blind end, and the 5th square tube shape telescopic arm sets There is dividing plate；
As described second cross beam retractable driving device is formed with the first retractable driving device, except aforementioned 6th square tube shape Fixed arm and the second square tube shape fixed arm version is different, the 6th square tube shape telescopic arm and the second square tube shape telescopic arm structure Form is different, and remaining all component structural form is the same；
Carry out and the first retractable driving device identical assembly operation, form second cross beam retractable driving device, the 7th swashs Optical displacement sensor is symmetrically fixed on the 6th square tube shape fixed arm side, and the 7th range finding reference plate is fixed on the 6th square tube shape and stretches Arm side；
The second described tumbler form with the first tumbler and version as, carry out and the first tumbler Identical assembly operation, forms the second tumbler；
Described crawl and swivel block device are by the second casing, the 3rd spiral rotary actuator, hydraulic jack, first push away Power bearing, the second thrust bearing, the 3rd hex nut, piston, piston rod, ladder U-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 the first circular hole portion, fan-shaped hole section, Second circular hole portion, axle sleeve section and the 3rd circular hole portion, the 3rd spiral rotary actuator output shaft fixed connection ring flange, ring flange is provided with Spacing sector boss, fan-shaped hole section is provided with the first confined planes and the second confined planes, hydraulic jack be provided with ring flange, the first axle journal, Second axle journal and the 3rd axle journal, ring flange is provided with spacing sector boss, and piston is provided with axis hole, and piston rod is provided with axle journal and ears Ring, ladder U-bracket is provided with flange, axis hole, two slotted eyes, two pin-and-holes, four the first monaural rings and eight the second monaural rings, First connecting rod is provided with ears ring and monaural ring, and second connecting rod is provided with two ears rings, and the second fork is provided with monaural ring, pin-and-hole and double Earrings；
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 so as to insert the second casing the 3rd circular hole portion section on hydraulic jack the 3rd axle journal, Piston rod passes through ladder U-bracket axis hole, and piston shaft hole sleeve, located at piston rod axle journal, the 3rd hex nut pretension, piston is put Enter in hydraulic jack cylinder barrel, ladder U-bracket flange is penetrated hydraulic jack cylinder barrel and is connected, make oil cylinder second axle journal and the first case Body axle sleeve section chain connection, piston rod ears ring, second connecting rod ears ring and first connecting rod monaural ring are coaxially penetrated bearing pin hinge Chain connects, and the second fork ears ring coaxially penetrates pin hinge with roller and be connected, the second fork pin-and-hole and ladder U-bracket pin-and-hole Coaxially penetrate pin hinge to connect, first connecting rod ears ring and second connecting rod ears ring are same with two the first fork monaural rings respectively Axle penetrates pin hinge and connects；
The ears ring of four the second forks coaxially penetrates pin hinge even respectively with four the second monaural rings of ladder U-bracket Connect, another ears ring of four the second forks coaxially penetrates pin hinge with four the second monaural rings of pressing plate respectively and is connected, two Individual helical spring one end is connected with two the first monaural rings of ladder U-bracket respectively, and two helical spring other ends are respectively It is connected with two the first monaural rings of pressing plate, form gripper, the pulling force of two helical springs, make to be articulated with the rolling of the first fork Wheel is contacted with pressing plate all the time, repeats aforementioned assembly operation, assembles another gripper, composition crawl and swivel block device；
First casing is fixed with one by two connecting plates with the second casing, forms 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 8th laser displacement sensor composition；
The 3rd described crossbeam telescopic component is made up of the 7th square tube shape fixed arm and two the 7th square tube shape telescopic arms, 7th square tube shape fixed arm is provided with symmetrical two long slot bore, and the 7th square tube shape telescopic arm is provided with blind end and two monaural rings；
As the composition of described reciprocating movement driving device and the first lifting drive, except aforesaid 7th square tube shape Fixed arm orientation and the first square tube shape fixed arm orientation is different, the 7th square tube shape telescopic arm orientation and the first square tube shape telescopic arm Orientation is different；Remaining all component structural form is the same；
Described parallelogram lindage is made up of the 7th square tube shape telescopic arm, two forks and moving beam, moving beam It is provided with two rollers；
Carry out and the first lifting drive identical assembly operation, form reciprocating movement driving device；
By one end of two forks respectively with the 7th 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 7th 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 7th square tube shape fixed arm, makes shifting Two rollers of dynamic crossbeam are contacted with plate upper surface, the 8th laser displacement sensor is symmetrically fixed on the 7th square tube shape and fixes Arm side, forms reciprocator；
Base plate is fixed on track car crossbeam, the 5th square tube shape fixed arm and the 6th square tube shape 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 9th 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 the second multi-stage expansion shell type oil cylinder second flange disk and the closing of the second ladder square tube shape telescopic arm End is connected, and the first ladder square tube shape telescopic arm is sheathed on the second ladder square tube shape telescopic arm, then by ladder square tube shape fixed arm It is sheathed on the first ladder square tube shape telescopic arm, so that end cap and ladder square tube shape fixed arm ring flange is connected, push pedal is fixed on the Two ladder square tube shape telescopic arm blind ends, the 9th 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 5th entablature assembly, raising driving means, symmetrically arranged two parallel four-bars Mechanism and the tenth laser displacement sensor composition；
The 5th described entablature assembly is made up of eighth tubular fixed arm and two eighth tubular telescopic arms, and the 8th Square tube shape fixed arm is provided with symmetrical two long slot bore and two ears rings, and eighth tubular telescopic arm is provided with blind end and two Monaural ring；
Described raising driving means are the same with the composition of the first lifting drive, except aforementioned eighth tubular fixed arm , eighth tubular telescopic arm orientation different with the first square tube shape fixed arm version and the first square tube shape telescopic arm orientation are not Equally, remaining all component structural form is the same；
Described parallelogram lindage is made up of eighth tubular telescopic arm, two forks and sill, and sill sets There are two circular holes；
Carry out and the first lifting drive identical assembly operation, form raising driving means；
By one end of two forks respectively with eighth tubular telescopic arm chain connection, the other end of two forks respectively with Sill chain connection, forms parallelogram lindage, repeats aforementioned assembly operation, be symmetrical in eighth tubular fixed arm and lower horizontal stroke The vertical plane of symmetry of beam assembles another parallelogram lindage, and the tenth laser displacement sensor is symmetrically fixed on eighth tubular Below fixed arm, 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 eighth tubular 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. can quickly discharge the ballast between sleeper, automatically remove the sandy soil in rock ballast simultaneously；
3. can quickly remove railway roadbed ballast outside pillow end；
4. can quickly remove railway roadbed ballast below rail；
5. 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；
6. swivel block and push-and-pull sleeper are integrating device, compact conformation, swivel block and push-and-pull sleeper high working efficiency；
7. can quickly handling and put sleeper work；
8. quickly rock ballast can be backfilled to and switch tracks between the sleeper of pillow both sides；
9. can quickly repair the shape of shoulder and railway roadbed；
10. can by be backfilling into the quick tamping of the ballast switching tracks between pillow shake flat；
11. can adapt to straight line and the work in every of pillow is changed in curved rail length section；
12. are capable of automatically controlling, easy to operate, change pillow high working efficiency.
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 that quarrel device off working state schematic perspective view is put down in the tamping of the present invention.
Fig. 4 is that quarrel working state of device schematic perspective view is put down in the tamping of the present invention.
Fig. 5 is the first lifting drive exploded perspective schematic diagram of the present invention.
Fig. 6 is the front view of Fig. 3.
Fig. 7 is enlarged diagram at A in Fig. 6.
Fig. 8 is road shoulder and the railway roadbed modification device working condition schematic perspective view of the present invention.
Fig. 9 is the first retractable driving device exploded perspective schematic diagram of the present invention.
Figure 10 is the second lifting drive exploded perspective schematic diagram of the present invention.
Figure 11 is the second servo-actuated Equipoising support apparatus exploded perspective schematic diagram of lifting of the present invention.
Figure 12 is the first bucket device exploded perspective schematic diagram of the present invention.
Figure 13 is that the grab bucket clear stone device lasher of the present invention makees state schematic perspective view.
Figure 14 is the grab bucket clear stone device collection stone working condition schematic perspective view of the present invention.
Figure 15 is grab bucket clear stone device row's stone working condition schematic perspective view of the present invention.
Figure 16 is the 3rd lifting drive exploded perspective schematic diagram of the present invention.
Figure 17 is the first grab mechanisms exploded perspective schematic diagram of the present invention.
Figure 18 is the ballast collection arranging device collection stone working condition schematic perspective view of the present invention.
Figure 19 is close-up schematic view at B in Figure 18.
Figure 20 is ballast collection arranging device row's stone working condition schematic perspective view of the present invention.
Figure 21 is N-N section view schematic perspective view in Figure 18.
Figure 22 is the pillow end clear stone working state of device schematic perspective view of the present invention.
Figure 23 is the second retractable driving device exploded perspective schematic diagram of the present invention.
Figure 24 is the 4th lifting drive exploded perspective schematic diagram of the present invention.
Figure 25 is the 4th servo-actuated Equipoising support apparatus exploded perspective schematic diagram of lifting of the present invention.
Figure 26 is the second grab mechanisms exploded perspective schematic diagram of the present invention.
Figure 27 is the chain tooth row stone working state of device schematic perspective view of the present invention.
Figure 28 is the 3rd retractable driving device exploded perspective schematic diagram of the present invention.
Figure 29 is the 5th lifting drive exploded perspective schematic diagram of the present invention.
Figure 30 is the 5th servo-actuated Equipoising support apparatus exploded perspective schematic diagram of lifting of the present invention.
Figure 31 is the chain tooth row stone device schematic perspective view of the present invention.
Figure 32 is the chain tooth row stone assembly exploded perspective schematic diagram of the present invention.
Figure 33 is the chain link exploded perspective schematic diagram of the present invention.
Figure 34 is the sleeper four nut synchronization assembling and disassembling device working condition schematic perspective view of the present invention.
Figure 35 is the 6th lifting drive exploded perspective schematic diagram of the present invention.
Figure 36 is the nut assembling and disassembling device exploded perspective schematic diagram of the present invention.
Figure 37 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.
Figure 38 be the present invention carry rail rail-lifting equipment working condition schematic perspective view.
Figure 39 is that off working state schematic perspective view cut open by the rail rail-lifting equipment side wall that carries of the present invention.
Figure 40 is the first crossbeam retractable driving device exploded perspective schematic diagram of the present invention.
Figure 41 is the first tumbler exploded perspective schematic diagram of the present invention.
Figure 42 be the present invention carry rail hydraulic jack, two connecting plates and box connector exploded perspective schematic diagram.
Figure 43 is the swivel block of the present invention and working condition schematic perspective view cut open by push-and-pull sleeper device side wall.
Figure 44 is the second cross beam retractable driving device exploded perspective schematic diagram of the present invention.
Figure 45 is the second tumbler exploded perspective schematic diagram of the present invention.
Figure 46 is crawl and the swivel block device exploded perspective schematic diagram of the present invention.
Figure 47 is device and swivel block and the push-and-pull sleeper working state of device schematic perspective view of the present invention.
Figure 48 is device and the handling sleeper working state of device schematic perspective view of the present invention.
Figure 49 is the reciprocator schematic perspective view of the present invention.
Figure 50 is the reciprocating movement driving device exploded perspective schematic diagram of the present invention.
Figure 51 is the storage sleeper case schematic perspective view of the present invention.
Figure 52 is the telescoping crossbeam device exploded perspective schematic diagram of the present invention.
Figure 53 is the raising driving means exploded perspective schematic diagram of the present invention.
Figure 54 is the left view of Figure 37.
Figure 55 is close-up schematic view at D in Figure 54.
Specific embodiment
Refer to Fig. 1 and Fig. 2, the present invention is by tamping flat quarrel device 1, road shoulder and railway roadbed modification device 2, grab bucket clear stone dress Put 3, ballast collection arranging device 4, pillow end clear stone device 5, chain tooth row stone device 6, four nuts 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 Composition.Railcar is provided with multiple castors 201 and two longerons 202, and tamping is put down quarrel device 1, road shoulder and railway roadbed modification device 2, grabbed Struggle against clear stone device 3, ballast collection arranging device 4, pillow end clear stone device 5, chain tooth row stone device 6, four nuts synchronization assembling and disassembling devices 7, the One rail-lifting equipment 8, transition and push-and-pull sleeper device 9, sleeper handling apparatus 16, railcar 20, generator 18 and hydraulic system and Control system case 19 is arranged on two longerons 202 of railcar, and railcar 20 is drawn by engineering truck, generator 18 be oil pump and Control system provides power, is provided with fuel tank, oil pump, hydraulic control system and automatically controls in Hydraulic system and control System cabine 19 System；
Refer to Fig. 3 to Fig. 7, described tamping puts down quarrel device 1 by entablature 11, the first lowering or hoisting gear 12 and the assembly that vibrates 13 compositions, entablature 11 is provided with two connecting plates 111, and connecting plate is provided with several bolts hole 1111；
The first described lowering or hoisting gear 12 is by sill assembly 121, the first lifting drive 122, symmetrically arranged Two parallelogram lindages 123 and first laser displacement transducer 125 form；
Described sill assembly 121 is by the first square tube shape fixed arm 1211 and two the first square tube shape telescopic arms 1212 Composition, the first square tube shape fixed arm 1211 is provided with symmetrical two long slot bore 12111, and the first square tube shape telescopic arm 1212 is provided with envelope Closed end 12121 and two monaural rings 12122；
The first described lifting drive 122 is by the first square tube shape fixed arm 1211, the double rod hydraulic pressure of dual Piston Oil cylinder 1221 and two the first square tube shape telescopic arms 1212 form, the cylinder body side of being provided with of the double rod hydraulic jack 1221 of dual Piston Shape ring flange 12211, piston rod free end are provided with ring flange 12212；
Described parallelogram lindage 123 is by 1212, two forks 1231 of the first square tube shape telescopic arm and 11 groups of entablature Become；
Two the first square tube shape telescopic arms 1212 are sheathed on from double rod hydraulic jack 1221 two ends of dual Piston respectively Thereon, make the double rod hydraulic cylinder piston rod ring flange 12212 of the first square tube shape telescopic arm blind end 12121 and dual Piston solid Even, the first square tube shape fixed arm 1211 is sheathed on two the first square tube shape telescopic arms 1212, makes the double rod hydraulic pressure of dual Piston Oil cylinder square flange 12211 is symmetrically fixed on the first square tube shape fixed arm 1211 endoporus upper surface, and composition first lifting is driven Dynamic device 122；
By one end of two forks 1231 respectively with the first square tube shape telescopic arm 1212 chain connection, two forks 1231 The other end respectively with entablature 11 chain connection, form parallelogram lindage 123, be symmetrical in entablature 11 and the first square tube shape solid The vertical plane of symmetry determining arm 1211 assembles another parallelogram lindage 123, and first laser displacement transducer 125 is symmetrically connected Above the first square tube shape fixed arm 1211, form the first lowering or hoisting gear 12；
The described assembly 13 that vibrates is to be shaken by entablature 11, several first elastic connecting component 131, oscillating plate 132, eight 133, eight the first hex nuts 134 of tamper and the first dither motor 135 form, the first elastic connecting component 131 be by 1311, two helical springs 1312 of bolt, pad 1313 and hex nut 1313 form, and oscillating plate 132 is provided with several bolts hole 1321 and eight circular holes 1322；
Bolt 1311 is passed through entablature connecting plate bolt hole 1111, helical spring 1312 is sheathed on bolt 1311, Then pass through oscillating plate bolt hole 1321, then another helical spring 1312 is sheathed on bolt 1311, pad 1313 is sheathed On bolt 1311, hex nut 1313 pretension, elastic connection realized by oscillating plate 132 and entablature 11；Vibrating spear 133 passes through and shakes Dynamic plate circular hole 1322, the first hex nut 134 pretension, the first dither motor 135 is symmetrically fixed on above oscillating plate, and first Square tube shape fixed arm 1211 is symmetrically fixed on two longerons 202 of railcar, composition tamping flat quarrel device 1；
Refer to Fig. 8 to Figure 12, described road shoulder and railway roadbed modification device 2 are by the first entablature assembly 21, first stretch Contracting driving means 22, the second lowering or hoisting gear 23 and bucket device 24 form；
The first described entablature assembly 21 be by the second square tube shape fixed arm 211, the second square tube shape telescopic arm 212, Dual-laser displacement transducer 213 and the second range finding reference plate 214 form, and the second square tube shape fixed arm 211 is provided with blind end 2111 With four ears rings 2112, the second square tube shape telescopic arm 212 is provided with blind end 2121；
The first described retractable driving device 22 is by the second square tube shape fixed arm 211, two-way ram oil cylinder 221 and Two square tube shape telescopic arms 212 form, and two-way ram oil cylinder 221 cylinder body is provided with square slider 2211 and ring flange 2212, piston Bar free end is provided with ring flange 2213；
Second square tube shape telescopic arm 212 is sheathed on two-way ram oil cylinder 221, makes the second square tube shape telescopic arm closing End 2121 is connected with two-way ram cylinder piston rod ring flange 2213, then the second square tube shape fixed arm 211 is sheathed on second On square tube shape telescopic arm 212, and two-way ram cylinder flange disk 2212 is symmetrically fixed on the second square tube shape fixed arm closing End 2111, forms the first retractable driving device 22, and two-way ram oil cylinder 221 and the second square tube shape telescopic arm 212 form and move Pair, second laser displacement transducer 213 is symmetrically fixed on above the second square tube shape fixed arm 211, the second range finding reference plate 214 It is fixed on above the second square telescopic arm 212；
The second described lowering or hoisting gear 23 is by two first series connection parallelogram lindages 231, the second lifting drives 233rd, servo-actuated Equipoising support apparatus 234 and the 3rd laser displacement sensor 235 form；
Described first series connection parallelogram lindage 231 by sill 2311, the first fork 2312, the second fork 2313, Two the 3rd forks 2314, first connecting rod 2315 and the second square tube shape fixed arm 211 form, and first connecting rod 2315 is provided with monaural ring 23151 and ears ring 23152；
The second described lifting drive 233 is to stretch out oil cylinder 2331 and two first companies by double multi-stage expansion shell types are double Bar 2315 forms, and the double two final stage extension sleeve free ends stretching out oil cylinder 2331 of double multi-stage expansion shell types are provided with monaural ring 23311；
Described servo-actuated Equipoising support apparatus 234 be by plate shape entablature 2340, second connect parallelogram lindage 2341, First strut 2342, the second strut 2343, slide bar 2345, two turriform linear Stiffness springs 2346, two of 2344, two slide blocks Individual 2347, two the second bolts 2348 of hex nut and two the 3rd bolts 2349 form, and slide bar 2344 is provided with fixed disc 23441st, it is arranged with two light bar segments 23442 and two thread segments 23443；Slide block 2345 be provided with circular hole 23451 and a pair with Axle thread blind hole 23452；
The second described series connection parallelogram lindage 2341 is by plate shape entablature 2340, sill 2311, the 4th fork 23412nd, the 5th fork 23413, the 6th fork 23414,23415, two second connecting rods 23416 of the 7th fork and two bearing pins 23417 compositions；
By the first fork 2312 and sill 2311 chain connection, the second fork 2313, the 4th fork 23312 and sill Chain connection between 2311 3 components, the first fork 2312 ears ring, the 3rd fork 2314 ears ring and first connecting rod monaural ring 23151 coaxially penetrate pin hinge connects, the second fork 2313 ears ring, another the 3rd fork 2314 ears ring, the first company Bar ears ring 23152 and double multi-stage expansion shell types double stretch out oil cylinder monaural ring 23231 and coaxially penetrate pin hinge connect, two the Three forks 2314 and the second square tube shape fixed arm 211 chain connection, composition the first series connection parallelogram lindage 231, repeats aforementioned Assembly operation, is symmetrical in sill 2311 and the second square tube shape fixed arm 211 vertical plane of symmetry assembles another first series connection and puts down Row four-bar mechanism 231；
Two turriform linear Stiffness springs 2346 are sheathed on respectively two light bar segments 23442 of slide bar, then by two Slide block 2345 is sheathed on two light bar segments 23442 of slide bar, two hex nut 2347 pretensions respectively respectively, makes two slide blocks 2345 make turriform linear Stiffness spring 2346 suitably compress respectively, by the 5th fork 23413 and sill 2311 chain connection, Make left side monaural ring ears ring, the 6th fork 2314 ears ring with the 4th fork 23412 respectively of two second connecting rods 23416 Coaxial with a pair of tapped blind hole 23452 of slide block, two the first bolt 2348 pretensions respectively, make the 4th fork 23412, the 6th pendulum Chain connection between bar 23414 and 2,345 3 components of slide block, by the right monaural ring of two second connecting rods 23416 respectively with the 5th The ears ring of fork 23413, the 7th fork 23415 ears ring are coaxial, and two bearing pins 23417 respectively penetrate, and make second connecting rod 23416th, chain connection between the 5th fork 23413 and 23,415 3 components of the 7th fork, the 6th fork 23414 and the 7th fork 23415 chain connections and between 2,340 3 components of plate shape entablature respectively, composition the second series connection parallelogram lindage 2341；
A pair of tapped blind hole 23452 by the first strut 2342 ears ring, the second strut 2343 ears ring and slide block 2345 Coaxially, two the second bolt 2349 pretensions respectively, make between the first strut 2342, the second strut 2343 and 2,345 3 components of slide block Chain connection, the 6th fork 23414, the 7th fork 23415 and the second strut 2343 and plate shape entablature 2340 chain connection, group Become servo-actuated Equipoising support apparatus 234；
Double multi-stage expansion shell types pair are stretched out oil cylinder 2331 be symmetrically fixed on plate shape entablature 2340, four the 3rd are put Bar 2314 and the second square tube shape fixed arm 211 chain connection, the 3rd laser displacement sensor 235 is symmetrically fixed on the second square tube Below shape fixed arm 211, form the second lowering or hoisting gear 23；
Described bucket device 24 is made up of the first bucket assembly 25, arm 26 and U-shaped suspension rod 27, and arm 26 is provided with list Earrings 261, the first ears ring 262, the second ears ring 263 and ring flange 264；
The first described bucket assembly 25 is made up of hydraulic jack 251, strut 252, connecting rod 253 and bucket body 254, hydraulic pressure The piston rod free end of oil cylinder 251 is provided with monaural ring 2511, cylinder body is provided with monaural ring 2512；Strut 252 is provided with ears ring 2521 and monaural ring 2522；Connecting rod 253 is provided with monaural ring 2531 and ears ring 2532, and bucket body 254 is provided with the first ears ring 2541 and the second ears ring 2542；
Cylinder body of hydraulic oil cylinder monaural ring 2512 is coaxially penetrated pin hinge with arm the second ears ring 263 be connected, strut Monaural ring 2522 coaxially penetrates pin hinge with arm the first ears ring 262 and is connected, bucket body the second ears ring 2542 and arm list Earrings 261 coaxially penetrates pin hinge and connects, and connecting rod monaural ring 2531 and bucket body the first ears ring 2541 coaxially penetrate bearing pin hinge Chain connects, and connecting rod ears ring 2532, strut ears ring 2521 and hydraulic cylinder piston rod monocyclic 2511 coaxially penetrate pin hinge Connect, form the first bucket assembly 25, U-shaped suspension rod 27 is connected with arm ring flange 264, form bucket device 24, U-shaped is hung Bar 27 is fixed on the second square tube shape telescopic arm 212, and composition road is takeed on and railway roadbed modification device 2；
Refer to Figure 13 to Figure 21, described grab bucket clear stone device 3 is by 31, two the 3rd lowering or hoisting gear 32 and of entablature Eight the first grab mechanisms 33 form, and entablature 31 is provided with two longerons 311 and two cantilever longitudinal beams 312；
The 3rd described lowering or hoisting gear 32 is the same with the composition of the first lowering or hoisting gear 12 and version, carries out and first liter Falling unit 12 identical assembly operation, forms the 3rd lowering or hoisting gear 32；
The first described grab mechanisms 33 are made up of two the second bucket assemblies 34 and arm 35, and arm 35 is arranged with 351, two the first ears rings 352 of two monaural rings, 2 second ears rings 353 and ring flange 354；
Second bucket assembly 34 forms with the first bucket assembly 25 and version is the same；
Two cylinder body of hydraulic oil cylinder monaural rings 2512 are coaxially penetrated respectively bearing pin hinge with two the second ears rings 353 of arm Chain connects, and two strut monaural rings 2522 coaxially penetrate pin hinge with two the first ears rings 352 of arm respectively and are connected, two Bucket body the second ears ring 2542 coaxially penetrates pin hinge with two monaural rings 351 of arm respectively and is connected, two connecting rod monaural rings 2531 coaxially penetrate pin hinge with two bucket body the first ears rings 2541 respectively is connected, connecting rod ears ring 2532, strut ears Ring 2521 and hydraulic cylinder piston rod monocyclic 2511 coaxially penetrate pin hinge and connect, and form the first grab mechanisms 33, by eight Arm ring flange 354 is respectively symmetrically and is fixed on two longerons of entablature 321 and two cantilever longitudinal beams 322, the composition clear stone of grab bucket Device 3；
Described ballast collection arranging device 4 is by cmos image sensor 40,42, two collection stones of 41, two stone removing doors of casing 44, two collection crossdrift driving means 45 of 43, two stone removing door driving means of door, crossbeam 46, several second elastic connecting component 47, Second dither motor 48 and two end caps 49 form, and crossbeam 46 is provided with several bolts hole 461, and end cap 49 is provided with sand discharge Tu Zui 491；
Described casing 41 is provided with base plate 411,412, two first collection stone storehouses 413, second of flechette-type bottom collect stone storehouse 414, Two 415, two, square tube shape hole gradual change isosceles trapezoid grooves 416, four first convex stupefied 417 and two second convex stupefied 418, base plate 411 are provided with several bolts hole 4111, and flechette-type bottom 412 is provided with several sieve apertures 4121, and the first collection stone storehouse 413 is provided with symmetrical two Individual row's stone mouth 4131 and two collection stone mouths 4132, the second collection stone storehouse 414 is provided with symmetrical two row's stone mouth 4141 and two collection stones Mouth 4142, the first convex stupefied 417 top and bottom are provided with symmetrical two ears ring 4171, and the second convex stupefied 418 top and bottom are provided with symmetrical Two ears rings 4181, stone removing door 42 is provided with two the first monaural rings 421 and four the second monaural rings 422, and collection crossdrift 43 is provided with 431, four the second monaural rings 432 of two the first monaural rings and six spill plates 433；
Described stone removing door driving means 44 are to drive oil cylinder 441, the first pull bar 442 and the second pull bar by stone removing door 443 compositions, the first pull bar 442 is provided with the first ears ring 4421 and the second ears ring 4422, and the second pull bar 443 is provided with first Ears ring 4431 and the second ears ring 4432；
Described collection crossdrift driving means 45 are to drive oil cylinder 451, the 3rd pull bar 452 and the 4th pull bar by collection crossdrift 453 compositions, the 3rd pull bar 452 is provided with the first ears ring 4521 and the second ears ring 4522, and the 4th pull bar 453 is provided with first Ears ring 4531 and the second ears ring 4532；
The second described elastic connecting component 47 forms with the first Flexible Connector 131 and version is the same；
Stone removing door is driven oil cylinder 441 piston rod monaural ring, first pull bar the first ears ring 4421, the second pull bar the A pair of earrings 4431 coaxially penetrates pin hinge and connects, and forms stone removing door driving means 44；
Crossdrift will be collected and drive oil cylinder 451 piston rod monaural ring, the 3rd pull bar the first ears ring 4521, the 4th pull bar the A pair of earrings 4531 coaxially penetrates pin hinge and connects, composition collection crossdrift driving means 45；
By four the second monaural rings 422 of stone removing door 42 respectively with the ears ring 4171 of two the first convex stupefied 417 lower surfaces, Two ears rings 4181 below second convex stupefied 418 coaxially penetrate pin hinge and connect, four the second monaural rings of collection crossdrift 43 432 respectively with two first convex stupefied 417 above convex stupefied 418 upper surfaces of ears ring 4171, second two ears rings 4181 with Axle penetrates pin hinge and connects；
Stone removing door is driven oil cylinder 441 to be respectively fixedly connected with the madial wall in two square tube shape holes 415, two the first pull bars Second ears ring 4422 is co-axially inserted pin hinge with two the first monaural rings 421 of stone removing door respectively and is connected, two the second push-and-pulls Bar the second ears ring 4432 is co-axially inserted pin hinge with two the first monaural rings 421 of another stone removing door respectively and is connected, and will collect Crossdrift drives oil cylinder 451 to be respectively fixedly connected with the lateral wall in two square tube shape holes 415, two the 3rd pull bar the second ears rings 4522 are co-axially inserted pin hinge with collection two the first monaural rings 431 of crossdrift respectively is connected, two the 4th pull bar the second ears Ring 4432 is co-axially inserted pin hinge with two the first monaural rings 431 of another stone removing door respectively and is connected, and two end caps 49 are respectively It is fixed on casing 41；
Bolt 1311 is passed through sill bolt hole 461, helical spring 1312 is sheathed on bolt 1311, then passes through Box bottom bolt hole 4111, then another helical spring 1312 is sheathed on bolt 1311, pad 1313 is sheathed on bolt On 1311, hex nut 1314 pretension, casing 41 and crossbeam 46 realize elastic connection；Second dither motor 48 is symmetrically connected On box bottom 411, crossbeam 46 is symmetrically fixed on two longerons 202 of railcar, and cmos image sensor 40 is fixed on horizontal stroke Below beam 46, form ballast collection arranging device 4；
Refer to Figure 22 to Figure 26, described pillow end clear stone device 5 is by the second entablature assembly 51, the second telescopic drive Device 52, the 4th lowering or hoisting gear 53, the second grab mechanisms 54 and U-shaped bar 55 form；
The second described entablature assembly 52 forms with the first entablature assembly 21 and version is the same, carries out and first Entablature assembly 21 identical assembly operation, forms the second entablature assembly 52；
The second described retractable driving device 52 forms with the first retractable driving device 22 and version is the same, carry out with First retractable driving device 22 identical assembly operation, forms the second retractable driving device 52；
The 4th described lowering or hoisting gear 53 forms with the second lowering or hoisting gear 23 and version is the same, carries out and the second lifting Device 23 identical assembly operation, forms the 4th lowering or hoisting gear 53；
The second described grab mechanisms 54 form with the first grab mechanisms 33 and version is the same, carry out and the first grab bucket Device 33 identical assembles, and forms the second grab mechanisms 54；
Arm ring flange 354 is connected with U-shaped bar 55, then U-shaped bar 55 is fixed on the second square tube shape telescopic arm 212, Composition pillow end clear stone device 5；
Refer to Figure 27 to Figure 33, described chain tooth row stone device 6 is by the 3rd entablature assembly 61, the 3rd telescopic drive Device 62 the 5th lowering or hoisting gear 63 and chain tooth row stone assembly 64 form；
The 3rd described entablature assembly 61 is by 611, two third party's tubular telescopic arms of third party's tubular fixed arm 612nd, the 4th laser displacement sensor 613 and the 4th range finding reference plate 614 form, and third party's tubular fixed arm 611 is provided with four Ears ring 6111, third party's tubular telescopic arm 612 is provided with blind end 6121；
The 3rd described retractable driving device 62 is the same with the composition of the first lifting drive 122, except the aforesaid 3rd Square tube shape fixed arm 611 and the first square tube shape fixed arm 1211 version is different, third party's tubular telescopic arm 612 and first Square tube shape telescopic arm 1212 version is different, and remaining all component structural form is the same；
Carry out and the first lifting drive 122 identical assembly operation, form the 3rd retractable driving device 62, the 4th swashs Optical displacement sensor 613 is symmetrically fixed on above third party's shape fixed arm 611, and the 4th range finding reference plate 614 is fixed on third party Above tubular telescopic arm 612；
The 5th described lowering or hoisting gear 63 forms with the second lowering or hoisting gear 23 and version is the same, carries out and the second lifting Device 23 identical assembly operation, forms the 5th lowering or hoisting gear 63；
Described chain tooth row stone assembly 64 is by double output shaft hydraulic motor 642, two chains of 641, two yielding couplings Tooth row stone part 643,644, eight C-shaped-rod 645 of U-shaped bar and suspension bracket 646 form, and U-shaped bar 644 is provided with two circular flange disks 6441 and square flange 6442, C-shaped-rod 645 is provided with first flange disk 6451 and second flange disk 6452, and suspension bracket 646 is provided with two Individual first flange disk 6461 and eight second flange disks 6462；
Described chain tooth row stone part 643 is by square beam 6431, sprocket wheel 6432, sprocket wheel wheel shaft 6433, inducer 6434th, 6436, four BOGEY WHEEL wheel shafts 6437 of 6435, four BOGEY WHEELs of inducer wheel shaft, several chain tooth assembly 6438 and several Bearing pin 6439 forms, and square beam 6431 is provided with the first ears ring 64311, the second ears ring 64312 and four the 3rd ears Ring 64313；
Will be coaxial with sprocket wheel 6432 for square beam the first ears ring 64311, penetrate sprocket wheel wheel shaft 6433 chain connection, square Crossbeam the second ears ring 64312 is coaxial with inducer 6334, penetrates inducer wheel shaft 6435 chain connection, square beam the 3rd pair Earrings 64313 is coaxial with BOGEY WHEEL 6436, penetrates BOGEY WHEEL wheel shaft 6437 chain connection, make square beam 6431, sprocket wheel 6432, Inducer 6434 and four BOGEY WHEELs 6436 are assembled into one；
Described chain tooth assembly 6438 is made up of sleeve 64381 and chain link 64382；
Described chain link 64382 is by two bolts 64383, two nuts 64384, chain tooth plate 64385, the first carrier bars 64388 and second carrier bar 64392 form, chain tooth plate 64385 is provided with two bolts hole 64386 and several equal strength sprocket 64387, First carrier bar 64388 is provided with the first monaural ring 64389, the second monaural ring 64390 and the 3rd monaural ring 64391, the second carrier bar 64392 are provided with the first monaural ring 64393, the second monaural ring 64394 and the 3rd monaural ring 64395；
Will be coaxial to sprocket crab bolt hole 64386 and first carrier bar the second monaural ring 64390, penetrate bolt 64383, nut 64384 pretensions, another bolt hole 64386 of chain tooth plate and second carrier bar the second monaural ring 64394 are coaxial, penetrate bolt 64383, Nut 64384 pretension, forms chain link 64382, by first carrier bar the first monaural ring 64389 of the first chain link, the second chain link first Carrier bar the 3rd monaural ring 64391, sleeve 64381, second chain link the second carrier bar the 3rd monaural ring 64395 and first chain link the second chain Plate the first monaural ring 64393 coaxially penetrates bearing pin 6439 chain connection, repeats aforementioned operation, until several chain links 64382 are cut with scissors Connect one, will be placed on it to the square beam being assembled into one 6431, sprocket wheel 6432, inducer 6434 and four BOGEY WHEELs 6436, By first carrier bar the first monaural ring 64389 of last chain link, first chain link the first carrier bar the 3rd monaural ring 64391, sleeve 64381st, first chain link the second carrier bar the 3rd monaural ring 64393 and last chain link the second carrier bar the first monaural ring 64395 are coaxially worn Enter bearing pin 6339 chain connection, make all chain tooth assembly 6438 chain connection annular integrative-structures, form chain tooth row stone part 643,
Will be solid to double output shaft hydraulic motor 641 double output shaft, two yielding couplings 642 and two sprocket wheel wheel shafts 6433 Even, U-shaped bar 644 square flange is fixed on the 3rd double output shaft hydraulic motor 641, eight C-shaped-rod second flange disks 6452 Be respectively symmetrically and be fixed on two square beams 6431, eight second flange disks 6462 of suspension bracket respectively with eight C-shaped-rod first methods Blue disk 6451 is connected, and two circular flange disks 6441 of U-shaped bar and two first flange disks 6461 of suspension bracket are respectively fixedly connected with third party On tubular telescopic arm 612, form chain tooth row stone device 6；
Refer to Figure 34 to Figure 36, described sleeper four nut synchronization assembling and disassembling device 7 be by the 4th entablature assembly 71, the Six lowering or hoisting gears 72 and two nut assembling and disassembling devices 73 form；
The 4th described entablature assembly 71 and sill assembly 121 form the same, except aforesaid 4th square tube shape is fixed Arm 711 orientation and the first square tube shape fixed arm 1211 orientation is different, the 4th square tube shape telescopic arm 712 orientation and the first square tube shape Telescopic arm 1212 orientation is different, and remaining all component structural form is the same；
The 6th described lowering or hoisting gear 72 is by the 6th lifting drive 721, symmetrically arranged two parallel four-bar machines Structure 722 and the 5th laser displacement sensor 723 form；
The 6th described lifting drive 721 is the same with the composition of the first lifting drive 122 and version；
Described parallelogram lindage 722 is by 7221, two forks 7222 of sill and the 4th square tube shape telescopic arm 712 Composition, sill 7221 is provided with four ears rings 72211 and symmetrical two long slot bores 72212；
Carry out and the first lifting drive 122 identical assembly operation, form the 6th lifting drive 721；
By one end of two forks 7222 respectively with the 4th 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 the 5th square tube shape fixed arm 711 and the vertical plane of symmetry of sill 7221 assemble another parallelogram lindage 722, by the 5th laser displacement sensor 723 Symmetrically it is fixed on below the 4th square tube shape fixed arm 711, form the 6th lowering or hoisting gear 72；
Described nut assembling and disassembling device 73 be by two suspension rods 731, the first spiral rotary actuator 732, upper lid 733, Circular connecting plate 734, the first hex nut 735, internal gear 737, two gears 738 of 736, two power transmission shafts, housing 739, two 740, two the second thrust bearings of individual first thrust bearing, 742, two yielding coupling 743 and of 741, two the second hex nuts Two interior wide-mouth magnetic coupling boxs 744 form, and the first spiral rotary actuator 732 is provided with ring flange 7321, its output shaft It is provided with circular shaft section 7322 and six prism shaft parts 7323, upper lid 733 is provided with axis hole 7331, and circular connecting plate 734 is provided with six prism holes 7341, power transmission shaft 737 is provided with the first axle journal 7371, the second axle journal 7372, the 3rd axle journal 7373, the 4th axle journal 7374 and thread segment 7375, housing 739 is provided with ring flange 7391 and two axis holes 7392, and interior wide-mouth magnetic coupling box 744 is provided with axle journal 7441；
Upper lid 733 is sheathed on the first spiral rotary actuator output shaft circular shaft section 7322, makes lid 733 and the first spiral shell Rotation rotary actuator ring flange 7321 is connected, more circular connecting plate 734 is sheathed on the first spiral rotary actuator output Axle six prism shaft part 7323, the first hex nut 735 pretension, internal gear 736 is coaxially connected with circular connecting plate 734, gear 738 It is sheathed on power transmission shaft the first axle journal 7371 to be connected, the first thrust bearing 740 is sheathed on power transmission shaft the second axle journal 7372, power transmission shaft 737 make the first thrust bearing 740 contact with housing 739 through housing axis hole 7392, and the second thrust bearing 741 is sheathed on power transmission shaft On 3rd axle journal 7373, the second hex nut 742 screws on power transmission shaft thread segment 7375 pretension, and yielding coupling 743 makes power transmission shaft 4th axle journal 7374 is coaxially connected with interior wide-mouth magnetic coupling box axle journal 7441, and internal gear 736 is inserted in housing 739, two The gear teeth flank of tooth of gear 738 gear teeth face with internal gear 736 respectively, upper lid 733 and shell flange disk 7391 are connected, and two One end of individual suspension rod 731 is symmetrically fixed on housing 739 both sides, forms nut assembling and disassembling device 73, the other end pair of two suspension rods 731 Claim to be fixed on 711 2 sides of the 4th square tube shape fixed arm, sill 7221 is fixed on two longeron 202 medial surfaces of railcar On, composition sleeper four nut synchronization assembling and disassembling device 7；
Refer to Figure 37 to Figure 55, described rail-lifting equipment 8 is to be stretched by first crossbeam telescopic component 81, first crossbeam to drive Dynamic 82, four connecting plates of device, 84, two box connectors 85 of 83, two the first tumblers and two carry rail hydraulic jack 86 Composition, box connector 85 is arranged with semicylindrical opening 851, carries rail hydraulic jack 86 cylinder body and be provided with gusset 861, piston rod Free end is provided with fagging 862；
Described first crossbeam telescopic component 81 is by 811, two the 5th square tube shape telescopic arms of the 5th square tube shape fixed arm 812nd, the 6th laser displacement sensor 813 and the 6th range finding reference plate 814 form, and the 5th square tube shape telescopic arm 812 is provided with dividing plate 8121；
Described first crossbeam retractable driving device 82 is the same with the composition of the first lifting drive 122, except aforesaid 5th square tube shape fixed arm 811 and the first square tube shape fixed arm 1211 version is different, the 5th square tube shape telescopic arm 812 and First square tube shape telescopic arm 1212 version is different, and remaining all component structural form is the same；
Carry out and the first lifting drive 122 identical assembly operation, form first crossbeam retractable driving device 82；The Six laser displacement sensors 813 are symmetrically fixed on the 5th square tube shape fixed arm 811 side, and the 6th range finding reference plate 814 is fixed on 5th square tube shape telescopic arm 812 side；
The first described tumbler 84 be by the 5th square tube shape telescopic arm 812, the second spiral rotary actuator 841, Cantilever hollow multidiameter 842, the first thrust bearing 843, the first casing 844, the second thrust bearing 845, the first hex nut 846th, circular connecting plate 847, the second hex nut 848, end cap 849 and equi intensity cantilever 850 form, and the second spiral swings liquid Pressure motor 841 output shaft is provided with thread segment 8411 and six prism shaft parts 8412, and the hollow multidiameter of cantilever 842 is provided with thread segment 8421st, the first axle journal 8422, the second axle journal 8423, the 3rd axle journal 8424 and connecting plate 8425, connecting plate 8425 is provided with spacing circle Arc groove 84251, the first casing 844 is provided with cantilever ladder axle sleeve 8441 and spacer pin 8442, and cantilever ladder axle sleeve 8441 is provided with One axle sleeve 84411, the second axle sleeve 84412 and the 3rd axle sleeve 84413, end cap 849 is provided with bearing pin 8491, and circular connecting plate 847 sets There are six prism holes 8471, equi intensity cantilever 850 is provided with pin shaft hole 8501 and ring flange 8502；
Second spiral rotary actuator 841 is fixed on the 5th square tube shape telescopic arm dividing plate 8121 front end base plate, empty Heart cantilever multidiameter 842 is sheathed on the second spiral rotary actuator output shaft 841, makes cantilever hollow multidiameter connecting plate 8425 are fixed on the 5th square tube shape telescopic arm 812 end face, and the first thrust bearing 843 is sheathed on the hollow multidiameter of cantilever the 3rd axle On neck 8424, the first casing cantilever ladder axle sleeve 8441 is sheathed on hollow cantilever multidiameter 842, makes the first thrust bearing 843 Insert the first casing cantilever ladder axle sleeve the 3rd axle sleeve section 84413, cantilever ladder axle sleeve the second axle sleeve section 84412 is sheathed on hollow On multidiameter the second axle journal 8423, the second thrust bearing 845 is sheathed on cantilever hollow multidiameter the first axle journal 8422, inserts outstanding Arm ladder axle sleeve first axle set 84411, the first hex nut 846 screws on cantilever hollow multidiameter thread segment 8421 pretension, makes the One casing 844 and the hollow multidiameter of cantilever 842 chain connection, circular connecting plate 847 is sheathed on the second spiral rotary actuator Output shaft six prism shaft part 8412, makes circular connecting plate 847 be fixed on the first casing cantilever ladder axle sleeve 8441 free end, and second Hex nut 848 screws in the second spiral rotary actuator output shaft thread segment 8411 pretension, makes the second spiral swing hydraulic pressure horse Reach 841 output shafts and the first casing 844 is connected, end cap 849 is fixed on the first casing 844, equi intensity cantilever pin-and-hole 8501 It is sheathed on end cap bearing pin 8491, equi intensity cantilever ring flange 8502 is fixed on above the 5th square tube shape telescopic arm 812, composition First tumbler 84, repeats aforementioned assembly operation, assembles another first tumbler 84 symmetrically arranged, four connecting plates Two the first casings 844 and two box connectors 85 are fixed with one by 83 respectively, two are carried rail hydraulic jack 86 cylinder body and divides It is not fixed in two box connector semicylindrical openings 851, form rail-lifting equipment 8, the 5th square tube shape fixed arm 811 is symmetrically solid It is connected on two longerons 202 of railcar；
Described swivel block and push-and-pull sleeper device 9 are by first crossbeam telescopic component 90, first crossbeam retractable driving device 91st, 92, two the second connecting plates 93 of the second tumbler and crawl and swivel block device 94 form；
Described first crossbeam telescopic component 90 be by the 6th square tube shape fixed arm 901, the 6th square tube shape telescopic arm 902, 7th laser displacement sensor 903 and the 7th range finding reference plate 904 form, and the 6th square tube shape fixed arm 901 is provided with blind end 9011, the 6th square tube shape telescopic arm 902 is provided with dividing plate 9021；
Described first crossbeam retractable driving device 91 and the first retractable driving device 22 form, except aforementioned 6th side Tubular fixed arm 901 and the first square tube shape fixed arm 211 version is different, the 6th square tube shape telescopic arm 902 and first party Tubular telescopic arm 212 version is different, and remaining all component structural form is the same；
Carry out and the first retractable driving device 22 identical assembly operation, form first crossbeam retractable driving device 91, the Seven laser displacement sensors 903 are symmetrically fixed on the 6th square tube shape fixed arm 901 side, and the 7th range finding reference plate 904 is fixed on 6th square tube shape telescopic arm 902 side；
The second described tumbler 92 is the same with the composition of the first tumbler 84 and version, carries out and first turn Dynamic device 84 identical assembly operation, forms the second tumbler 92；
Described crawl and swivel block device 94 are by the second casing 941, the 3rd spiral rotary actuator 942, hydraulic oil Cylinder 943, the first thrust bearing 944, the second thrust bearing 945, hex nut 946, piston 947, piston rod 948, ladder U-shaped prop up Frame 949, first connecting rod 950, second connecting rod 952, two rollers 953 of 951, two the second forks, end cap 954 and two grippers 955 device compositions, the second casing 941 is provided with the first circular hole portion 9412, fan-shaped hole section 9413, the second circular hole portion 9414, axle sleeve section 9415 and the 3rd circular hole portion 9416, the 3rd spiral rotary actuator 942 output shaft fixed connection ring flange 9421, ring flange 9421 sets Limited location sector boss 94211, fan-shaped hole section 9413 is provided with the first confined planes 94131 and the second confined planes 94132, hydraulic jack 943 are provided with ring flange 9431, the first axle journal 9432, the second axle journal 9433 and the 3rd axle journal 9434, and ring flange 9431 is provided with spacing Fan-shaped boss 94311, piston 947 is provided with axis hole 9471, and piston rod 948 is provided with axle journal 9481 and ears ring 9482, and ladder U-shaped props up Frame 949 is provided with flange 9491, axis hole 9494, four the first monaural rings 9495 of 9493, two pin-and-holes of 9492, two slotted eyes and eight Second monaural ring 9496, first connecting rod 950 is provided with ears ring 9501 and monaural ring 9502, and second connecting rod 951 is provided with two ears Ring 9511, the second fork 952 is provided with monaural ring 9521, pin-and-hole 9522 and ears ring 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 hydraulic jack the 3rd axle journal 9434 so as to insert the second casing the 3rd circle 9416 sections of hole section, piston rod 948 passes through ladder U-bracket axis hole 9492, and piston axis hole 9471 is sheathed on piston rod axle journal 9481, hex nut 946 pretension, piston 947 is inserted in hydraulic jack 943 cylinder barrel, ladder U-bracket flange 9491 is penetrated Hydraulic jack 943 cylinder barrel is connected, and makes oil cylinder the second axle journal 9433 and the first housing bushing section 9415 chain connection, and piston rod is double Earrings 9482, second connecting rod ears ring 9511 and first connecting rod monaural ring 9502 coaxially penetrate pin hinge and connect, the second fork Ears ring 9523 coaxially penetrates pin hinge with roller 953 and is connected, the second fork pin-and-hole 9522 and ladder U-bracket pin-and-hole 9494 Coaxially penetrate pin hinge to connect, first connecting rod ears ring 9501 and second connecting rod ears ring 9511 respectively with two the first forks Monaural ring 9521 coaxially penetrates pin hinge and connects；
The ears ring 95511 of four the second forks 9551 is coaxial with four the second monaural rings 9496 of ladder U-bracket respectively Penetrate pin hinge to connect, another ears rings 95511 of four the second forks 9551 respectively with four the second monaural rings of pressing plate 95532 coaxially penetrate pin hinge connects, two helical spring 9552 one end respectively with two the first monaurals of ladder U-bracket Ring 9495 is connected, and two helical spring 9552 other ends are connected with two the first monaural rings 95531 of pressing plate respectively, composition machinery Pawl 955, the pulling force of two helical springs 9552, so that the roller 953 being articulated with the first fork 9523 is connect with pressing plate 9553 all the time Touch, repeat aforementioned assembly operation, assemble another gripper 955, composition crawl and swivel block device 94；
First casing 844 is fixed with one by two connecting plates 93 with the second casing 941, forms swivel block and push-and-pull sleeper device 9；
Described sleeper handling apparatus 16 are by reciprocating motion storage sleeper device 160 and rigid hanger hoisting apparatus 168 Composition；
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 8th laser displacement sensor 166 form；
The 3rd described crossbeam telescopic component 163 is to be stretched by the 7th square tube shape fixed arm 1631 and two the 7th square tube shapes Arm 1632 forms, and the 7th square tube shape fixed arm 1631 is provided with symmetrical two long slot bore 16311, the 7th square tube shape telescopic arm 1632 It is provided with blind end 16321 and two monaural rings 16322；
Described reciprocating movement driving device 164 is the same with the composition of the first lifting drive 122, except the aforesaid 7th Square tube shape fixed arm 1631 orientation and the first square tube shape fixed arm 1211 orientation is different, the 7th square tube shape telescopic arm 1632 orientation Different with the first square tube shape telescopic arm 1212 orientation；Remaining all component structural form is the same；
Described parallelogram lindage 165 is by the 7th 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 the first lifting drive 122 identical assembly operation, form reciprocating movement driving device 164；
By one end of two forks 1651 respectively with the 7th 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 7th square tube shape fixed arm 1631 and moving beam 1652 assembles another parallelogram lindage 165, base plate 162 are fixed on below the 7th square tube shape fixed arm 1631, so that two rollers 16521 of moving beam and base plate 162 upper surface is connect Touch, the 8th laser displacement sensor 166 is symmetrically fixed on the 7th square tube shape fixed arm 1631 side, form reciprocator 161；
Base plate 162 is fixed on railcar 20 crossbeam, the 5th square tube shape fixed arm 811 and the 6th square tube shape 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 9th 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, make the second multi-stage expansion shell type oil cylinder second flange disk 17044 with 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 On shape telescopic arm 1703, then ladder square tube shape fixed arm 1701 is sheathed on the first ladder square tube shape telescopic arm 1702, makes end Lid 1705 is 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 ends, the 9th laser displacement sensor 173 is symmetrically fixed on ladder square tube shape fixed arm 1701 side, and composition is flexible Beam device 170；
Described jack up unit 171 be by the 5th entablature assembly 1711, raising driving means 1712, symmetrically arranged two Individual parallelogram lindage 1713 and the tenth laser displacement sensor 1714 form；
The 5th described entablature assembly 1711 is by eighth tubular fixed arm 17111 and two eighth tubular telescopic arms 17114 compositions, eighth tubular fixed arm 17111 is provided with symmetrical two long slot bore 17112 and two ears rings 17113, the All directions tubular telescopic arm 17114 is provided with blind end 17115 and two monaural rings 17116；
Described raising driving means 1712 are the same with the composition of the first lifting drive 122, except aforementioned eighth cylinder Shape fixed arm 17111 and the first square tube shape fixed arm 1211 version is different, eighth tubular telescopic arm 17114 orientation and First square tube shape telescopic arm 1212 orientation is different, and remaining all component structural form is the same；
Described parallelogram lindage 1713 is by eighth tubular telescopic arm 17114, two forks 17131 and sills 17132 compositions, sill 17132 is provided with two circular holes 17133；
Carry out and the first lifting drive 122 identical assembly operation, form raising driving means 1712；
By one end of two forks 17131 respectively with eighth tubular telescopic arm 17114 chain connection, two forks 17131 other end respectively with sill 17132 chain connection, form parallelogram lindage 1713, repeat aforementioned assembly operation, It is symmetrical in eighth tubular fixed arm 17111 and the vertical plane of symmetry of sill 17132 assembles another parallelogram lindage 1713, the tenth laser displacement sensor 1714 is symmetrically fixed on below eighth tubular fixed arm 17111, forms jack up unit 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 eighth tubular 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. clear stone screening work：Outside sleeper to be changed, bolt machine oil marks, and engineering truck traction track car runs to treating When switching tracks near resting the head on, the image information of cmos image sensor collection, by pattern recognition system automatic identification, so that engineering truck is stopped Mark the coaxial position of bolt in cmos image sensor and machine oil, two ranked first grab mechanisms is located at sleeper both sides to be changed sleeper Between, position shown in Fig. 1, oil pump is started working, and hydraulic oil makes the 3rd lifting drive the double rod hydraulic cylinder piston rod of dual Piston Start to stretch out, promote two the first square tube shape telescopic arms synchronously to stretch out, make two couple of symmetrically arranged two parallelogram lindages Fork with respect to entablature dorsad synchronous hunting, entrust two and ranked first grab mechanisms decline, swashs by first by the 3rd lowering or hoisting gear Optical displacement sensor measures the displacement signal of itself and entablature, to carry out the double rod hydraulic pressure of the 3rd lifting drive control dual Piston Oil cylinder and two hydraulic jack work of grab bucket, when grab bucket ballast close between the sleeper of sleeper both sides to be changed, two hydraulic oil of grabbing bucket Cylinder piston rod starts to retract, and pulls two link motions respectively, makes symmetrically arranged two bucket bodies relative to arm monaural ring dorsad Swing, make grab bucket be flared to maximum opening, two hydraulic cylinder piston rods of grab bucket stop retracting, when bucket tooth contact ballast, the Three liftings drive the double rod hydraulic cylinder piston rod of dual Piston to stop stretching out, position shown in Figure 13, two hydraulic jacks of grabbing bucket Piston rod starts to stretch out, and promotes two link motions respectively, so that symmetrically arranged two bucket bodies is put in opposite directions relative to arm monaural ring Move to gradually closing, capture ballast between sleeper, two hydraulic cylinder piston rods of grab bucket stop stretching out, and the 3rd lifting drives double-piston The double rod hydraulic cylinder piston rod of formula starts to retract, and pulls two the first square tube shape telescopic arms synchronously to retract, makes symmetrically arranged Two pairs of forks of two parallelogram lindages with respect to the opposite synchronous hunting of entablature, entrust two and ranked first and grab by the 3rd lowering or hoisting gear Bucket device rises to position shown in Figure 14, collection crossdrift two drive cylinder piston rods start synchronous stretch out, promote two the respectively Three pull bars and two the 4th pull bars, make two collection crossdrifts be rocked to position shown in Figure 14, collection crossdrift two drives oil cylinder to live Stopper rod stops stretching out, and the second dither motor is started working, and casing starts to vibrate, and two hydraulic cylinder piston rods of grab bucket start Synchronous retraction, pulls two link motions respectively, makes grab bucket gradually be flared to position shown in Figure 14, two hydraulic jacks of grabbing bucket Piston rod stops retracting, and the ballast in grab bucket rushes down and drops down onto in two collection crossdrifts, is slipped in collection stone storehouse along collection crossdrift, casing vibrates Make the sandy soil in ballast in collection stone storehouse, be separated in two gradual change isosceles trapezoid skewed slots by the sieve aperture of flechette-type bottom, sandy soil edge Two gradual change isosceles trapezoid skewed slots slide into two end cap sand discharges Tu Zui and discharge, and the ballast in waiting to grab bucket is slipped to Ji Shicang completely Interior, collection crossdrift two drives cylinder piston rod to start synchronous retraction, pulls two the 3rd pull bars and two the 4th push-and-pulls respectively Bar, makes two collection crossdrifts be rocked to position shown in Fig. 1, collection crossdrift two drives cylinder piston rod to stop retracting, the second high frequency vibrating Dynamic motor quits work, and two hydraulic cylinder piston rods of simultaneously grabbing bucket start synchronization and stretch out, and promote two link motions respectively, make Grab bucket gradually closes, and two hydraulic cylinder piston rods of grab bucket stop stretching out, and clear stone sieves end-of-job；
2. pillow end lasher makees：Engineering truck traction track car moves to left, by the firm rail of pattern recognition system automatic identification sleeper The number of outer bolt image, makes railcar move to left two sleeper pitches, and the second grab mechanisms are located above the pillow end of sleeper to be changed, Hydraulic oil makes the second telescopic drive two-way ram cylinder piston rod start to stretch out, and promotes the second square tube shape telescopic arm to entrust second Grab mechanisms move out, its displacement signal with the second range finding reference plate of second laser displacement sensor, to control the Two telescopic drive two-way ram oil cylinders and grab bucket hydraulic jack work, and hydraulic oil makes the 4th lifting drive double multi-stage expansions simultaneously The double multi-stage sleeve stretching out oil cylinder two ends of shell type starts to stretch out step by step, promotes first connecting rod and second connecting rod synchronization translation respectively, Make symmetrically arranged two first series connection parallelogram lindage each two pairs of swing link synchronous backswings up and down, the 4th lowering or hoisting gear support Carry the second grab mechanisms to decline, it is measured by the 3rd laser displacement sensor and stretches out the positions of oil cylinder with double multi-stage expansion shell types pair Shifting signal, controlling the 4th lifting to drive, double multi-stage expansion shell types are double stretches out oil cylinder and two hydraulic jacks work of grab bucket, when grabbing Close to when resting the head on end railway roadbed ballast, two hydraulic cylinder piston rods of grab bucket start synchronous retraction to the bucket tooth of bucket, pull two companies respectively Bar moves, and makes grab bucket be flared to maximum opening, two hydraulic cylinder piston rods of grab bucket stop retracting, when bucket tooth contact ballast, The double final stage extension sleeve stretching out oil cylinder two ends of double multi-stage expansion shell types stops stretching out, position shown in Figure 22, and grab bucket liquid two presses oil Cylinder piston rod starts synchronization and stretches out, and promotes two link motions respectively, makes grab bucket gradually close crawl ballast, two hydraulic pressure of grabbing bucket Cylinder piston rod stops stretching out, and hydraulic oil makes the 4th lifting drive double multi-stage expansion shell types pair to stretch out the multistage of oil cylinder two ends simultaneously Sleeve starts to retract step by step, pulls first connecting rod and second connecting rod synchronization translation respectively, makes symmetrically arranged two first series connection The opposite swing of each up and down two pairs of swing link synchronous of parallelogram lindage, the 4th lowering or hoisting gear is entrusted the second grab mechanisms and is risen, with When hydraulic oil make the second telescopic drive two-way ram cylinder piston rod start to stretch out, promote the second square tube shape telescopic arm to entrust the When two grab mechanisms move out to road shoulder top, the 4th lifting drives the double final stage stretching out oil cylinder two ends of double multi-stage expansion shell types Extension sleeve stops retracting, and the second telescopic drive two-way ram cylinder piston rod stops stretching out, and two hydraulic jacks of grab bucket are lived Stopper rod starts to retract and pulls two link motions respectively, so that grab bucket is gradually opened, and so that the ballast in grab bucket is rushed down and falls on shoulder, grab bucket Two hydraulic cylinder piston rods start synchronization and stretch out, and promote two link motions respectively, so that grab bucket is gradually closed, make second simultaneously Telescopic drive two-way ram cylinder piston rod starts retraction and the 4th lifting drives double multi-stage expansion shell types pair to stretch out oil cylinder two The multi-stage sleeve at end starts to retract step by step, and the 4th lowering or hoisting gear is entrusted the second grab mechanisms and moved to position shown in Fig. 1, and second stretches Contracting drives the stopping retraction of two-way ram cylinder piston rod and the 4th lifting to drive pair multi-stage expansion shell types pair to stretch out oil cylinder two ends Chopped-off head sleeve stop retract, pillow end lasher make terminate；
3. below rail, row lapicide makees：Engineering truck traction track car moves to left, by pattern recognition system automatic identification sleeper Just the number of rail outer bolt image, makes railcar move to left a sleeper pitch, and chain tooth row stone device is located at sleeper two siding track to be changed Top between pillow, hydraulic oil makes the double rod hydraulic cylinder piston rod of the 3rd telescopic drive dual Piston start to stretch out, promote respectively with Two third party's tubular telescopic arms that it is connected synchronously stretch out, and make two third party's tubular telescopic arms entrust two chain tooth rows respectively Stone device moves out, and the 4th laser displacement sensor measures its displacement signal with the 4th range finding reference plate, to control the 3rd The double rod hydraulic jack of telescopic drive dual Piston and the work of chain tooth row stone assembly double output shaft hydraulic motor, treat that chain tooth row stone fills Put when moving out to rail between the sleeper of sleeper both sides to be changed top, the double rod hydraulic oil of the 3rd telescopic drive dual Piston Cylinder piston rod stops stretching out, and hydraulic oil makes the 5th lifting drive the double multistage set stretching out oil cylinder two ends of double multi-stage expansion shell types simultaneously Cylinder starts to stretch out step by step, and the 5th lowering or hoisting gear support two band chain tooth row stone device declines, and is surveyed by the 3rd laser displacement sensor Measure it and drive the double displacement signal stretching out oil cylinder of double multi-stage expansion shell types with the 5th lifting, to control the 5th lifting to drive double multistage Flexible shell type is double to stretch out oil cylinder and the work of chain tooth row stone assembly double output shaft hydraulic motor, when chain tooth row stone device contacts ballast When, the 5th lifting drives the double final stage sleeve stretching out oil cylinder two ends of double multi-stage expansion shell types to stop stretching out, and hydraulic oil makes dual output Axle hydraulic motor rotates forward, and makes two sprocket wheel forward direction synchronous axial system, several chain tooth assemblies of chain wheel drive chain connection one Motion, the ballast that the sprocket of the following chain tooth plate of chain tooth row stone device is contacted is pushed to outside railway roadbed, and hydraulic oil makes the 3rd to stretch Drive the double rod hydraulic cylinder piston rod of dual Piston to start to retract, pull two third party's tubulars being connected with it to stretch respectively Arm is synchronously retracted, and two third party's tubular telescopic arms entrust motion, chain tooth row stone device in two chain tooth row stone device phases respectively Inward is contacted to the sprocket of its front-end chain tooth plate with the ballast below rail, ballast is gnawed successively into chain tooth row stone device phase Between adjacent two chain tooth plate sprockets, ballast is pushed into outside railway roadbed successively by chain tooth plate, when chain tooth row stone device inward to Figure 27 Shown position, below rail, row's stone terminates, and the double rod hydraulic cylinder piston rod of the 3rd telescopic drive dual Piston stops retracting, Chain tooth row stone assembly double output shaft hydraulic motor stops operating, the double rod hydraulic cylinder piston rod of the 3rd telescopic drive dual Piston Start to stretch out, make two third party's tubular telescopic arms entrust two chain tooth row stone devices respectively and move out, treat that chain tooth row stone fills Put when moving out to inside it sprocket of chain tooth plate and leaving outside rail lower flange, the double rod of the 3rd telescopic drive dual Piston Hydraulic cylinder piston rod stops stretching out, and hydraulic oil makes the 5th lifting drive double multi-stage expansion shell types pair to stretch out oil cylinder two ends simultaneously Multi-stage sleeve starts to retract step by step, and the 5th lowering or hoisting gear is entrusted two chain tooth row stone devices and raised, and hydraulic oil makes the 3rd flexible drive The double rod hydraulic cylinder piston rod of dynamic dual Piston starts to retract, and makes two third party's tubular telescopic arms entrust two sprockets respectively Row's stone device inward, treats that chain tooth row stone device moves to position shown in Fig. 1, the double rod liquid of the 3rd telescopic drive dual Piston Force feed cylinder piston rod stops retracting and the 5th lifting drives the double chopped-off head sleeve stretching out oil cylinder two ends of double multi-stage expansion shell types to stop Retract, below rail, arrange stone end-of-job；
4. dismounting nut work：Engineering truck traction track car moves to left, by the firm rail of pattern recognition system automatic identification sleeper The number of outer bolt image, makes railcar move to left a sleeper pitch, four interior wide-mouth magnetic coupling boxs are located at sleeper to be changed Directly over four bolts, hydraulic oil makes the 6th lifting drive the double rod hydraulic jack of dual Piston to start to stretch out, promote respectively with Two the 4th square tube shape telescopic arms that it is connected synchronously stretch out, and make two pairs of fork phases of symmetrically arranged two parallelogram lindages For sill dorsad synchronous hunting, the 6th lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is declined, by the 5th laser displacement Sensor measures the displacement signal of itself and sill, to control the 6th lifting to drive the double rod hydraulic jack and first of dual Piston Spiral rotary actuator works, when interior wide-mouth magnetic coupling box is sheathed on nut, position shown in Figure 34, and the 6th lifting is driven The double rod hydraulic cylinder piston rod of dynamic dual Piston stops stretching out, and hydraulic oil makes two the first spiral rotary actuators start instead To synchronous axial system, drive two circular connecting plates to entrust two internal gears respectively and rotate backward, each internal gear simultaneously with two Gear engages, and drives two drive axis, so that four interior wide-mouth magnetic coupling box reverse sync is rotated, four interior wide-mouth magnetic Property coupling box synchronously screws off four nuts, and the magnetic of interior wide-mouth magnetic coupling box makes the nut screwing off stay interior wide-mouth magnetic In coupling box, two the first spiral rotary actuators stop rotating backward, and hydraulic oil makes the 6th lifting drive dual Piston Double rod hydraulic cylinder piston rods start to retract, and pull two the 4th square tube shape telescopic arms being connected with it synchronously to retract respectively, Two pairs of forks making symmetrically arranged two parallelogram lindages are with respect to the opposite synchronous hunting of sill, the 6th lowering or hoisting gear support Two nut assembling and disassembling devices of band rise to position shown in Fig. 1, dismantle nut end-of-job；
5. 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 two-way ram oil cylinder Piston rod starts to stretch out, and promotes the 6th square tube shape telescopic arm to stretch out, the 6th square tube shape telescopic arm is entrusted the second tumbler and grabbed Take and swivel block device move out, its displacement signal with the 7th range finding reference plate is measured by the 7th laser displacement sensor, Second cross beam telescopic drive two-way ram oil cylinder, the second spiral rotary actuator and the 3rd spiral is controlled to swing hydraulic pressure horse Reach work, when the second tumbler and crawl and swivel block device move out to correct position, second cross beam telescopic drive double cropping Stop stretching out with piston oil-cylinder piston rod, hydraulic oil makes the second spiral rotary actuator start to rotate forward, drive the first case Body rotates, and the second body pivot being connected with it entrusted by the first casing, and crawl entrusted by the second casing and swivel block device rotates, when the When one casing rotates forward to its spacer pin and cantilever hollow multidiameter connecting plate spacing arc groove end thereof contacts, the second casing support Band crawl and swivel block device rotate forward 90 °, and the second spiral rotary actuator stops stopping and rotates forward, solenoid directional control valve Middle position makes the second spiral rotary actuator pressurize, and second cross beam telescopic drive two-way ram cylinder piston rod starts to retract, Pull the 6th square tube shape telescopic arm to start to retract, make the 6th square tube shape telescopic arm entrust the second tumbler and crawl and swivel block dress Put inward, when two pressing plate inward of gripper are to bad sleeper both sides appropriate location, second cross beam telescopic drive Two-way ram cylinder piston rod stops retracting, and hydraulic oil makes hydraulic cylinder piston rod start to stretch out, makes first connecting rod and second Connecting rod promotes symmetrically arranged two the second forks to swing in opposite directions respectively, and the roller being articulated with the second fork ears ring pushes down pressure Plate, roller rolls makes pressing plate overcome the pulling force of two cylindrically coiled springs to make translation, two in-parallel four-bar mechanism forward direction pendulum Dynamic, when two platen clamp sleepers, the middle position of solenoid directional control valve makes hydraulic jack pressurize；
Hydraulic oil makes the double rod hydraulic cylinder piston rod of first crossbeam telescopic drive dual Piston start to stretch out, and promotes respectively Two the 5th square tube shape telescopic arms being connected with it are synchronously stretched out, and make two the 5th square tube shape telescopic arms entrust two first respectively Tumbler and carry rail hydraulic jack and be outwards synchronized with the movement, measures itself and the 6th range finding reference by the 6th laser displacement sensor The displacement signal of plate, to control the double rod hydraulic jack of first crossbeam telescopic drive dual Piston and the second spiral to swing hydraulic pressure horse Reach work, when two the first tumblers and carry rail hydraulic jack and move out to appropriate location, first crossbeam telescopic drive is double The double rod hydraulic cylinder piston rod of piston type stops stretching out, and it starts to retract, and pulls two the 5th square tubes being connected with it respectively Shape telescopic arm is synchronously retracted, and so that the 5th square tube shape telescopic arm is entrusted the first tumbler and carry rail hydraulic jack inward, with When hydraulic oil make the second spiral rotary actuator start to rotate forward, drive the first casing rotate forward, the first casing is entrusted The rail hydraulic jack that carries being connected with it is rotated forward, when the first casing rotates forward to its spacer pin with the hollow multidiameter of cantilever even During fishplate bar spacing arc groove end thereof contacts, carry rail hydraulic jack and rotate forward 90 °, the second spiral rotary actuator just stops To rotation, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, when carrying under rail cylinder body of hydraulic oil cylinder and rail During the contacts side surfaces of the edge of a wing, its gusset upper surface contacts with below rail, the double rod liquid of first crossbeam telescopic drive dual Piston Force feed cylinder piston rod stops retracting；
Hydraulic oil makes to carry rail hydraulic cylinder piston rod and starts to stretch out, and connects when being fixed on the fagging carrying rail hydraulic cylinder piston rod Tactile railway roadbed ballast after being compacted into, with carrying constantly stretching out of rail hydraulic cylinder piston rod, puies forward the cylinder body support of rail hydraulic jack Band gusset moves upwards, makes rail jack-up, carries rail hydraulic cylinder piston rod and stops stretching out, the middle position of solenoid directional control valve makes to carry rail Hydraulic jack 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 cylinder flange disk spacing sector boss When contacting with second casing scallop hole the second confined planes, gripper makes sleeper rotate forward 90 °, the 3rd spiral rotary actuator Stopping rotates forward, and hydraulic oil makes second cross beam telescopic drive two-way ram cylinder piston rod start to stretch out, and gripper pulls Bad sleeper moves out, and when bad sleeper moves out to end face thereafter and above rail lower flange trailing flank is coplanar, second is horizontal Beam telescopic drive hydraulic motor stops stretching out, and hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and makes hydraulic oil Cylinder is entrusted gripper and is started to rotate backward, and gripper makes sleeper rotate backward, when the 3rd spiral rotary actuator ring flange and When cylinder flange disk spacing sector boss is contacted with second casing scallop hole the first confined planes, gripper makes sleeper rotate backward 90 °, position shown in Figure 47, 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 second cross beam telescopic drive two-way ram oil cylinder start to stretch out, and promotes the 6th square tube shape telescopic arm support The second tumbler and crawl and swivel block device is carried to move out to appropriate location, second cross beam telescopic drive two-way ram oil Cylinder stops stretching out；Hydraulic oil makes the second spiral rotary actuator start to rotate backward, and drives the first casing to rotate backward, and first Casing is entrusted the second casing being connected with it and is rotated backward, and crawl entrusted by the second casing and swivel block device rotates backward, when first When casing rotates backward to its spacer pin and another end in contact of the spacing arc groove of cantilever hollow multidiameter connecting plate, the second casing support Band crawl and swivel block device rotate backward 90 °, and the second spiral rotary actuator stops rotating backward, the middle position of solenoid directional control valve Make the second spiral rotary actuator pressurize, second cross beam telescopic drive two-way ram cylinder piston rod starts to retract, and pulls 6th square tube shape telescopic arm entrusts the second tumbler and crawl and swivel block device inward to position shown in Fig. 1, and second is horizontal Beam telescopic drive two-way ram cylinder piston rod stops retracting；
Hydraulic oil makes to carry rail hydraulic cylinder piston rod to start to retract, and its piston rod hauls fagging and moves upwards, and rail falls To original position, bad sleeper is pushed down so as to upper surface is parallel with two rail lower surfaces, carry rail hydraulic cylinder piston rod and be retracted to Stop, hydraulic oil makes the double rod hydraulic cylinder piston rod of the flexible dual Piston of first crossbeam start to stretch out, and makes two the 5th square tubes Shape telescopic arm is entrusted the first tumbler and is carried rail hydraulic jack and move out to appropriate location, and first crossbeam stretches dual Piston Double rod hydraulic cylinder piston rods stop stretching out, and hydraulic oil makes the second spiral rotary actuator start to rotate backward, and drive the One casing rotates backward, and two the first casings are entrusted two being connected with it respectively and carried rail hydraulic jack and rotate backward, when first When casing rotates backward to its spacer pin and another end in contact of the spacing arc groove of cantilever hollow multidiameter connecting plate, carry rail hydraulic oil Cylinder rotates backward 90 °, and the second spiral rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes the second spiral swing Hydraulic motor pressurize；The double rod hydraulic cylinder piston rod of the flexible dual Piston of first crossbeam starts to retract, and makes two first rotations Device and carry rail hydraulic jack inward to position shown in Fig. 1, the first crossbeam double rod hydraulic jack of dual Piston that stretches is lived Stopper rod stops retracting, and pulls out bad sleeper end-of-job；
6. 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 located at adjacent sleeper on the left of sleeper to be changed Between directly over, hydraulic oil makes the double rod hydraulic cylinder piston rod of first crossbeam telescopic drive dual Piston start to stretch out, and makes two 5th square tube shape telescopic arm is entrusted the first tumbler respectively and is carried cylinder of rail and move out, when the first tumbler and carry rail oil Cylinder moves out to appropriate location, and the double rod hydraulic cylinder piston rod of first crossbeam telescopic drive dual Piston stops stretching out, high Force feed make the second spiral rotary actuator start to rotate forward, when the first casing rotate forward hollow to its spacer pin and cantilever During multidiameter connecting plate spacing arc groove end thereof contacts, make to carry cylinder of rail and rotate forward 90 °, the second spiral rotary actuator stops Only rotate forward, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, the flexible dual Piston of first crossbeam is double Rod hydraulic cylinder piston rod starts to retract, when the first tumbler and carry cylinder of rail inward to its cylinder body and rail bottom wing During edge contacts side surfaces, its gusset upper surface contacts with below rail, the double rod hydraulic pressure of first crossbeam telescopic drive dual Piston Cylinder piston rod stops retracting；
Hydraulic oil makes reciprocating motion drive the double rod hydraulic cylinder piston rod of dual Piston to start to stretch out, and promotes respectively and it Two connected the 7th square tube shape telescopic arms synchronously stretch out, and make two pairs of fork phases of symmetrically arranged two parallelogram lindages For moving beam dorsad synchronous hunting, two pairs of forks pull moving beam to left movement, and moving beam entrusts storage sleeper case To left movement, measure the displacement signal of itself and moving beam by the 8th laser displacement sensor, to control reciprocating motion to drive Dual Piston double rod hydraulic jack work, when storage sleeper case moves to the bad sleeper position in storehouse of storage to the left in pick-and-place sleeper device During underface, move back and forth and drive the double rod hydraulic cylinder piston rod of dual Piston to stop stretching out；
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 9th 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 the double rod hydraulic cylinder piston rod of dual Piston to start to retract, and pulls respectively and is connected with it Two eighth tubular telescopic arms synchronously retract, make two pairs of forks of symmetrically arranged two parallelogram lindages with respect under The opposite synchronous hunting of crossbeam, jack up unit entrust pick-and-place sleeper device decline, by the tenth laser displacement sensor measure its with The displacement signal of sill, to control raising to drive the double rod hydraulic jack of dual Piston and the 4th spiral rotary actuator work Make, when above two interior wide-mouth nuts with sleeper, two bolts in inner side are close, interior above two interior wide-mouth nuts with sleeper When side two bolt is close, hydraulic oil makes two the 4th spiral rotary actuators start to rotate forward, by two elasticity connection Axial organ makes two interior wide-mouth nut forward synchronous axial system respectively, when two interior wide-mouth nuts screw on two spiral shells in inner side above sleeper Bolt, the 4th spiral rotary actuator rotates forward to hard-over, position shown in Figure 48, and two the 4th spirals swing hydraulic pressure horse Reach stopping to rotate forward, raising drives the positive double rod hydraulic cylinder piston rods of dual Piston to stop retracting；
Hydraulic oil makes the piston rod carrying cylinder of rail start to stretch out, and makes rail jack-up, and the middle position of solenoid directional control valve makes to carry rail oil Cylinder 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 sleeper to be changed 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 the double rod hydraulic cylinder piston rod of dual Piston to start to stretch out, and jack up unit entrusts sleeper Rise to suitable height, raising drives the double rod hydraulic cylinder piston rod of dual Piston to stop stretching out, and hydraulic oil makes 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 and the first ladder During the flexible arm contact of square tube shape, second level extension sleeve is retracted with first order extension sleeve, and the second ladder square tube shape telescopic arm draws Push pedal is retracted, and push pedal promotes the first ladder square tube shape telescopic arm to retract, and entrusts bad sleeper when jack up unit and moves to storage bad rail When directly over pillow storehouse, multi-stage expansion shell type oil cylinder first order extension sleeve stops retracting, and hydraulic oil makes raising drive dual Piston Double rod hydraulic cylinder piston rods start to retract, and jack up unit is entrusted bad sleeper and declined, when bad sleeper declines close to sleeper orlop Or previously put into bad sleeper when, hydraulic oil makes two the 4th spiral rotary actuators start to rotate backward, by two bullets Property shaft coupling so that two interior wide-mouth nut reverse sync is rotated respectively, when bad sleeper is discharged in storehouse, the 4th spiral swings liquid Pressure motor stops rotating backward, and raising drives the double rod hydraulic cylinder piston rod of dual Piston to stop retracting, and its piston rod starts Stretch out, jack up unit rises to position shown in Fig. 1, handling bad sleeper end-of-job；
7. handling is well placed sleeper work：Hydraulic oil makes reciprocating motion drive the double rod hydraulic cylinder piston rod of dual Piston Start to retract, pull two the 7th square tube shape telescopic arms being connected with it synchronously to retract respectively, make symmetrically arranged two parallel Two pairs of forks of four-bar mechanism promote moving beam to move right, move with respect to the opposite synchronous hunting of moving beam, two pairs of forks Dynamic crossbeam entrust storage sleeper case move right, when storage sleeper case move right to stored sleeper position in storehouse in pick-and-place sleeper fill When immediately below putting, move back and forth and drive the double rod hydraulic cylinder piston rod of dual Piston to stop retracting；
Hydraulic oil makes raising drive the double rod hydraulic cylinder piston rod of dual Piston to start to retract, and jack up unit entrusts pick-and-place Sleeper device declines, and when above two interior wide-mouth nuts with good sleeper, two bolts in inner side are close, hydraulic oil makes two the 4th Spiral rotary actuator starts to rotate forward, when two interior wide-mouth nuts have screwed on above sleeper two bolts in inner side, the 4th Spiral rotary actuator turns to maximum forward corner, and the 4th spiral rotary actuator stops rotating forward, and raising drives The double rod hydraulic cylinder piston rod of dual Piston stops retracting, and its piston rod starts to stretch out, and jack up unit has been entrusted sleeper and risen To suitable height, raising drives the double rod hydraulic cylinder piston rod of dual Piston to stop stretching out；
Hydraulic oil makes the extension sleeve of multi-stage expansion shell type oil cylinder stretch out step by step, so that the second ladder square tube shape telescopic arm is entrusted Jack up unit moves out, and has entrusted sleeper when jack up unit and has moved out to appropriate location, and hydraulic oil makes raising drive dual-active The double rod hydraulic cylinder piston rod of plug starts to stretch out, when raising falling unit has been entrusted sleeper and is dropped to it and contact with railway roadbed, Rise and drive the double rod hydraulic cylinder piston rod of dual Piston to stop stretching out；
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 to carry cylinder of rail piston rod to start to retract, and rail falls to original position, good sleeper is pushed down so as to upper table Face is parallel with two rail lower surfaces, carries cylinder of rail and quits work, and hydraulic oil makes first crossbeam telescopic drive dual Piston pair go out Bar hydraulic cylinder piston rod starts to stretch out, and so that two the 5th square tube shape telescopic arms is entrusted two the first tumblers respectively and carry rail Oil cylinder moves out to appropriate location, and the double rod hydraulic cylinder piston rod of first crossbeam telescopic drive dual Piston stops stretching out, Hydraulic oil makes the second spiral rotary actuator start to rotate backward, when the first casing rotates backward to its spacer pin and cantilever sky During another end in contact of the spacing arc groove of heart multidiameter connecting plate, carry cylinder of rail and rotate backward 90 °, the second spiral rotary actuator Stopping rotates backward, and the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize；First crossbeam telescopic drive dual-active The double rod hydraulic cylinder piston rod of plug starts to retract, and makes two the first tumblers and carries cylinder of rail inward to Fig. 1 institute Show position, the double rod hydraulic cylinder piston rod of first crossbeam telescopic drive dual Piston stops retracting；
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, raising drives dual Piston double Rod hydraulic cylinder piston rod starts to stretch out, and jack up unit is entrusted pick-and-place sleeper device and risen to suitable height, and hydraulic oil makes many The extension sleeve of the flexible shell type oil cylinder of level is retracted step by step, makes the second ladder square tube shape telescopic arm entrust jack up unit inward, Jack up unit moves to position shown in Fig. 1, and raising drives the double rod hydraulic cylinder piston rod of dual Piston to stop stretching out, and multistage stretches The first order extension sleeve of contracting shell type oil cylinder stops retracting, and handling is well placed sleeper work and completes；
8. 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 two-way ram oil cylinder piston Bar starts to stretch out, and the 6th square tube shape telescopic arm entrusts the second tumbler and crawl and swivel block device moves out, as the 6th side When tubular telescopic arm extend out to stop, second cross beam telescopic drive two-way ram cylinder piston rod stops stretching out, and hydraulic oil makes Second spiral rotary actuator starts to rotate forward, make the second casing entrust crawl and swivel block device rotate forward 90 °, second Spiral rotary actuator stops stopping and rotates forward, and the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, Second cross beam telescopic drive two-way ram cylinder piston rod starts to retract, and pulls the 6th square tube shape telescopic arm to start to retract, makes 6th square tube shape telescopic arm entrusts the second tumbler and crawl and swivel block device inward, when gripper two pressing plates to During interior motion most intimate friend's sleeper both sides appropriate location, position shown in Figure 47, second cross beam telescopic drive two-way ram oil cylinder piston Bar stops retracting, and hydraulic oil makes hydraulic cylinder piston rod start to stretch out, so that first connecting rod and second connecting rod is promoted respectively and symmetrically set Two the second forks put swing in opposite directions, and the roller being articulated with the second fork ears ring pushes down pressing plate, and roller rolls and makes pressing plate gram The pulling force taking two cylindrically coiled springs makees translation, and two in-parallel four-bar mechanism forward directions swing, when two platen clamp rails During pillow, the middle position of solenoid directional control valve makes hydraulic jack pressurize；
Hydraulic oil makes the double rod hydraulic cylinder piston rod of first crossbeam telescopic drive dual Piston start to stretch out, and makes two the One tumbler and carry cylinder of rail and move out to appropriate location, the double rod hydraulic jack of first crossbeam telescopic drive dual Piston Piston rod stops stretching out, and the second bolt rotary actuator starts to rotate forward, and makes to carry cylinder of rail and rotates forward 90 °, the second spiral shell Rotation rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, and first is horizontal The double rod hydraulic cylinder piston rod of beam telescopic drive dual Piston starts to retract, and makes the 5th square tube shape telescopic arm entrust the first rotation Device and when carrying cylinder of rail inward to its cylinder body and rail lower flange contacts side surfaces, below its gusset upper surface and rail Contact, the double rod hydraulic cylinder piston rod of first crossbeam telescopic drive dual Piston stops retracting；
Hydraulic oil makes to carry cylinder of rail piston rod and starts to stretch out, and makes rail jack-up, the middle position of solenoid directional control valve makes to carry 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 two-way ram cylinder piston rod start Retract, make gripper promote sleeper inward, during position, second cross beam stretches to shown in Fig. 1 to have made sleeper inward Two-way ram cylinder piston rod is driven to stop retracting, hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, machine Machinery claw makes sleeper rotate backward 90 °, and 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 second cross beam telescopic drive two-way ram cylinder piston rod start to stretch out, and makes the Six square tube shape telescopic arms entrust the second tumbler and crawl and swivel block device moves out to appropriate location, and second cross beam stretches Two-way ram cylinder piston rod is driven to stop stretching out；Hydraulic oil makes the second spiral rotary actuator start to rotate backward, and makes Crawl entrusted by second casing and swivel block device rotates backward 90 °, and the second spiral rotary actuator stops rotating backward, and electromagnetism changes Make the second spiral rotary actuator pressurize to the middle position of valve, second cross beam telescopic drive two-way ram cylinder piston rod starts Retract, make the 6th square tube shape telescopic arm entrust the second tumbler and crawl and swivel block device inward to position shown in Fig. 1, Second cross beam telescopic drive two-way ram cylinder piston rod stops retracting；
Hydraulic oil makes to propose the retraction of cylinder of rail piston rod, and rail falls to original position, and the middle position of solenoid directional control valve makes to carry rail oil Cylinder pressurize, hydraulic oil makes the double rod hydraulic cylinder piston rod of the flexible dual Piston of first crossbeam start to stretch out, and makes two the 5th sides Tubular telescopic arm is entrusted two the first tumblers respectively and is carried cylinder of rail and move out to appropriate location, and first crossbeam stretches double The double rod hydraulic cylinder piston rod of piston type stops stretching out, and hydraulic oil makes the second spiral rotary actuator start to rotate backward, Make to carry cylinder of rail and rotate backward 90 °, the second spiral rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes second Spiral rotary actuator pressurize；The double rod hydraulic cylinder piston rod of the flexible dual Piston of first crossbeam starts to retract, and makes two First tumbler and carry cylinder of rail inward to position shown in Fig. 1, first crossbeam stretches the double rod hydraulic oil of dual Piston Cylinder piston rod stops retracting, and has advanced sleeper end-of-job；
9. nut work is installed：Engineering truck traction track car moves to right, by the firm rail of pattern recognition system automatic identification sleeper The number of outer bolt image, makes railcar move to right four sleeper pitches, four are left wide-mouth magnetic coupling box difference in nut Coaxial with four bolts on sleeper, hydraulic oil makes the 6th lifting drive the double rod hydraulic cylinder piston rod of dual Piston to start to stretch Go out, the 6th lowering or hoisting gear is entrusted two nut assembling and disassembling devices and declined, when drop to the nut in interior wide-mouth magnetic coupling box with Switched tracks pillow threaded bolt contacts, position shown in Figure 34, and the 6th lifting drives the double rod hydraulic cylinder piston rod of dual Piston to stop stretching Go out, hydraulic oil makes two the first spiral rotary actuators start positive synchronous axial system, drive two circular connecting plates to hold in the palm respectively Two internal gears of band rotate forward, and each internal gear is engaged with two gears simultaneously, drive two drive axis, make in four Wide-mouth magnetic coupling box forward direction synchronous axial system, the nut in four interior wide-mouth magnetic coupling boxs synchronously screws in four spiral shells of sleeper Bolt pretension, two the first spiral rotary actuators stop rotating forward, and hydraulic oil makes the 6th lifting drive dual Piston double Rod hydraulic cylinder piston rod starts to retract, and the 6th lowering or hoisting gear is entrusted two nut assembling and disassembling devices and risen to position shown in Fig. 1, 6th lifting drives the double rod hydraulic cylinder piston rod of dual Piston to stop retracting, and installs nut work and completes；
10. ballast backfilling working：Journey car traction track car moves to right, the image information of cmos image sensor collection, passes through The number of pattern recognition system automatic identification sleeper firm rail outer bolt image, makes railcar move to right four sleeper pitches, ballast collection Arranging device is located at directly over the pillow that switched tracks, and the second dither motor is started working, and stone removing door two drives cylinder piston rod to open Beginning stretches out, and promotes two the first pull bars and two the second pull bars respectively, makes two stone removing door synchronous hunting to shown in Figure 15 Position, the ballast in stone storehouse to be collected rushes down to fall completely and switches tracks between the sleeper of pillow both sides, and the second dither motor quits work, row Crossdrift two drives cylinder piston rod to start to retract, and pulls two the first pull bars and two the second pull bars respectively, makes two Stone removing door synchronous hunting completes to position shown in Fig. 1, ballast backfilling working；
11. road shoulders and railway roadbed correction of the flank shape work：Engineering truck traction track car moves to right, by pattern recognition system automatic identification rail Rest the head on the number of firm rail outer bolt image, make railcar move to right two sleeper pitches, bucket device is located on the pillow end of the pillow that switched tracks Side, hydraulic oil makes the first telescopic drive two-way ram cylinder piston rod start to stretch out, and promotes the second square tube shape telescopic arm to stretch out, Second square tube shape telescopic arm is entrusted bucket device and is moved out, second laser displacement sensor its with second range finding reference plate Displacement signal, to control the first telescopic drive two-way ram oil cylinder and the work of bucket hydraulic jack, hydraulic oil makes the simultaneously Two liftings drive the double multi-stage expansion sleeve stretching out oil cylinder two ends of double multi-stage expansion shell types to start to stretch out step by step, the second lowering or hoisting gear Entrust bucket device to decline, it is measured by the 3rd laser displacement sensor and drives double multi-stage expansion shell types pair to stretch with the second lifting Go out the displacement signal of oil cylinder, to control the second lifting to drive double multi-stage expansion shell types pair to stretch out oil cylinder and bucket hydraulic jack work Make, when the bucket tooth of bucket is close to road shoulder ballast, bucket hydraulic cylinder piston rod stretches out, and promotes link motion, makes bucket positive Swing suitable angle, be easy to during shoulder correction of the flank shape combine in unnecessary ballast in bucket, when bucket moves to shoulder base angle, first stretches Contracting drives two-way ram cylinder piston rod to stop stretching out, and the double multi-stage expansion shell types of the second lifting driving are double to stretch out oil cylinder two ends Final stage extension sleeve stops stretching out, position shown in Fig. 8, and hydraulic oil makes the first telescopic drive two-way ram cylinder piston rod start Retract, pull the second square tube shape telescopic arm to retract, the second square tube shape telescopic arm entrusts bucket inward, the second lifting simultaneously is driven The multi-stage expansion sleeve at dynamic double multi-stage expansion shell type two ends is retracted step by step, and the second lowering or hoisting gear is entrusted bucket device and risen, and first Telescopic drive two-way ram cylinder piston rod and the second lifting drive the multi-stage expansion sleeve at double multi-stage expansion shell type two ends to open Begin to coordinate to retract, the stringcourse making the movement locus of bucket bucket tooth take on for isosceles trapezoid road, enters trade shoulder correction of the flank shape, when bucket moves to When bucket tooth is to railway roadbed upper surface, the second lifting drives the double multi-stage expansion sleeve stretching out oil cylinder two ends of double multi-stage expansion shell types to stop Retract, road shoulder correction of the flank shape terminates, the first telescopic drive two-way ram cylinder piston rod continues to retract, the movement locus of bucket bucket tooth For straight line, bucket hydraulic cylinder piston rod is slowly retracted simultaneously, pulls link motion, makes the slow backswing of bucket, make to combine in Ballast in bucket gushes, and to repair pillow end railway roadbed, when bucket bucket tooth is close to pillow end, bucket hydraulic cylinder piston rod stops work Make, the second lifting drives the double multi-stage expansion sleeve stretching out oil cylinder two ends of double multi-stage expansion shell types to start to retract step by step, second liter When falling unit is entrusted bucket device and risen to position shown in Fig. 1, the first telescopic drive two-way ram cylinder piston rod stops contracting Return, the second lifting drives the double chopped-off head extension sleeve stretching out oil cylinder two ends of double multi-stage expansion shell types to stop retracting, and switched tracks pillow pillow End road shoulder and railway roadbed correction of the flank shape end-of-job；
12. tamping flat quarrel work：Engineering truck traction track car moves to right, by pattern recognition system automatic identification sleeper rail The number of outer bolt image, makes railcar move to right a sleeper pitch, and two row's vibrating spears are located at and have switched tracks between the sleeper of pillow both sides, figure Position shown in 3, hydraulic oil makes the first lifting drive the double rod hydraulic cylinder piston rod of dual Piston to start to stretch out, promote respectively with Two the first square tube shape telescopic arms that it is connected synchronously stretch out, and the first lowering or hoisting gear is entrusted the assembly that vibrates and declined, and swashs by first Optical displacement sensor measures the displacement signal of itself and entablature, to control the first lifting to drive the double rod hydraulic jack of dual Piston Piston rod and the work of the first dither motor, when ballast between the sleeper of both sides is rested the head on close to switching tracks in vibrating spear free end, first Dither motor is started working, and oscillating plate drives two row's vibrating spear dithers, and the first lifting drives the double rod of dual Piston Hydraulic cylinder piston rod continues to stretch out, the first lowering or hoisting gear entrust two row's vibrating spears insertion railway roadbed ballast appropriate depth, first liter Fall drives the double rod hydraulic cylinder piston rod of dual Piston to stop stretching out, position shown in Fig. 4, and the first dither motor continues work Make to shake at ordinary times to the ballast tamping between the sleeper of pillow both sides that switched tracks, the first dither motor quits work, and hydraulic oil makes first Lifting drives the double rod hydraulic cylinder piston rod of dual Piston to start to retract, and pulls two the first square tube shapes being connected with it respectively Telescopic arm is synchronously retracted, and the first lowering or hoisting gear is entrusted the assembly that vibrates and risen to position shown in Fig. 1, and the first lifting drives dual Piston Double rod hydraulic cylinder piston rods stop retracting, and oil pump quits work, and switched tracks tamping flat quarrel end-of-job between the sleeper of pillow both sides.
Symmetrically set in first lowering or hoisting gear, the 3rd lowering or hoisting gear, the 5th lowering or hoisting gear, the 6th lowering or hoisting gear and jack up unit Two parallelogram lindages put, make corresponding entablature parallel all the time with sill, to adapt to straight line and curved rail length section Change the corresponding work of pillow；Symmetrically arranged two first series connection parallel four-bar machines in second lowering or hoisting gear and the 4th lowering or hoisting gear Structure, makes corresponding elevating mechanism entablature parallel all the time with sill, changes the corresponding work of pillow to adapt to straight line and curved rail length section Make；Second series connection parallelogram lindage makes plate shape entablature parallel with sill all the time, so that servo-actuated Equipoising support apparatus is adapted to straight The corresponding work of pillow is changed in line and curved rail length section；In reciprocator, symmetrically arranged two parallelogram lindages, make shifting Dynamic crossbeam is parallel with eighth tubular fixed arm all the time, makes storage sleeper case make translation；Storage sleeper case is made to make translation；Elasticity connection Axial organ and interior wide-mouth nut can effectively adapt to sleeper bolt position deviation, make interior wide-mouth nut easily screw on sleeper bolt；
Two linear Stiffness amount of spring compression in position shown in Fig. 1, servo-actuated Equipoising support apparatus are minimum, elastic force Less, now symmetrically arranged 6th fork and the second strut are maximum with entablature angle, and two springs are divided by two slide blocks The power on the 6th fork and the second strut that do not act on is more than its more small power, and the 6th fork and the second strut act on plate shape The vertical component of entablature power is big, makes servo-actuated Equipoising support apparatus bear the deadweight of plate shape entablature and stretches with double multi-stage expansion shell types pair Go out the summation of part deadweight of oil cylinder and balance, servo-actuated Equipoising support apparatus lift with lowering or hoisting gear and balance, in position shown in Fig. 8 Put, two linear Stiffness amount of spring compression are maximum, elastic force is maximum, now symmetrically arranged 6th fork and the second strut with Entablature angle is minimum, two springs pass through the power that two slide blocks are respectively acting on the 6th fork and the second fork be less than maximum The vertical component that elastic force, the 6th fork and the second strut act on plate shape entablature power is less, makes servo-actuated Equipoising support apparatus Bear the deadweight of plate shape entablature and the double summation of part deadweight stretching out oil cylinder of double multi-stage expansion shell type and balance, it is to avoid be double multistage The double multi-stage sleeve stretching out oil cylinder of flexible shell type bears moment of flexure.

Claims (1)

1. a kind of railroad sleeper automatic exchange equipment possessing image identification function it is characterised in that：It is by tamping flat quarrel dress Put, road shoulder and railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, pillow end clear stone device, chain tooth row stone device, four Nut synchronization assembling and disassembling device, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, generator, hydraulic system and control System cabine processed and railcar composition；Railcar is provided with multiple castors and two longerons, tamping flat quarrel device, road shoulder and railway roadbed correction of the flank shape Device, clear stone device of grabbing bucket, ballast collection arranging device, pillow end clear stone device, chain tooth row stone device, four nuts synchronization assembling and disassembling devices, First rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, generator and the setting of Hydraulic system and control System cabine On two longerons of in rail car, railcar is drawn by engineering truck, and generator is oil pump and control system provides power, hydraulic pressure system It is provided with fuel tank, oil pump, hydraulic control system and automatic control system in system and control system case；
Described tamping is put down quarrel device and is made up of entablature, the first lowering or hoisting gear and the assembly that vibrates, and entablature is provided with two connections Plate, connecting plate is provided with several bolts hole；
The first described lowering or hoisting gear is by sill assembly, the first lifting drive, symmetrically arranged two parallel four-bars Mechanism and first laser displacement transducer composition；
Described sill assembly is made up of the first square tube shape fixed arm and two the first square tube shape telescopic arms, the first square tube shape Fixed arm is provided with symmetrical two long slot bore, and the first square tube shape telescopic arm is provided with blind end and two monaural rings；
The first described lifting drive is by the first square tube shape fixed arm, the double rod hydraulic jack of dual Piston and two the One square tube shape telescopic arm composition, the cylinder body of the double rod hydraulic jack of dual Piston is provided with square flange, piston rod free end sets There is ring flange；
Described parallelogram lindage is made up of the first square tube shape telescopic arm, two forks and entablature；
Two the first square tube shape telescopic arms are sheathed thereon from the double rod hydraulic jack two ends of dual Piston respectively, make first party Double rod hydraulic cylinder piston rod ring flanges are connected tubular telescopic arm blind end with dual Piston, and the first square tube shape fixed arm is sheathed On two the first square tube shape telescopic arms, the double rod hydraulic jack square flange of dual Piston is made symmetrically to be fixed on the first square tube On shape fixed arm endoporus upper surface, form the first lifting drive；
By one end of two forks respectively with the first square tube shape telescopic arm chain connection, the other end of two forks respectively with upper horizontal stroke Beam chain connection, forms parallelogram lindage, is symmetrical in entablature 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, forms first Lowering or hoisting gear；
The described assembly that vibrates be by entablature, several first elastic connecting component, oscillating plate, eight vibrating spears, eight first Hex nut and the first dither motor composition, the first elastic connecting component is by bolt, two helical springs, pads and six Angle nut composition, oscillating plate is provided with several bolts hole and eight circular holes；
Bolt is passed through entablature connecting plate bolt hole, helical spring is sheathed on bolt, then passes through oscillating plate bolt hole, Again another helical spring is sheathed on bolt, pad is sheathed on bolt, hex nut pretension, oscillating plate is real with entablature Existing elastic connection；Vibrating spear passes through oscillating plate circular hole, the first hex nut pretension, and the first dither motor is symmetrically fixed on and shakes Above dynamic plate, the first square tube shape fixed arm is symmetrically fixed on two longerons of railcar, composition tamping flat quarrel device；
Described road shoulder and railway roadbed modification device are by the first entablature assembly, the first retractable driving device, the second lowering or hoisting gear With bucket device composition；
The first described entablature assembly is to be passed by the second square tube shape fixed arm, the second square tube shape telescopic arm, second laser displacement Sensor and the second range finding reference plate composition, the second square tube shape fixed arm is provided with blind end and four ears rings, and the second square tube shape is stretched Contracting arm is provided with blind end；
The first described retractable driving device is to be stretched by the second square tube shape fixed arm, two-way ram oil cylinder and the second square tube shape Arm forms, and two-way ram cylinder block is provided with square slider and ring flange, piston rod free end are provided with ring flange；
Second square tube shape telescopic arm is sheathed on two-way ram oil cylinder, makes the second square tube shape telescopic arm blind end and double acting Piston oil-cylinder piston rod ring flange is connected, then the second square tube shape fixed arm is sheathed on the second square tube shape telescopic arm, and will be double Effect piston oil-cylinder ring flange is symmetrically fixed on the second square tube shape fixed arm blind end, forms the first retractable driving device, double cropping Form moving sets with piston oil-cylinder and the second square tube shape telescopic arm, second laser displacement transducer is symmetrically fixed on the second square tube Above shape fixed arm, the second range finding reference plate is fixed on above the second square telescopic arm；
The second described lowering or hoisting gear be by two first series connection parallelogram lindages, the second lifting drive, with dynamic balancing Support meanss and the 3rd laser displacement sensor composition；
The first described series connection parallelogram lindage is by sill, the first fork, the second fork, two the 3rd forks, the first companies Bar and the second square tube shape fixed arm composition, first connecting rod is provided with monaural ring and ears ring；
The second described lifting drive stretches out oil cylinder by double multi-stage expansion shell types pair and two first connecting rods form, double many The double two final stage extension sleeve free ends stretching out oil cylinder of the flexible shell type of level are provided with monaural ring；
Described servo-actuated Equipoising support apparatus are by plate shape entablature, the second series connection parallelogram lindage, the first strut, the second support Bar, slide bar, two slide blocks, two turriform linear Stiffness springs, two hex nuts, two the second bolts and two the 3rd spiral shells Bolt forms, and slide bar is provided with fixed disc, is arranged with two light bar segments and two thread segments；Slide block be provided with circular hole and a pair with Axle thread blind hole；
The second described series connection parallelogram lindage is by plate shape entablature, sill, the 4th fork, the 5th fork, the 6th pendulum Bar, the 7th fork, two second connecting rods and two bearing pin compositions；
By the first fork and sill chain connection, chain connection between the second fork, the 4th fork and three components of sill, the One fork ears ring, the 3rd fork ears ring and first connecting rod monaural ring coaxially penetrate pin hinge and connect, the second fork ears Ring, another the 3rd fork ears ring, first connecting rod ears ring and double multi-stage expansion shell type pair are stretched out oil cylinder monaural ring and are coaxially worn Enter pin hinge connection, two the 3rd forks and the second square tube shape fixed arm chain connection, composition the first series connection parallel four-bar machine Structure, repeats aforementioned assembly operation, is symmetrical in sill and the second square tube shape fixed arm vertical plane of symmetry assembles another the first string Connection parallelogram lindage；
Two turriform linear Stiffness springs are sheathed on respectively two light bar segments of slide bar, then two slide blocks are sheathed on respectively Two light bar segments of slide bar, two hex nut pretensions respectively, make two slide blocks make turriform linear Stiffness spring suitable respectively Compression, the 5th fork and sill chain connection make the left side monaural ring of two second connecting rods double with the 4th fork respectively A pair of tapped blind hole of earrings, the 6th fork ears ring and slide block is coaxial, two the first bolts pretensions respectively, make the 4th fork, Chain connection between the 6th fork and three components of slide block, the right monaural ring of two second connecting rods is double with the 5th fork respectively Earrings, the 7th fork ears ring are coaxial, and two bearing pins respectively penetrate, and make second connecting rod, the 5th fork and three structures of the 7th fork Chain connection between part, the 6th fork and the 7th fork chain connection and between three components of plate shape entablature respectively, composition second string Connection parallelogram lindage；
A pair of tapped blind hole of the first strut ears ring, the second strut ears ring and slide block is coaxial, and two the second bolts are respectively Pretension, makes chain connection between the first strut, the second strut and three components of slide block, the 6th fork, the 7th fork and the second strut With plate shape entablature chain connection, form servo-actuated Equipoising support apparatus；
Double multi-stage expansion shell types pair are stretched out oil cylinder be symmetrically fixed on plate shape entablature, by four the 3rd forks and the second square tube Shape fixed arm chain connection, the 3rd laser displacement sensor is symmetrically fixed on below the second square tube shape fixed arm, forms second Lowering or hoisting gear；
Described bucket device is made up of the first bucket assembly, arm and U-shaped suspension rod, and arm is provided with monaural ring, the first ears Ring, the second ears ring and ring flange；
The first described bucket assembly is made up of hydraulic jack, strut, connecting rod and bucket body, the piston rod free end of hydraulic jack It is provided with monaural ring, cylinder body is provided with monaural ring；Strut is provided with ears ring and monaural ring；Connecting rod is provided with monaural ring and ears ring, Bucket body is provided with the first ears ring and the second ears ring；
Cylinder body of hydraulic oil cylinder monaural ring is coaxially penetrated pin hinge with arm the second ears ring be connected, strut monaural ring and arm First ears ring coaxially penetrates pin hinge and connects, and bucket body the second ears ring and arm monaural ring coaxially penetrate pin hinge even Connect, connecting rod monaural ring coaxially penetrates pin hinge with bucket body the first ears ring and is connected, connecting rod ears ring, strut ears ring and hydraulic pressure The monocyclic pin hinge that coaxially penetrates of cylinder piston rod connects, and forms the first bucket assembly, and U-shaped suspension rod is solid with arm ring flange Even, form bucket device, U-shaped suspension rod is fixed on the second square tube shape telescopic arm, composition road is takeed on and railway roadbed modification device；
Described grab bucket clear stone device is made up of entablature, two the 3rd lowering or hoisting gears and eight the first grab mechanisms, upper horizontal stroke Beam is provided with two longerons and two cantilever longitudinal beams；
The 3rd described lowering or hoisting gear and the composition of the first lowering or hoisting gear and version are the same, carry out and the first lowering or hoisting gear phase Same assembly operation, forms the 3rd lowering or hoisting gear；
The first described grab mechanisms are made up of two the second bucket assemblies and arm, arm be arranged with two monaural rings, Two the first ears rings, 2 second ears rings and ring flange；
Second bucket assembly and the first bucket assembly composition and version the same；
Two cylinder body of hydraulic oil cylinder monaural rings are coaxially penetrated pin hinge with two the second ears rings of arm respectively be connected, two Strut monaural ring coaxially penetrates pin hinge with two the first ears rings of arm respectively and is connected, and two bucket body the second ears rings are respectively Coaxially penetrate pin hinge with two monaural rings of arm to be connected, two connecting rod monaural rings are same with two bucket body the first ears rings respectively Axle penetrates pin hinge and connects, connecting rod ears ring, strut ears ring and hydraulic cylinder piston rod is monocyclic coaxially penetrates pin hinge Connect, form the first grab mechanisms, eight arm ring flanges are respectively symmetrically and are fixed on two longerons of entablature and two cantilevers On longeron, the composition clear stone device of grab bucket；
Described ballast collection arranging device is by cmos image sensor, casing, two stone removing doors, two collection crossdrifts, two row's stones Door drive, two collection crossdrift driving means, crossbeam, several second elastic connecting component, the second dither motors and two Individual end cap composition, crossbeam is provided with several bolts hole, and end cap is provided with sand discharge Tu Zui；
Described casing be provided with base plate, flechette-type bottom, two the first Ji Shicang, the second Ji Shicang, two square tube shape holes, two gradually Become isosceles trapezoid groove, four first convex stupefied and two second convex stupefied, base plate is provided with several bolts hole, and flechette-type bottom is provided with several Sieve aperture, the first Ji Shicang is provided with Pai Shikou and two Ji Shikou of symmetrical two, and the second Ji Shicang is provided with symmetrical two row's stone Mouth and two Ji Shikou, the first convex stupefied top and bottom are provided with symmetrical two ears ring, and the second convex stupefied top and bottom are provided with symmetrical two Individual ears ring, stone removing door is provided with two the first monaural rings and four the second monaural rings, collection crossdrift be provided with two the first monaural rings, four Individual second monaural ring and six spill plates；
Described stone removing door driving means drive oil cylinder, the first pull bar and the second pull bar to form by stone removing door, and first pushes away Pull bar is provided with the first ears ring and the second ears ring, and the second pull bar is provided with the first ears ring and the second ears ring；
Described collection crossdrift driving means drive oil cylinder, the 3rd pull bar and the 4th pull bar to form by collection crossdrift, and the 3rd pushes away Pull bar is provided with the first ears ring and the second ears ring, and the 4th pull bar is provided with the first ears ring and the second ears ring；
The second described elastic connecting component and the first Flexible Connector composition and version the same；
Stone removing door is driven cylinder piston rod monaural ring, first pull bar the first ears ring, second pull bar the first ears ring same Axle penetrates pin hinge and connects, and forms stone removing door driving means；
Crossdrift will be collected drives cylinder piston rod monaural ring, the 3rd pull bar the first ears ring, the 4th pull bar the first ears ring same Axle penetrates pin hinge and connects, composition collection crossdrift driving means；
By four the second monaural rings of stone removing door respectively with the ears ring of two the first convex stupefied lower surfaces, second convex stupefied following two Individual ears ring coaxially penetrates pin hinge and connects, and four the second monaural rings of collection crossdrift are first convex stupefied above double with two respectively Earrings, two ears rings of the second convex stupefied upper surface coaxially penetrate pin hinge and connect；
Stone removing door driving oil cylinder is respectively fixedly connected with the madial wall in two square tube shape holes, two first pull bar the second ears rings Be co-axially inserted pin hinge with two the first monaural rings of stone removing door respectively to be connected, two second pull bar the second ears rings respectively with Two the first monaural rings of another stone removing door are co-axially inserted pin hinge and connect, and drive oil cylinder to be respectively fixedly connected with two by collecting crossdrift On the lateral wall in square tube shape hole, two the 3rd pull bar the second ears rings are co-axially inserted with collection two the first monaural rings of crossdrift respectively Pin hinge connects, and two the 4th pull bar the second ears rings are co-axially inserted with two the first monaural rings of another stone removing door respectively Pin hinge connects, and two end caps are respectively fixedly connected with casing；
Bolt is passed through sill bolt hole, helical spring is sheathed on bolt, then passes through box bottom bolt hole, then will Another helical spring is sheathed on bolt, and pad is sheathed on bolt, hex nut pretension, and casing and crossbeam realize elasticity even Connect；Second dither motor is symmetrically connected on box bottom, and crossbeam is symmetrically fixed on two longerons of railcar, and CMOS schemes As sensor is fixed on below crossbeam, form ballast collection arranging device；
Described pillow end clear stone device is by the second entablature assembly, the second retractable driving device, the 4th lowering or hoisting gear, second grabs Bucket device and U-shaped bar composition；
The second described entablature assembly and the first entablature assembly composition and version the same, carry out and the first entablature group Part identical assembly operation, forms the second entablature assembly；
The second described retractable driving device forms with the first retractable driving device and version is the same, carries out flexible with first Driving means identical assembly operation, forms the second retractable driving device；
The 4th described lowering or hoisting gear and the second lowering or hoisting gear composition and version the same, carry out identical with the second lowering or hoisting gear Assembly operation, form the 4th lowering or hoisting gear；
The second described grab mechanisms and the first grab mechanisms composition and version the same, carry out identical with the first grab mechanisms Assembling, form the second grab mechanisms；
Arm ring flange is connected with U-shaped bar, then U-shaped bar is fixed on the second square tube shape telescopic arm, composition pillow end clear stone dress Put；
Described chain tooth row stone device is by the 3rd entablature assembly, the 3rd retractable driving device the 5th lowering or hoisting gear and chain tooth row Stone assembly forms；
The 3rd described entablature assembly is by third party's tubular fixed arm, two third party's tubular telescopic arms, the 4th laser positions Displacement sensor and the 4th range finding reference plate composition, third party's tubular fixed arm is provided with four ears rings, third party's tubular telescopic arm It is provided with blind end；
The 3rd described retractable driving device is the same with the composition of the first lifting drive, except aforesaid third party's tubular is fixed Arm and the first square tube shape fixed arm version is different, third party's tubular telescopic arm and the first square tube shape telescopic arm structure form Different, remaining all component structural form is the same；
Carry out and the first lifting drive identical assembly operation, form the 3rd retractable driving device, the 4th laser displacement passes Sensor is symmetrically fixed on above third party's shape fixed arm, and the 4th range finding reference plate is fixed on above third party's tubular telescopic arm；
The 5th described lowering or hoisting gear and the second lowering or hoisting gear composition and version the same, carry out identical with the second lowering or hoisting gear Assembly operation, form the 5th lowering or hoisting gear；
Described chain tooth row stone assembly is by double output shaft hydraulic motor, two yielding couplings, two chain tooth row stone parts, U Shape bar, eight C-shaped-rod and suspension bracket composition, U-shaped bar is provided with two circular flange disks and square flange, and C-shaped-rod is provided with the first method Blue disk and second flange disk, suspension bracket is provided with two first flange disks and eight second flange disks；
Described chain tooth row stone part is by square beam, sprocket wheel, sprocket wheel wheel shaft, inducer, inducer wheel shaft, four load-bearing Wheel, four BOGEY WHEEL wheel shafts, several chain tooth assembly sum bearing pins form, square beam be provided with the first ears ring, second pair Earrings and four the 3rd ears rings；
By square beam the first ears ring and sprocket coaxiality, penetrate sprocket wheel wheel shaft chain connection, square beam the second ears ring with Inducer is coaxial, penetrates inducer wheel shaft chain connection, square beam the 3rd ears ring is coaxial with BOGEY WHEEL, penetrates BOGEY WHEEL wheel Pivot hinge connects, and so that square beam, sprocket wheel, inducer and four BOGEY WHEELs is assembled into one；
Described chain tooth assembly is made up of sleeve and chain link；
Described chain link is made up of two bolts, two nuts, chain tooth plate, the first carrier bar and the second carrier bar, and chain tooth plate is provided with Two bolts hole and several equal strength sprocket, the first carrier bar is provided with the first monaural ring, the second monaural ring and the 3rd monaural ring, and second Carrier bar is provided with the first monaural ring, the second monaural ring and the 3rd monaural ring；
Will be coaxial to sprocket crab bolt hole and first carrier bar the second monaural ring, penetrate bolt, nut pretension, another bolt of chain tooth plate Hole and second carrier bar the second monaural ring are coaxial, penetrate bolt, nut pretension, form chain link, by the first carrier bar of the first chain link the One monaural ring, second chain link the first carrier bar the 3rd monaural ring, sleeve, second chain link the second carrier bar the 3rd monaural ring and the first chain link Second carrier bar the first monaural ring coaxially penetrates pin hinge and connects, and repeats aforementioned operation, until by hinged for several chain links one, will The square beam, sprocket wheel, inducer and four BOGEY WHEELs that are assembled into one are placed on it, will be single for the first carrier bar first of last chain link Earrings, first chain link the first carrier bar the 3rd monaural ring, sleeve, first chain link the second carrier bar the 3rd monaural ring and last chain link second Carrier bar the first monaural ring coaxially penetrates pin hinge and connects, and makes all chain tooth assembly chain connection annular integrative-structures, organizes chaining Tooth row stone part,
Double output shaft hydraulic motor double output shaft, two yielding couplings and two sprocket wheel wheel shafts are connected, U-shaped bar square flange Disk is fixed on the 3rd double output shaft hydraulic motor, and eight C-shaped-rod second flange disks are respectively symmetrically and are fixed on two square beams On, eight second flange disks of suspension bracket are connected with eight C-shaped-rod first flange disks respectively, two circular flange disks of U-shaped bar and suspension bracket Two first flange disks are respectively fixedly connected with third party's tubular telescopic arm, form chain tooth row stone device；
Described sleeper four nut synchronization assembling and disassembling device is by the 4th entablature assembly, the 6th lowering or hoisting gear and two nut assembly and disassembly Device forms；
The 4th described entablature assembly and sill assembly form the same, except aforesaid 4th square tube shape fixed arm orientation and the One 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 are different, its Remaining all component structural forms are the same；
The 6th described lowering or hoisting gear is to be swashed by the 6th lifting drive, symmetrically arranged two parallelogram lindages and the 5th Optical displacement sensor forms；
The 6th described lifting drive and the composition of the first lifting drive and version are the same；
Described parallelogram lindage is made up of sill, two forks and the 4th square tube shape telescopic arm, and sill is provided with four Individual ears ring and symmetrical two long slot bores；
Carry out and the first lifting drive identical assembly operation, form the 6th lifting drive；
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 lower horizontal stroke Beam chain connection, forms parallelogram lindage, is symmetrical in the vertical plane of symmetry assembling of the 4th square tube shape fixed arm and sill Another parallelogram lindage, the 5th laser displacement sensor is symmetrically fixed on below the 4th square tube shape fixed arm, composition the Six lowering or hoisting gears；
Described nut assembling and disassembling device be by two suspension rods, the first spiral rotary actuator, Shang Gai, circular connecting plate, first Hex nut, internal gear, two power transmission shafts, two gears, housing, two the first thrust bearings, two the second thrust bearings, two Individual second hex nut, two yielding couplings and two interior wide-mouth magnetic coupling box compositions, the first spiral swings hydraulic pressure horse Reach be provided with ring flange, its output shaft is provided with circular shaft section and six prism shaft parts, is above covered with axis hole, circular connecting plate is provided with six prisms Hole, power transmission shaft is provided with the first axle journal, the second axle journal, the 3rd axle journal, the 4th axle journal and thread segment, and housing is provided with ring flange and two Axis hole, interior wide-mouth magnetic coupling box is provided with axle journal；
Upper lid is sheathed on the first spiral rotary actuator output shaft circular shaft section, makes lid and the first spiral rotary actuator Ring flange is connected, more circular connecting plate is sheathed on the first spiral rotary actuator output shaft six prism shaft part, the first hexagonal Nut pretension, internal gear is coaxially connected with circular connecting plate, and geared sleeve is connected located at power transmission shaft first axle journal, the first thrust bearing It is sheathed on power transmission shaft second axle journal, power transmission shaft makes the first thrust bearing contact with housing through housing axis hole, the second thrust axis On power transmission shaft the 3rd axle journal, the second hex nut screws on power transmission shaft thread segment pretension to bearing sleeve, and yielding coupling makes power transmission shaft 4th axle journal is coaxially connected with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, the gear teeth flank of tooth of two gears Gear teeth face with internal gear respectively, upper lid is connected with shell flange disk, and one end of two suspension rods is symmetrically fixed on housing Both sides, form nut assembling and disassembling device, and the other end of two suspension rods is symmetrically fixed on two sides of the 4th square tube shape fixed arm, lower horizontal stroke Beam is fixed on two side rail inner faces of railcar, composition sleeper four nut synchronization assembling and disassembling device；
Described rail-lifting equipment be by first crossbeam telescopic component, first crossbeam retractable driving device, four connecting plates, two One tumbler, two box connectors and two carry rail hydraulic jack composition, and box connector is arranged with semicylindrical opening, carries Rail cylinder body of hydraulic oil cylinder is provided with gusset, piston rod free end is provided with fagging；
Described first crossbeam telescopic component is by the 5th square tube shape fixed arm, two the 5th square tube shape telescopic arms, the 6th laser Displacement transducer and the 6th range finding reference plate composition, the 5th square tube shape telescopic arm is provided with dividing plate；
Described first crossbeam retractable driving device is the same with the composition of the first lifting drive, except aforesaid 5th square tube shape Fixed arm and the first square tube shape fixed arm version is different, the 5th 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 the first lifting drive identical assembly operation, form first crossbeam retractable driving device；6th laser position Displacement sensor is symmetrically fixed on the 5th square tube shape fixed arm side, and the 6th range finding reference plate is fixed on the 5th square tube shape telescopic arm side Face；
The first described tumbler is by the 5th square tube shape telescopic arm, the second spiral rotary actuator, the hollow ladder of cantilever Axle, the first thrust bearing, the first casing, the second thrust bearing, the first hex nut, circular connecting plate, the second hex nut, end Lid and equi intensity cantilever composition, the second spiral rotary actuator output shaft is provided with thread segment and six prism shaft parts, and cantilever is empty Heart multidiameter is provided with thread segment, the first axle journal, the second axle journal, the 3rd axle journal and connecting plate, and connecting plate is provided with spacing arc groove, the One casing is provided with cantilever ladder axle sleeve and spacer pin, and cantilever multidiameter is arranged with the first axle sleeve, the second axle sleeve and the 3rd axle sleeve, end It is covered with bearing pin, circular connecting plate is provided with six prism holes, equi intensity cantilever is provided with pin shaft hole and ring flange；
Second spiral rotary actuator is fixed on the 5th square tube shape telescopic arm plate front end base plate, hollow cantilever multidiameter It is sheathed on the second spiral rotary actuator output shaft, make cantilever hollow multidiameter connecting plate be fixed on the 5th square tube shape and stretch Arm end face, the first thrust bearing is sheathed on the hollow multidiameter of cantilever the 3rd axle journal, and the first casing cantilever ladder axle sleeve is sheathed on On hollow cantilever multidiameter, the first thrust bearing is made to insert the first casing cantilever ladder axle sleeve the 3rd axle sleeve section, cantilever multidiameter Cover the second axle sleeve section to be sheathed on hollow multidiameter second axle journal, the second thrust bearing is sheathed on cantilever hollow multidiameter first axle On neck, insert cantilever ladder axle sleeve first axle set, the first hex nut screws on cantilever hollow multidiameter thread segment pretension, makes first Casing and cantilever hollow multidiameter chain connection, circular connecting plate is sheathed on the second spiral rotary actuator output shaft six prism Shaft part, makes circular connecting plate be fixed on the first casing cantilever ladder axle sleeve free end, and the second hex nut screws in the second spiral pendulum Hydrodynamic pressure motor output shaft thread segment pretension, makes the second spiral rotary actuator output shaft and the first casing be connected, end cap is solid It is connected on the first casing, equi intensity cantilever pin-and-hole is sheathed on end cap bearing pin, and equi intensity cantilever ring flange is fixed on the 5th Above square tube shape telescopic arm, form the first tumbler, repeat aforementioned assembly operation, assemble symmetrically arranged another first turn Dynamic device, two the first casings are fixed with one by four connecting plates respectively with two box connectors, and two are carried rail hydraulic oil Cylinder cylinder body is respectively fixedly connected with two box connector semicylindrical openings, forms rail-lifting equipment, will be symmetrical for the 5th square tube shape fixed arm It is fixed on two longerons of railcar；
Described swivel block and push-and-pull sleeper device be by second cross beam telescopic component, second cross beam retractable driving device, second turn Dynamic device, two the second connecting plates and crawl and swivel block device composition；
Described second cross beam telescopic component is by the 6th square tube shape fixed arm, the 6th square tube shape telescopic arm, the 7th laser displacement Sensor and the 7th range finding reference plate composition, the 6th square tube shape fixed arm is provided with blind end, the 5th square tube shape telescopic arm be provided with every Plate；
As described second cross beam retractable driving device is formed with the first retractable driving device, except aforementioned 6th square tube shape is fixed Arm and the second square tube shape fixed arm version is different, the 6th square tube shape telescopic arm and the second square tube shape telescopic arm structure form Different, remaining all component structural form is the same；
Carry out and the first retractable driving device identical assembly operation, form second cross beam retractable driving device, the 7th laser position Displacement sensor is symmetrically fixed on the 6th square tube shape fixed arm side, and the 7th range finding reference plate is fixed on the 6th square tube shape telescopic arm side Face；
The second described tumbler form with the first tumbler and version as, carry out identical with the first tumbler Assembly operation, form the second tumbler；
Described crawl and swivel block device are by the second casing, the 3rd spiral rotary actuator, hydraulic jack, the first thrust axis Hold, the second thrust bearing, the 3rd hex nut, piston, piston rod, ladder U-bracket, first connecting rod, second connecting rod, two Two forks, two rollers, end cap and two mechanical gripper device compositions, the second casing be provided with the first circular hole portion, fan-shaped hole section, second Circular hole portion, axle sleeve section and the 3rd circular hole portion, the 3rd spiral rotary actuator output shaft fixed connection ring flange, ring flange is provided with spacing Fan-shaped boss, fan-shaped hole section is provided with the first confined planes and the second confined planes, hydraulic jack be provided with ring flange, the first axle journal, second Axle journal and the 3rd axle journal, ring flange is provided with spacing sector boss, and piston is provided with axis hole, and piston rod is provided with axle journal and ears ring, rank Terraced U-bracket is provided with flange, axis hole, two slotted eyes, two pin-and-holes, four the first monaural rings and eight the second monaural rings, and first Connecting rod is provided with ears ring and monaural ring, and second connecting rod is provided with two ears rings, and the second fork is provided with 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 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 hydraulic jack the 3rd axle journal so as to insert the second casing the 3rd circular hole portion section, piston Bar passes through ladder U-bracket axis hole, and piston shaft hole sleeve, located at piston rod axle journal, the 3rd hex nut pretension, piston is inserted liquid In compressing cylinder cylinder barrel, ladder U-bracket flange is penetrated hydraulic jack cylinder barrel and is connected, make oil cylinder second axle journal and the first casing axle Set section chain connection, piston rod ears ring, second connecting rod ears ring and first connecting rod monaural ring are coaxially penetrated pin hinge even Connect, the second fork ears ring coaxially penetrates pin hinge with roller and is connected, the second fork pin-and-hole is coaxial with ladder U-bracket pin-and-hole Penetrate pin hinge to connect, first connecting rod ears ring and second connecting rod ears ring are coaxially worn with two the first fork monaural rings respectively Enter pin hinge to connect；
The ears ring of four the second forks coaxially penetrates pin hinge with four the second monaural rings of ladder U-bracket respectively and is connected, Another ears ring of four the second forks coaxially penetrates pin hinge with four the second monaural rings of pressing plate respectively and is connected, two circles Cylindrical spring one end is connected with ladder U-bracket two first monaural rings respectively, two helical spring other ends respectively with pressure Two the first monaural rings of plate are connected, and form gripper, the pulling force of two helical springs, so that the roller being articulated with the first fork is begun Contact with pressing plate eventually, repeat aforementioned assembly operation, assemble another gripper, composition crawl and swivel block device；
First casing is fixed with one by two connecting plates with the second casing, forms 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 8th laser displacement sensor composition；
The 3rd described crossbeam telescopic component is made up of the 7th square tube shape fixed arm and two the 7th square tube shape telescopic arms, and the 7th Square tube shape fixed arm is provided with symmetrical two long slot bore, and the 7th square tube shape telescopic arm is provided with blind end and two monaural rings；
As the composition of described reciprocating movement driving device and the first lifting drive, except aforesaid 7th square tube shape is fixed Arm orientation and the first square tube shape fixed arm orientation is different, the 7th 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 7th square tube shape telescopic arm, two forks and moving beam, and moving beam is provided with Two rollers；
Carry out and the first lifting drive identical assembly operation, form reciprocating movement driving device；
By one end of two forks respectively with the 7th 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 7th 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 7th square tube shape fixed arm, makes mobile horizontal stroke Two rollers of beam are contacted with plate upper surface, and the 8th laser displacement sensor is symmetrically fixed on the 7th square tube shape fixed arm side Face, forms reciprocator；
Base plate is fixed on track car crossbeam, the 5th square tube shape fixed arm and the 6th square tube shape 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 9th 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, make the second 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 9th 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 5th entablature assembly, raising driving means, symmetrically arranged two parallelogram lindages Form with the tenth laser displacement sensor；
The 5th described entablature assembly is made up of eighth tubular fixed arm and two eighth tubular telescopic arms, eighth cylinder Shape fixed arm is provided with symmetrical two long slot bore and two ears rings, and eighth tubular telescopic arm is provided with blind end and two monaurals Ring；
Described raising driving means are the same with the composition of the first lifting drive, except aforementioned eighth tubular fixed arm and One square tube shape fixed arm version is different, eighth tubular 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 eighth tubular telescopic arm, two forks and sill, and sill is provided with two Individual circular hole；
Carry out and the first lifting drive identical assembly operation, form raising driving means；
By one end of two forks respectively with eighth tubular telescopic arm chain connection, the other end of two forks respectively with lower horizontal stroke Beam chain connection, forms parallelogram lindage, repeats aforementioned assembly operation, is symmetrical in eighth tubular fixed arm and sill The vertical plane of symmetry assembles another parallelogram lindage, the tenth laser displacement sensor is symmetrically fixed on eighth tubular and fixes Below 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 eighth tubular fixed arm are coaxial with two monaural rings of the second ladder square tube shape telescopic arm respectively Bolt connection, forms sleeper handling apparatus.
CN201610968889.1A 2016-11-06 2016-11-06 Railway sleeper automatic replacement device with image identification function Pending CN106436508A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610968889.1A CN106436508A (en) 2016-11-06 2016-11-06 Railway sleeper automatic replacement device with image identification function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610968889.1A CN106436508A (en) 2016-11-06 2016-11-06 Railway sleeper automatic replacement device with image identification function

Publications (1)

Publication Number Publication Date
CN106436508A true CN106436508A (en) 2017-02-22

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610968889.1A Pending CN106436508A (en) 2016-11-06 2016-11-06 Railway sleeper automatic replacement device with image identification function

Country Status (1)

Country Link
CN (1) CN106436508A (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5722325A (en) * 1994-09-14 1998-03-03 Harsco Corporation Tie guide and plate holding apparatus
US20020129729A1 (en) * 2001-03-16 2002-09-19 Nordco Inc. Rail tie replacement method and apparatus
US20030005850A1 (en) * 2001-03-16 2003-01-09 Nordco Inc. Combined tie extractor and plate remover for rail maintenance
EP2431522A1 (en) * 2010-09-15 2012-03-21 GSG Knape Gleissanierung GmbH Method and device for manufacturing or renovating a railway track and device for same
CN104179095A (en) * 2014-09-04 2014-12-03 昆明学院 Mechanization sleeper replacement device
CN104195904A (en) * 2014-09-04 2014-12-10 昆明学院 Mechanical sleeper replacing machine

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5722325A (en) * 1994-09-14 1998-03-03 Harsco Corporation Tie guide and plate holding apparatus
US20020129729A1 (en) * 2001-03-16 2002-09-19 Nordco Inc. Rail tie replacement method and apparatus
US20030005850A1 (en) * 2001-03-16 2003-01-09 Nordco Inc. Combined tie extractor and plate remover for rail maintenance
EP2431522A1 (en) * 2010-09-15 2012-03-21 GSG Knape Gleissanierung GmbH Method and device for manufacturing or renovating a railway track and device for same
CN104179095A (en) * 2014-09-04 2014-12-03 昆明学院 Mechanization sleeper replacement device
CN104195904A (en) * 2014-09-04 2014-12-10 昆明学院 Mechanical sleeper replacing machine

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