CN106522045A - Sleeper replacement machine with reciprocating motion device - Google Patents

Abstract

The invention discloses a sleeper replacement machine with a reciprocating motion device. The sleeper replacement machine is composed of a sleeper lifting device, a sleeper turning and sleeper pushing and pulling device, a sleeper overhead hoist device, a generator, a hydraulic system and control system case and a railway car. The railway car is provided with a plurality of casters and two carlings. The sleeper lifting device, the sleeper turning and sleeper pushing and pulling device, the sleeper overhead hoist device, the generator and the hydraulic system and control system case are arranged on the two carlings of the railway car. The railway car is pulled by an engineering car. The generator supplies power to an oil pump and a control system. An oil case, the oil pump, a hydraulic control system and an automatic control system are arranged in the hydraulic system and control system case. According to the sleeper replacement machine, a working device can be aligned with a working position automatically and rapidly; the sleeper replacement machine can adapt to the corresponding work of straight and curve railway section sleeper replacing; and the sleeper turning and sleeper pushing and pulling device is an integrated device, so that the structure is simple, the control is automatic, operation is convenient, and sleeper replacing working efficiency is high.

Description

A kind of sleeper relaying machine with reciprocator

Technical field

The present invention relates to a kind of railway maintenance machinery, more particularly to a kind of sleeper relaying machine with reciprocator.

Background technology

Railroad sleeper during prolonged use, due to natural subsidence and vibration due to, under the sleeper of railway local Heavy, needs are conserved, and indivedual sleepers are damaged, and are needed to change in time, during sleeper replacement, using manual work, are taken When laborious, inefficiency, it is impossible to (be commonly called as in effective train passage gap：Skylight) in complete work.

The content of the invention

It is an object of the invention to provide a kind of sleeper relaying machine with reciprocator.

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

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

The first described telescopic component is by the first square tube shape fixed arm, two the first square tube shape telescopic arms, first lasers Displacement transducer and the first range finding reference plate composition, the first square tube shape telescopic arm are provided with blind end, two symmetrical grooves, and groove sets There is bolt hole；

The first described retractable driving device is by the first square tube shape fixed arm, double output shaft hydraulic motor, two elasticity connection Axle device, two monaural ring bearings, left-handed screw, left-handed square nut, right handed screw, dextrorotation square nut, two square sliders, Four the second bolts, two the second hex nuts and two the first square tube shape telescopic arms composition, right handed screw be provided with the first axle journal, Second axle journal and the 3rd axle journal, as right handed screw version, dextrorotation square nut is provided with two symmetrically together to left-handed screw Axle thread blind hole, as dextrorotation square nut version, square slider is provided with axis hole to left-handed square nut；

Monaural ring bearing is sheathed on the second axle journal of right handed screw, yielding coupling by the first axle journal of right handed screw and The right-hand member output shaft fixed connection of double output shaft hydraulic motor, dextrorotation square nut screw on right handed screw appropriate location, square slider set On the 3rd axle journal of right handed screw, the second hex nut pretension, the first square tube shape telescopic arm are sheathed on from right handed screw right-hand member Thereon, make the first square tube shape telescopic arm groove bolt hole coaxial with dextrorotation square nut tapped blind hole, two the second bolt difference Pretension is screwed in, repeats aforementioned operation, by the support of monaural ring, left-handed screw, left-handed square nut, square slider, the second hexagonal spiral shell Mother, yielding coupling, double output shaft hydraulic motor and the first square tube shape telescopic arm are assembled into one, by the first square tube shape fixed arm set On two the first square tube shape telescopic arms, double output shaft hydraulic motor is made symmetrically to be fixed on the first square tube shape fixed arm endoporus Surface, two monaural ring bearings are fixed on the first square tube shape fixed arm endoporus upper surface, constitute retractable driving device, square slider Moving sets are formed with the first square tube shape telescopic arm, first laser displacement transducer is symmetrically fixed on the first square tube shape fixed arm side Face, the first range finding reference plate are fixed on the first square tube shape telescopic arm side；

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

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

Two forks, six prism hole monaural ring is sheathed on into two the one or six prism shaft parts of multidiameter respectively, two the one or six Angle nut difference pretension, then six prism hole monaural ring of other two the first forks is sheathed on into two the two or six ribs of multidiameter respectively Axis of a cylinder section, two the first hex nuts difference pretensions, make one end of four forks solid with the two ends of two multidiameters respectively in addition Even, four fork monaural rings are coaxial with four screwed holes of box connecting rod respectively, and four the first bolts distinguish pretension, make four forks The other end be connected with box connecting rod link, form parallel four-bar mechanism, the first casing of two pendulous devices be respectively fixedly connected with In the blind end of two the first square tube shape telescopic arms, it is symmetrical arranged two the first pendulous devices, two flexible shell types is carried into rail Cylinder block is respectively fixedly connected with two box connecting rod semicylindrical openings, constitutes rail-lifting equipment, will be the first square tube shape fixed arm symmetrical It is fixed on two longerons of railcar；

Described swivel block and push-and-pull sleeper device are to swing dress by the second telescopic component, the second retractable driving device, second Put, four the first forks, crawls and swivel block devices, four the first hex nuts and four the first bolts are constituted, the first fork sets There are six prism hole monaural rings and monaural ring；

The second described telescopic component is by the second square tube shape fixed arm, the second square tube shape telescopic arm, second laser displacement Sensor and the second range finding reference plate composition, the second square tube shape fixed arm are provided with blind end, and the second square tube shape telescopic arm is provided with envelope Closed end and two symmetrical grooves, groove are provided with bolt hole；

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

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

The second described pendulous device and the first pendulous device are constituted and version is the same, carries out and the first pendulous device Identical assembly operation, constitutes the second pendulous device；

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

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

By the second spiral rotary actuator output shaft ring flange spacing fan-shaped boss and the spacing fan of hydraulic jack ring flange Shape boss aligns connected, and the first thrust bearing is sheathed on the first axle journal of hydraulic jack, and hydraulic jack is penetrated the second casing rank In terraced hole, the second spiral rotary actuator output shaft ring flange and hydraulic jack ring flange is made to insert second the first circular hole of casing Section, spacing fan-shaped boss left surface are contacted with fan-shaped the first confined planes of hole section, and the first thrust bearing is inserted the second casing second and justified Hole section, makes the second spiral rotary actuator be fixed on the second box bottom, makes end cap and the second casing be connected；

Second thrust bearing is sheathed on the 3rd axle journal of oil cylinder so as to insert the 3rd circular hole portion section of the second casing, piston Bar passes through ladder U-bracket axis hole, piston shaft hole sleeve to be located at piston rod axle journal, and piston is inserted liquid by the 3rd hex nut pretension In compressing cylinder cylinder barrel, ladder U-bracket flange is penetrated into hydraulic jack cylinder barrel and is connected, make the second axle journal of oil cylinder and the second casing axle Piston rod ears ring, second connecting rod ears ring and first connecting rod monaural ring are coaxially penetrated pin hinge company by set section chain connection 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 Pin hinge connection is penetrated, first connecting rod ears ring and second connecting rod ears ring coaxially penetrate pin with the first fork monaural ring respectively Pivot hinge connects；

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

Two the first forks, six prism hole monaural ring is sheathed on into two the one or six prism shaft parts of multidiameter respectively, two One hex nut distinguishes pretension, then six prism hole monaural ring of other two the first forks is sheathed on two multidiameters second respectively Six prism shaft parts, in addition two the first hex nuts distinguish pretension, make one end of four the first forks respectively with two multidiameters Two ends be connected, four the first fork monaural rings are coaxial with four screwed holes of the second casing respectively, and four the second bolts are respectively in advance Tightly, four the first forks is connected with the second chest hinge respectively, form in-parallel four-bar mechanism；

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

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

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

Described reciprocator is by base plate, two series connection parallelogram lindages, reciprocating movement driving devices and the Three laser displacement sensors are constituted；

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

Described reciprocating movement driving device by hydraulic motor, gear and tooth bar, constitute；

By two the first forks respectively with fixed cross beam chain connection, the first fork ears ring, the second fork ears ring and Connecting rod monaural ring coaxially penetrates pin hinge connection, another the first fork ears ring, another the second fork ears ring and company Bar ears ring coaxially penetrates pin hinge connection, two the second forks respectively with moving beam chain connection, composition series connection is parallel Four-bar mechanism, the vertical plane of symmetry for being symmetrical in fixed cross beam and moving beam assemble another parallelogram lindage, and base plate is connected In fixed cross beam lower surface, two rollers of moving beam are made to contact with plate upper surface, it is parallel that tooth bar is symmetrical in two series connection Four-bar mechanism is fixed on base plate, and gear is arranged and is fixed on hydraulic motor output shaft, and hydraulic motor is fixed on moving beam side, Engage wheel and rack, hydraulic motor is symmetrically fixed on fixed cross beam side, the 3rd laser displacement sensor is fixed on movement Crossbeam side, assembles reciprocating movement driving device；

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

Described rigid hanger hoisting apparatus be by two telescopic cantilever boom devices, telescoping crossbeam device, rigid hanger and Two pick-and-place sleeper device compositions；

Described telescopic cantilever boom device is by the first ladder square tube shape fixed arm, the first ladder square tube shape telescopic arm, side Tubular telescopic arm, the first multi-stage expansion shell type oil cylinder, cantilever beam, end plate, cantilever and the 4th laser displacement sensor composition, first Ladder square tube shape fixed arm is provided with ring flange and cylinder shoulder, and the first ladder square tube shape telescopic arm is provided with ring flange and cylinder shoulder, square tube shape Telescopic arm is provided with ring flange and blind end, the first multi-stage expansion shell type oil cylinder be provided with first flange disk, the first extension sleeve, second Extension sleeve and second flange disk, cantilever beam are provided with ring flange；

End plate is symmetrically fixed on the first flexible shell type oil cylinder first flange disk, it is multistage that square tube shape telescopic arm is sheathed on first Flexible shell type oil cylinder, makes the first flexible shell type oil cylinder second flange disk symmetrically be fixed on square tube shape telescopic arm blind end, the first rank Terraced square tube shape telescopic arm is sheathed on square tube shape telescopic arm, and the first ladder square tube shape fixed arm is sheathed on the first ladder square tube shape and stretches On contracting arm, the first ladder square tube fixed arm ring flange is made to be connected with end plate, cantilever beam ring flange is fixed on square tube shape telescopic arm envelope On closed end, cantilever is fixed on cantilever beam ring flange, and the 4th laser displacement sensor is fixed on cantilever, constitutes telescopic cantilever beam Device；

Described telescoping crossbeam device be by the second ladder square tube shape fixed arm, the second ladder square tube shape telescopic arm, the 3rd Ladder square tube shape telescopic arm, the second multi-stage expansion shell type oil cylinder, end cap, push pedal and the 5th laser displacement sensor composition, second Ladder square tube shape fixed arm is provided with ring flange, cylinder shoulder and oblong aperture, the second ladder square tube shape telescopic arm be provided with first shoulder, second Cylinder shoulder and oblong aperture, the 3rd ladder square tube shape telescopic arm are provided with a shoulder and two monaural rings, and the second multi-stage expansion shell type oil cylinder sets There are first flange disk, first order extension sleeve, second level extension sleeve and second flange disk；

End cap is symmetrically fixed on the second flexible shell type oil cylinder first flange disk, the 3rd ladder square tube shape telescopic arm is sheathed on On second multi-stage expansion shell type oil cylinder, the second flexible shell type oil cylinder second flange disk and the closing of the 3rd ladder square tube shape telescopic arm is made End is connected, and the second ladder square tube shape telescopic arm is sheathed on the 3rd ladder square tube shape telescopic arm, then the second ladder square tube shape is solid Determine arm to be sheathed on the second ladder square tube shape telescopic arm, make end cap be connected with ladder square tube shape fixed arm ring flange, push pedal is connected In the 3rd ladder square tube shape telescopic arm blind end, the 5th laser displacement sensor is symmetrically fixed on into the second ladder square tube shape and is fixed Arm side, constitutes telescoping crossbeam device,

Described rigid hanger is made up of entablature, two pull bars and sill, and entablature is provided with two ears rings, under Crossbeam is provided with two circular holes；

One end of two pull bars is symmetrically fixed on below entablature, the other end of two pull bars is symmetrically fixed on sill Above, constitute rigid hanger；

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

3rd spiral rotary actuator is penetrated in sill circular hole, the 3rd spiral rotary actuator ring flange is connected Above sill, yielding coupling makes the 3rd spiral rotary actuator output shaft be connected with interior wide-mouth nut axle journal, composition Pick-and-place sleeper device；

Two telescopic cantilever boom devices are symmetrically fixed on two longerons of railcar, the second ladder square tube shape fixed arm is solid It is connected in below two cantilever girder cantilevers, two ears rings of entablature, two monaurals respectively with the 3rd ladder square tube shape telescopic arm Ring coaxial bolts connect, and cmos image sensor is fixed on the outside of railcar longeron, constitute sleeper handling apparatus.

The invention has the beneficial effects as follows：

1. can automatically by equipment rapid alignment operating position；

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

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

Description of the drawings

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

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

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

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

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

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

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

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

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

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

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

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

Figure 13 is the telescopic cantilever boom device exploded perspective schematic diagram of the present invention.

Figure 14 is the telescoping crossbeam device exploded perspective schematic diagram of the present invention.

Figure 15 is the left view of Fig. 1.

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

Specific embodiment

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

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

The first described telescopic component 81 be by 811, two the first square tube shape telescopic arms 812 of the first square tube shape fixed arm, First laser displacement transducer 813 and the first range finding reference plate 814 are constituted, and the first square tube shape telescopic arm 812 is provided with blind end 8121st, two symmetrical grooves 8122, groove 8122 are provided with bolt hole 81221；

The first described retractable driving device 82 is by the first square tube shape fixed arm 811, double output shaft hydraulic motor 821, two 822, two monaural ring bearings 823, left-handed screw 824 of individual yielding coupling, left-handed square nut 825, right handed screw 826, the right side Rotation 829, two the second hex nuts 830 of the second bolt of square slider 828, four of square nut 827, two and two first party Tubular telescopic arm 812 is constituted, and right handed screw 826 is provided with the first axle journal 8261, the second axle journal 8262 and the 3rd axle journal 8263, left-handed As 826 version of right handed screw, dextrorotation square nut 827 is provided with two symmetric coaxial tapped blind holes 8271 to screw rod 824, As 827 version of dextrorotation square nut, square slider 828 is provided with axis hole 8281 to left-handed square nut 825；

Monaural ring bearing 823 is sheathed on the second axle journal 8262 of right handed screw, and yielding coupling 822 is by right handed screw The right-hand member output shaft fixed connection of the first axle journal 8261 and double output shaft hydraulic motor 821, dextrorotation square nut 827 screw on right handed screw 826 appropriate locations, square slider 828 are sheathed on the 3rd axle journal 8263 of right handed screw, 830 pretension of the second hex nut, and first Square tube shape telescopic arm 812 is arranged thereon from 826 right-hand member of right handed screw, makes the first square tube shape telescopic arm groove bolt hole 81221 Coaxial with dextrorotation square nut tapped blind hole 8271, two the second bolts 829 screw in pretension respectively, repeat aforementioned operation, will be single Earrings supports 823, left-handed screw 824, left-handed square nut 825, square slider 828, the second hex nut 830, elastic shaft coupling Device 822, double output shaft hydraulic motor 821 and the first square tube shape telescopic arm 812 are assembled into one, by the first square tube shape fixed arm 811 It is sheathed on two the first square tube shape telescopic arms 812, makes double output shaft hydraulic motor 821 symmetrically be fixed on the first square tube shape and fix 811 endoporus upper surface of arm, two monaural ring bearings 823 are fixed on 811 endoporus upper surface of the first square tube shape fixed arm, and composition is flexible Driving means 82, square slider 828 and the first square tube shape telescopic arm 812 form moving sets, first laser displacement transducer 813 pairs Title is fixed on 811 side of the first square tube shape fixed arm, and the first range finding reference plate 814 is fixed on 812 side of the first square tube shape telescopic arm Face；

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

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

Two forks, six prism hole monaural ring 841 is sheathed on into two the one or six prism shaft parts 8354 of multidiameter respectively, two Individual first hex nut 85 distinguishes pretension, then six prism hole monaural ring 841 of other two the first forks is sheathed on two respectively The two or six prism shaft part 8355 of multidiameter, two difference pretensions of the first hex nuts 85, make one end point of four forks 84 in addition It is not connected with the two ends of two multidiameters 835, four fork monaural rings 842 are coaxial with four screwed holes 861 of box connecting rod respectively, Four the first bolts 87 distinguish pretension, make the other end and 86 chain connection of box connecting rod of four forks 84, form parallel four-bar Mechanism, the first casing 831 of two pendulous devices is respectively fixedly connected with the blind end 8121 of two the first square tube shape telescopic arms, is made Two the first pendulous devices 83 are symmetrical arranged, and two flexible shell types are carried 88 cylinder body of cylinder of rail and is respectively fixedly connected with two box connecting rods In semicylindrical opening 862, rail-lifting equipment 8 is constituted, the first square tube shape fixed arm 811 is symmetrically fixed on into two longerons of railcar On 202；

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

The second described telescopic component 90 is by the second square tube shape fixed arm 901, the second square tube shape telescopic arm 902, second Laser displacement sensor 903 and the second range finding reference plate 904 are constituted, and the second square tube shape fixed arm 901 is provided with blind end 9011, the Two square tube shape telescopic arms 902 are provided with blind end 9021 and two symmetrical grooves 9022, and groove 9022 is provided with bolt hole 90221；

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

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

The second described pendulous device 92 and the first pendulous device 83 constitute and version as, carry out and first swing 83 identical assembly operation of device, constitutes the second pendulous device 92；

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

Described gripper 955 is by ladder U-bracket 949, four the 3rd forks, 9551, two helical springs 9552 Constitute 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；

Second spiral rotary actuator output shaft ring flange spacing fan-shaped boss 94211 is limited with hydraulic jack ring flange The fan-shaped boss 94311 in position aligns connected, and the first thrust bearing 944 is sheathed on the first axle journal of hydraulic jack 9432, by hydraulic oil Cylinder is penetrated in 941 shoulder hole of the second casing, makes the second spiral rotary actuator output shaft ring flange 9421 and hydraulic jack method Blue disk 9431 inserts second the first circular hole portion of casing 9413, and spacing 94211 left surface of fan-shaped boss is spacing with fan-shaped hole section first Face 94131 contacts, and the first thrust bearing 944 inserts second the second circular hole portion of casing 9414, makes the second spiral rotary actuator 942 are fixed on 941 base plate of the second casing, make end cap 954 and the second casing 941 be connected；

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

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

Two the first forks, six prism hole monaural ring 931 is sheathed on into two the one or six prism shaft parts of multidiameter respectively 9254, two the first hex nuts 96 distinguish pretensions, then six prism hole monaural ring 931 of other two the first forks is arranged respectively In two the two or six prism shaft parts 9254 of multidiameter, two difference pretensions of the first hex nuts 96, make four the first forks in addition 93 one end is connected with the two ends of two multidiameters 925 respectively, four the first fork monaural rings 932 respectively with the second casing four Screwed hole 9411 is coaxial, and four the second bolts 97 distinguish pretension, four the first forks 93 is connected with 941 hinge of the second casing respectively Connect, form in-parallel four-bar mechanism；

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

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

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 storehouses 1672, and wherein left side half sleeper storehouse is used for having stored sleeper, right Side half sleeper storehouse is used for storing bad sleeper.

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

Described series connection parallelogram lindage 163 be by 1631, two the first forks 1632 of fixed cross beam, connecting rod 1633, Two the second forks 1634 and moving beam 1635 are constituted, and connecting rod 1633 is provided with monaural ring 16331 and ears ring 16332, mobile Crossbeam 1635 is provided with two rollers 16351 and square hole 16352；

Described reciprocating movement driving device 165 by hydraulic motor 1651, gear 1652 and tooth bar 1653, constitute；

By two the first forks 1632 respectively with 1631 chain connection of fixed cross beam, 1632 ears ring of the first fork, second 1634 ears ring of fork and connecting rod monaural ring 16331 coaxially penetrate pin hinge and connect, another 1632 ears ring of the first fork, Another 1634 ears ring of the second fork and connecting rod ears ring 16332 coaxially penetrate pin hinge connection, two the second forks 1634 respectively with 1635 chain connection of moving beam, composition series connection parallelogram lindage 163, be symmetrical in fixed cross beam 1631 and move The vertical plane of symmetry of dynamic crossbeam 1635 assembles another parallelogram lindage 163, and base plate 162 is fixed on 1631 following table of fixed cross beam Face, makes two rollers 16351 and 162 upper surface of base plate of moving beam, tooth bar 1653 be symmetrical in two series connection parallel four Linkage 105 is fixed on base plate 162, and gear 1652 is arranged and is fixed on 1651 output shaft of hydraulic motor, and hydraulic motor 1651 is solid It is connected in 1635 side of moving beam, gear 1652 is engaged with tooth bar 1653, hydraulic motor 1651 is symmetrically fixed on fixed cross beam 1631 sides, the 3rd laser displacement sensor 166 are fixed on 1635 side of moving beam, assemble reciprocating movement driving device 165；

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

Described rigid hanger hoisting apparatus 168 is by two telescopic cantilever boom devices 169, telescoping crossbeam device 170, just Property suspension bracket 171 and two pick-and-place sleeper devices 172 are constituted；

Described telescopic cantilever boom device 169 is stretched by the first ladder square tube shape fixed arm 1691, the first ladder square tube shape Contracting arm 1692, square tube shape telescopic arm 1693, the first multi-stage expansion shell type oil cylinder 1694, cantilever beam 1695, end plate 1696, cantilever 1697 and the 4th laser displacement sensor 1698 constitute, the first ladder square tube shape fixed arm 1691 is provided with ring flange 16911 and cylinder Shoulder 16912, the first ladder square tube shape telescopic arm 1692 are provided with ring flange 16921 and cylinder shoulder 16922, and square tube shape telescopic arm 1693 sets There are ring flange 16931 and a blind end 16932, the first multi-stage expansion shell type oil cylinder 1694 is provided with first flange disk 16941, first stretches Contracting sleeve 16942, the second extension sleeve 16943 and second flange disk 16944, cantilever beam 1695 are provided with ring flange 16951；

End plate 1696 is symmetrically fixed on into the first flexible shell type oil cylinder first flange disk 16941, square tube shape telescopic arm 1693 The first multi-stage expansion shell type oil cylinder 1694 is sheathed on, the first flexible shell type oil cylinder second flange disk 16944 symmetrically side of being fixed on is made Tubular telescopic arm blind end 16932, the first ladder square tube shape telescopic arm 1692 are sheathed on square tube shape telescopic arm 1693, the first rank Terraced square tube shape fixed arm 1691 is sheathed on the first ladder square tube shape telescopic arm 1692, makes the first ladder square tube fixed arm ring flange 16911 are connected with end plate 1696, and cantilever beam ring flange 16951 is fixed on square tube shape telescopic arm blind end 16932, cantilever 1697 It is fixed on cantilever beam ring flange 16951, the 4th laser displacement sensor 1698 is fixed on cantilever 1697, constitutes telescopic cantilever Boom device 169；

Described telescoping crossbeam device 170 is stretched by the second ladder square tube shape fixed arm 1701, the second ladder square tube shape Arm 1702, the 3rd ladder square tube shape telescopic arm 1703, the second multi-stage expansion shell type oil cylinder 1704, end cap 1705,1706 and of push pedal 5th laser displacement sensor 1707 is constituted, and the second ladder square tube shape fixed arm 1701 is provided with ring flange 17011, cylinder shoulder 17012 With oblong aperture 17013, the second ladder square tube shape telescopic arm 1702 is provided with first shoulder 17021, second shoulder 17022 and oblong aperture 17023, the 3rd ladder square tube shape telescopic arm 1703 is provided with a shoulder 17031 and two monaural rings 17032, the second multi-stage expansion shell type Oil cylinder 1704 is provided with first flange disk 17041, first order extension sleeve 17042, second level extension sleeve 17043 and second flange Disk 17044；

End cap 1705 is symmetrically fixed on into the second flexible shell type oil cylinder first flange disk 17041, the 3rd ladder square tube shape is stretched Contracting arm 1703 is sheathed on the second multi-stage expansion shell type oil cylinder 1704, make the second flexible shell type oil cylinder second flange disk 17044 with 3rd ladder square tube shape telescopic arm, 1703 blind end is connected, and the second ladder square tube shape telescopic arm 1702 is sheathed on the 3rd ladder square tube On shape telescopic arm 1703, then the second ladder square tube shape fixed arm 1701 is sheathed on the second ladder square tube shape telescopic arm 1702, End cap 1705 is made to be connected with ladder square tube shape fixed arm ring flange 17011, push pedal 1706 is fixed on the 3rd ladder square tube shape and stretches 5th laser displacement sensor 1707 is symmetrically fixed on 1701 side of the second ladder square tube shape fixed arm by 1703 blind end of arm, Composition telescoping crossbeam device 170,

Described rigid hanger 171 is made up of 1711, two pull bars 1712 of entablature and sill 1713, entablature 1711 are provided with two ears rings 17111, and sill 1713 is provided with two circular holes 17131；

One end of two pull bars 1712 is symmetrically fixed on below entablature 1711, the other end of two pull bars 1712 is symmetrical It is fixed on above sill 1713, constitutes rigid hanger 171；

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

3rd spiral rotary actuator 1721 is penetrated in sill circular hole 17131, the 3rd spiral rotary actuator Ring flange 17211 is fixed on above sill 1713, and yielding coupling 1722 makes the 3rd spiral rotary actuator output shaft 17212 are connected with interior wide-mouth nut axle journal 17231, composition pick-and-place sleeper device 172；

Two telescopic cantilever boom devices 169 are symmetrically fixed on two longerons 202 of railcar, the second ladder square tube shape is solid Determine arm 1701 to be fixed on below two 169 cantilevers of cantilever beam, two ears rings 17111 of entablature respectively with the 3rd ladder square tube Two 17032 coaxial bolts of monaural ring connections of shape telescopic arm, cmos image sensor 175 are fixed on outside railcar longeron 202 Side, composition sleeper handling apparatus 16.

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

1. the work of bad sleeper is pulled out：Using manually or mechanically having cleared up ballast between the sleeper of bad sleeper both sides, bad sleeper is left Bolt machine oil labelling on the outside of the sleeper rail of side second, when engineering truck traction track car is run to sleeper to be changed, CMOS The image information of imageing sensor collection, by pattern recognition system automatic identification, and makes engineering truck be parked in cmos image sensing The device position coaxial with machine oil labelling bolt, swivel block and push-and-pull sleeper device are located at directly over bad sleeper, and rail-lifting equipment is located at bad Surface between sleeper on the left of sleeper, position shown in Fig. 1, oil pump are started working, and hydraulic oil makes hydraulic motor start to rotate forward, and drives Dynamic screw rod is rotated forward, and square nut promotes the second square tube shape telescopic arm to stretch out, and promotes the second square tube shape telescopic arm to stretch out, and second Square tube shape telescopic arm entrusts the second pendulous device and crawl and swivel block device is moved out, and is surveyed by second laser displacement transducer Its displacement signal with the second range finding reference plate is measured, hydraulic motor, the first spiral rotary actuator and the second spiral is controlled Rotary actuator works, and the second pendulous device and crawl and swivel block device are moved out to correct position, and hydraulic motor stops Rotate forward, which starts to rotate backward, and drive screw is rotated backward, square nut pulls the second square tube shape telescopic arm to retract, the Two square tube shape telescopic arms entrust the second pendulous device and crawl and swivel block device is inwardly moved, while the first spiral swings hydraulic pressure horse Up to starting to rotate forward, partial gear and two sector gear engaged transmissions, two multidiameters drive the positive pendulum of four forks Dynamic, the second casing entrusts crawl and swivel block device makees translation, when two forks are contacted with the first positive stop lug boss, the first spiral pendulum Hydrodynamic pressure motor stops rotating forward, and the middle position of solenoid directional control valve makes the first spiral rotary actuator pressurize, when gripper When two pressing plates inwardly move to bad sleeper both sides appropriate location, hydraulic motor stops rotating backward, and hydraulic oil makes hydraulic jack Piston rod starts to stretch out, and first connecting rod and second connecting rod make symmetrically arranged two the first forks swing in opposite directions, are articulated with first The roller of fork ears ring pushes down pressing plate, and roller is rolled makes pressing plate overcome the pulling force of two cylindrically coiled springs to make translation, two In-parallel four-bar mechanism is positive to be swung, and when two platen clamp sleepers, the middle position of solenoid directional control valve protects hydraulic jack Pressure；；

Hydraulic oil makes double output shaft hydraulic motor start to rotate forward, and drives left-handed screw and right handed screw positive synchronous turn It is dynamic, make left-handed square nut and dextrorotation square nut promote the first square tube shape of two connected with which telescopic arm synchronously to stretch respectively Go out, by its displacement signal with the first range finding reference plate of first laser displacement sensor, control double output shaft hydraulic pressure Motor and the work of the first spiral rotary actuator, two the first square tube shape telescopic arms entrust respectively two the first pendulous devices and Flexible shell type carries cylinder of rail and moves out to appropriate location, and double output shaft hydraulic motor stops rotating forward, and which starts reversely to turn It is dynamic, drive left-handed screw and right handed screw reverse sync to rotate, make left-handed square nut and dextrorotation square nut pull respectively with Its two connected first square tube shape telescopic arm is synchronously retracted, and two the first square tube shape telescopic arms entrust two first swings respectively Device and flexible shell type carry cylinder of rail and inwardly move, while the first spiral rotary actuator starts to rotate forward, incomplete tooth Wheel and two sector gear engaged transmissions, two multidiameters drive the positive swing of four forks, box connecting rod to entrust flexible shell type Carry cylinder of rail and do translation, when two forks are contacted with the first positive stop lug boss, the first spiral rotary actuator stops operating, electricity The middle position of magnetic reversal valve makes the first spiral rotary actuator pressurize, when flexible shell type carries cylinder of rail cylinder body and rail lower flange side When face contacts, its gusset upper surface is contacted with below rail, and double output shaft hydraulic motor stops rotating backward；

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

Hydraulic oil makes the second spiral rotary actuator start to rotate forward, and gripper is positive to be turned to entrust the second oil cylinder Dynamic, gripper rotates forward sleeper, when the second spiral rotary actuator ring flange and the spacing sector of hydraulic jack ring flange When boss is contacted with second the second confined planes of casing scallop hole, gripper makes sleeper rotate forward 90 °, and the second spiral swings hydraulic pressure Motor stops rotating forward, and hydraulic oil makes hydraulic motor start to rotate forward, and gripper pulls bad sleeper to move out, when bad rail When pillow is moved out to end face thereafter and above rail lower flange trailing flank is coplanar, hydraulic motor stops rotating forward, hydraulic oil Make the second spiral rotary actuator start to rotate backward, make hydraulic jack entrust gripper and rotate backward, gripper makes sleeper Rotate backward, when the second spiral rotary actuator ring flange and the spacing fan-shaped boss of cylinder flange disk and the second casing scallop hole When first confined planes are contacted, gripper makes sleeper rotate backward 90 °, position shown in Fig. 9, and the second spiral rotary actuator stops Rotate backward；

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

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

Hydraulic oil makes hydraulic motor start to rotate backward, the second square tube shape telescopic arm entrust the second pendulous device and crawl and Swivel block device inwardly moves to position shown in Fig. 1, and hydraulic motor stops rotating backward；

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

Hydraulic oil makes double output shaft hydraulic motor start to rotate forward, and two the first square tube shape telescopic arms entrust flexible shell type Carry cylinder of rail to move out, when its gusset and rail are disengaged to be contacted, double output shaft hydraulic motor stops rotating forward；

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

2. handling bad sleeper work：Engineering truck traction track car is moved 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 on the right side of bad sleeper between adjacent sleeper Surface, hydraulic oil make double output shaft hydraulic motor start to rotate forward, and make the first pendulous device and flexible shell type carry cylinder of rail Move out to appropriate location, double output shaft hydraulic motor stops rotating forward, and which starts to rotate backward, while the first spiral pendulum Hydrodynamic pressure motor starts to rotate forward, and when two forks are contacted with the first positive stop lug boss, the first spiral rotary actuator stops Only rotate forward, the middle position of solenoid directional control valve makes the first spiral rotary actuator pressurize, when the first pendulous device is inwardly moved When carrying cylinder of rail cylinder body with rail lower flange contact outside to flexible shell type, flexible shell type carries cylinder of rail cylinder body gusset upper surface Contact with below rail, double output shaft hydraulic motor stops rotating backward；

Hydraulic oil makes reciprocating motion drive hydraulic motor to start to rotate forward, and makes wheel and rack engaged transmission, reciprocal to transport Dynamic to drive hydraulic motor traction moving beam to be moved to the left, moving beam entrusts storage sleeper case to left movement, swashs by the 3rd Optical displacement sensor measures its displacement signal with fixed cross beam, controls to move back and forth driving hydraulic motor work, works as storage When sleeper case moves to the bad sleeper position in storehouse of storage immediately below pick-and-place sleeper device to the left, move back and forth and drive hydraulic motor to stop Rotate forward；

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start to stretch out with first order extension sleeve, pushes away Dynamic 3rd ladder square tube shape telescopic arm stretches out, and the 3rd ladder square tube shape telescopic arm is entrusted rigid hanger and moved out, when the 3rd rank When terraced square tube shape telescopic arm extend out to its shoulder and tactile second second shoulder grafting of ladder square tube shape telescopic arm, the second multi-stage expansion set Formula oil cylinder second level extension sleeve starts to stretch out, and promotes the 3rd ladder square tube shape telescopic arm to stretch out, and the 3rd ladder square tube shape is stretched Arm pulls the second ladder square tube shape telescopic arm to stretch out, and measures its displacement signal with push pedal by the 5th laser displacement sensor, To control the first multi-stage expansion shell type cylinder efficient, when two interior wide-mouth nuts of pick-and-place sleeper device and have been pulled out bad between sleeper When above sleeper, two bolts in inner side are coaxial, the second multi-stage expansion shell type oil cylinder second level extension sleeve stops stretching out；

Hydraulic oil makes the sleeve of two the first multi-stage expansion shell type oil cylinders start to retract step by step, square tube shape telescopic arm and first Ladder square tube shape telescopic arm starts to retract successively, and rigid hanger entrusts the decline of pick-and-place sleeper device, is passed by the 4th laser displacement Sensor measures its displacement signal with sill, controls the first multi-stage expansion shell type cylinder efficient, when two interior wide-mouth nuts With when above sleeper, two bolts in inner side are close, hydraulic oil makes two the 3rd spiral rotary actuators start to rotate forward, and makes Two interior wide-mouth nut forwards are rotated, and when two interior wide-mouth nuts screw on two bolts in inner side above sleeper, are put to the 3rd spiral Hydrodynamic pressure motor is rotated forward to hard-over, position shown in Figure 10, and the 3rd spiral rotary actuator stops rotating forward, the The first order sleeve of one multi-stage expansion shell type oil cylinder stops retracting；

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

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start to stretch out, and promotes the 3rd ladder square tube shape Telescopic arm stretches out, and the 3rd ladder square tube shape telescopic arm pulls the second ladder square tube shape telescopic arm to stretch out, and the 3rd ladder square tube shape is stretched Contracting fupport arm band rigid hanger and pick-and-place sleeper device are moved out, and pick-and-place sleeper device is entrusted bad sleeper and moved out, when bad rail Pillow move out to end face thereafter leave sleeper lower flange appropriate location when, the second multi-stage expansion shell type oil cylinder second level telescopic Cylinder stops stretching out；

Hydraulic oil makes the first order sleeve of two the first multi-stage expansion shell type oil cylinders start synchronously to stretch out, and entrusts square tube shape and stretches Contracting arm stretches out, and rigid hanger entrusts the rising of pick-and-place sleeper device, when square tube shape telescopic arm ring flange is stretched with the first ladder square tube shape When contracting arm cylinder shoulder grafting is touched, the second level sleeve of the first multi-stage expansion shell type oil cylinder starts to stretch out, and square tube shape telescopic arm pulls first Ladder square tube shape telescopic arm stretches out, when pick-and-place sleeper device rises to appropriate height, the second of the first multi-stage expansion shell type oil cylinder Level sleeve stops stretching out；

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start to retract, and pulls the 3rd ladder square tube shape Telescopic arm is retracted, and the 3rd ladder square tube shape telescopic arm entrusts rigid hanger and pick-and-place sleeper device is inwardly moved, when push pedal and the During the flexible arm contact of two ladder square tube shapes, second level extension sleeve is retracted with first order extension sleeve, and the 3rd ladder square tube shape is stretched Contracting arm draws push pedal to retract, and push pedal promotes the second ladder square tube shape telescopic arm to retract, when sleeper inwardly moves to the bad sleeper storehouse of storage During surface, the second multi-stage expansion shell type oil cylinder first order extension sleeve stops retracting, and hydraulic oil makes the first multi-stage expansion shell type The sleeve of oil cylinder starts to retract step by step, and pick-and-place sleeper device entrusts the decline of bad sleeper, is close to bad sleeper orlop when bad sleeper declines Or be previously put into bad sleeper when, hydraulic oil make two the 3rd spiral rotary actuators start reverse sync rotation, make two Interior wide-mouth nut is rotated backward, and when bad sleeper is discharged in storehouse, the 3rd spiral rotary actuator stops rotating backward, and first The sleeve of multi-stage expansion shell type oil cylinder starts to stretch out step by step, and rigid hanger and pick-and-place sleeper device rise to position shown in Fig. 1, hang Transport the work of bad sleeper to complete；

3. handling is well placed sleeper work：Hydraulic oil makes reciprocating motion drive hydraulic motor to start to rotate backward, and makes gear With tooth bar engaged transmission, it is reciprocal to drive hydraulic motor traction moving beam to move right, moving beam entrust storage sleeper case to Right motion, moving beam entrust storage sleeper case move right, when storage sleeper case move right to stored sleeper position in storehouse in When immediately below pick-and-place sleeper device, move back and forth and drive double output shaft hydraulic motor to stop rotating backward；

Hydraulic oil makes the sleeve of the first multi-stage expansion shell type oil cylinder start to retract step by step, and rigid hanger entrusts pick-and-place sleeper dress Decline is put, when two bolts in inner side are close above two interior wide-mouth nuts and the sleeper, hydraulic oil makes the 3rd spiral swing hydraulic pressure Motor output shaft starts to rotate forward, and when two interior wide-mouth nuts screw on two bolts in inner side above sleeper, puts to the 3rd spiral Hydrodynamic pressure motor is rotated forward to hard-over, and the 3rd spiral rotary actuator stops rotating forward, the first multi-stage expansion set The first order sleeve of formula oil cylinder stops retracting；

Hydraulic oil makes the sleeve of the first multi-stage expansion shell type oil cylinder start to stretch out step by step, and rigid hanger entrusts pick-and-place sleeper dress Rising is put, pick-and-place sleeper device has been entrusted sleeper and risen to appropriate height, the first order sleeve of the first multi-stage expansion shell type oil cylinder Stopping is stretched out；

Hydraulic oil makes the first order extension sleeve and second level extension sleeve of the second multi-stage expansion shell type oil cylinder stretch out successively, Make the 3rd ladder square tube shape telescopic arm entrust rigid hanger to move out, pick-and-place sleeper device has been entrusted sleeper and moved out to suitable Work as position, the first order extension sleeve of the second multi-stage expansion shell type oil cylinder stops stretching out, and hydraulic oil makes the first multi-stage expansion shell type The sleeve of oil cylinder starts to retract step by step, and when pick-and-place sleeper device has been entrusted sleeper and drops to which and contacted with railway roadbed, hydraulic oil makes The first order sleeve of one multi-stage expansion shell type oil cylinder stops retracting；

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start to retract, and the 3rd ladder square tube shape is stretched Fupport arm band rigid hanger is inwardly moved, and pick-and-place sleeper device has been entrusted sleeper and inwardly moved to appropriate location, penetrates sleeper Under rail, when having made sleeper rear end face and above rail lower flange trailing flank be coplanar, position shown in Figure 10, the second multi-stage expansion set Formula oil cylinder second level extension sleeve stops retracting；

Hydraulic oil makes flexible shell type propose the extension sleeve retraction of the cylinder of rail second level, and second level extension sleeve is retracted to stop, Second level extension sleeve starts to retract with first order extension sleeve, and second level extension sleeve hauls fagging retraction, drops down onto under rail Original position, good sleeper is pushed down so as to which upper surface and two rail lower surface parastates, flexible shell type put forward the cylinder of rail first order Extension sleeve stops retracting；

Hydraulic oil makes double output shaft hydraulic motor start to rotate forward, and makes the first pendulous device and flexible shell type carry cylinder of rail Move out, when flexible shell type carries cylinder of rail cylinder body gusset to be contacted with the disengagement of rail lower flange, double output shaft hydraulic motor Stopping is rotated forward, while the first spiral rotary actuator starts to rotate backward, partial gear is nibbled with two sector gears Close transmission, two multidiameters drive four the first fork backswings, box connecting rod is entrusted flexible shell type and carries cylinder of rail and makees translation, When two forks are contacted with the second positive stop lug boss, the first spiral rotary actuator stops operating, two the first pendulous devices And flexible shell type carries cylinder of rail and moves to position shown in Fig. 1, the middle position of solenoid directional control valve protects the first spiral rotary actuator Pressure；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, when the 3rd spiral rotary actuator reversely turns When moving to hard-over, sleeper is discharged, the 3rd spiral rotary actuator stops rotating backward, the first multi-stage expansion shell type oil cylinder Sleeve start to stretch out step by step, rigid hanger is entrusted pick-and-place sleeper device and rises to appropriate height, and hydraulic oil makes second multistage to stretch The extension sleeve of contracting shell type oil cylinder is retracted successively, makes the 3rd ladder square tube shape telescopic arm entrust rigid hanger and pick-and-place sleeper device Inwardly move, pick-and-place sleeper device moves to position shown in Fig. 1, the second level sleeve of the first multi-stage expansion shell type oil cylinder stops stretching Go out, the first order sleeve of the second multi-stage expansion shell type oil cylinder stops retracting, handling is well placed sleeper work and completes；

4. advanced sleeper to work：Engineering truck traction track car is moved 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, and swivel block and push-and-pull sleeper device are located above good sleeper, Directly over rail-lifting equipment is located on the right side of good sleeper between sleeper, hydraulic oil makes hydraulic motor start to rotate forward, and fills the second swing Put and capture and swivel block device is moved out, when the second square tube shape telescopic arm extend out to stop, hydraulic motor stops positive turning It is dynamic,

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

Hydraulic oil makes hydraulic motor start to rotate backward, and the second pendulous device and crawl and swivel block device is inwardly moved, When two presser motions of gripper are to when sleeper both sides appropriate location is finished changing, position shown in Fig. 9, hydraulic motor stop reverse Rotate, hydraulic oil stretches out hydraulic cylinder piston rod, and when two platen clamp sleepers, the middle position of solenoid directional control valve makes hydraulic oil Cylinder pressurize；

Hydraulic oil makes double output shaft hydraulic motor start to rotate forward, and makes the first pendulous device and flexible shell type carry cylinder of rail Move out to appropriate location, double output shaft hydraulic motor stops rotating forward, and which starts to rotate backward, while the first spiral pendulum Hydrodynamic pressure motor starts to rotate forward, and when two forks are contacted with the first positive stop lug boss, the first spiral rotary actuator stops Rotation stop is moved, and the middle position of solenoid directional control valve makes the first spiral rotary actuator pressurize, stretches when the first pendulous device is inwardly moved to When contracting shell type carries cylinder of rail cylinder body with rail lower flange contact outside, flexible shell type carries cylinder of rail cylinder body gusset upper surface and steel Contact below rail, double output shaft hydraulic motor stops rotating backward, hydraulic oil make flexible shell type carry the extension sleeve of cylinder of rail by Level is stretched out, and makes the middle position of rail jack-up, solenoid directional control valve make flexible shell type propose cylinder of rail pressurize；

Hydraulic oil makes the second spiral rotary actuator start to rotate forward, and gripper makes sleeper rotate forward 90 °, and second Spiral rotary actuator stop rotate forward, hydraulic oil makes hydraulic motor start to rotate backward, gripper promoted sleeper to Interior motion, when having made sleeper inwardly move to position shown in Fig. 1, hydraulic motor stops rotating backward, and hydraulic oil makes the second spiral Rotary actuator starts to rotate backward, and gripper makes sleeper rotate backward 90 °, and the second spiral rotary actuator stops reverse Rotate；

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

Hydraulic oil rotates backward the first spiral rotary actuator, when two the first forks are contacted with the second positive stop lug boss When, the first spiral rotary actuator stops rotating backward, and the middle position of solenoid directional control valve protects the first spiral rotary actuator Pressure；

Hydraulic oil makes hydraulic motor start to rotate backward, and the second pendulous device and crawl and swivel block device inwardly move to figure Position shown in 1, hydraulic motor stop rotating backward；,

Hydraulic oil makes double output shaft hydraulic motor start to rotate forward, when its gusset and rail are disengaged to be contacted, lose-lose Shaft hydraulic motor stops rotating forward, while the first spiral rotary actuator starts to rotate backward, partial gear and two Individual sector gear engaged transmission, two multidiameters drive four the first fork backswings, box connecting rod to entrust flexible shell type and carry Cylinder of rail makees translation, and when two forks are contacted with the second positive stop lug boss, the first spiral rotary actuator stops operating, two First pendulous device and flexible shell type carry cylinder of rail and move to position shown in Fig. 1, and the middle position of solenoid directional control valve puts the first spiral Hydrodynamic pressure motor pressurize, oil pump quit work, and have advanced sleeper end-of-job, tractor traction track car to leave.

Yielding coupling and interior wide-mouth nut can effectively adapt to sleeper bolt position deviation, interior wide-mouth nut is easily screwed on Sleeper bolt；The symmetrically arranged two series connection parallelogram lindage of reciprocator, in making moving beam reciprocating movement All the time it is parallel with fixed cross beam；Synchronous valve in hydraulic system, makes the sleeve of two the first multi-stage expansion shell type oil cylinders synchronously stretch Contracting；Rigid hanger makes sleeper in handling without swing, improve handling sleeper speed.

Claims (1)

1. one kind has the sleeper relaying machine of reciprocator, it is characterised in that：It is by rail-lifting equipment, transition and push-and-pull sleeper Device, sleeper handling apparatus, electromotor, Hydraulic system and control System cabine and railcar composition；Railcar is provided with multiple castors With two longerons, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor and Hydraulic system and control system System case is arranged on two longerons of railcar, and railcar is drawn by engineering truck, and electromotor is that oil pump and control system provide dynamic Power, is provided with fuel tank, oil pump, hydraulic control system and automatic control system in Hydraulic system and control System cabine；

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

The first described telescopic component is by the first square tube shape fixed arm, two the first square tube shape telescopic arms, first laser displacements Sensor and the first range finding reference plate composition, the first square tube shape telescopic arm are provided with blind end, two symmetrical grooves, and groove is provided with spiral shell Keyhole；

The first described retractable driving device by the first square tube shape fixed arm, double output shaft hydraulic motor, two yielding couplings, Two monaural ring bearings, left-handed screw, left-handed square nut, right handed screw, dextrorotation square nut, two square sliders, four Second bolt, two the second hex nuts and two the first square tube shape telescopic arms composition, right handed screw be provided with the first axle journal, second Axle journal and the 3rd axle journal, as right handed screw version, dextrorotation square nut is provided with two symmetric coaxial spiral shells to left-handed screw Stricture of vagina blind hole, as dextrorotation square nut version, square slider is provided with axis hole to left-handed square nut；

Monaural ring bearing is sheathed on the second axle journal of right handed screw, and yielding coupling is by the first axle journal of right handed screw and lose-lose The right-hand member output shaft fixed connection of shaft hydraulic motor, dextrorotation square nut screw on right handed screw appropriate location, and square slider is sheathed on On the 3rd axle journal of right handed screw, the second hex nut pretension, the first square tube shape telescopic arm are arranged thereon from right handed screw right-hand member, Make the first square tube shape telescopic arm groove bolt hole coaxial with dextrorotation square nut tapped blind hole, two the second bolts screw in pre- respectively Tightly, repeat aforementioned operation, by the support of monaural ring, left-handed screw, left-handed square nut, square slider, the second hex nut, elasticity Shaft coupling, double output shaft hydraulic motor and the first square tube shape telescopic arm are assembled into one, and the first square tube shape fixed arm is sheathed on two On individual first square tube shape telescopic arm, double output shaft hydraulic motor is made symmetrically to be fixed on the first square tube shape fixed arm endoporus upper surface, Two monaural ring bearings are fixed on the first square tube shape fixed arm endoporus upper surface, constitute retractable driving device, square slider and the One square tube shape telescopic arm forms moving sets, and first laser displacement transducer is symmetrically fixed on the first square tube shape fixed arm side, the One range finding reference plate is fixed on the first square tube shape telescopic arm side；

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

Two sector gears are sheathed on first diameter of axle of two multidiameters respectively and are connected, two multidiameters are each passed through casing Two axis holes, are made the second axle journal of multidiameter be formed with casing axis hole and rotate secondary, partial gear is sheathed on the swing of the first spiral Be connected on hydraulic motor output shaft, be placed into making in the first casing the gear teeth of partial gear respectively with two sector gears The gear teeth are contacted along the facewidth, and the first spiral rotary actuator is fixed on the first box bottom, two axis holes of embedded cover plate It is sheathed on two the 3rd axle journals of multidiameter respectively, makes embedded cover plate and the first casing be connected, constitute the first pendulous device；

Two forks, six prism hole monaural ring is sheathed on into two the one or six prism shaft parts of multidiameter, two the first hexagonal spiral shells respectively The other pretension of mother stock, then six prism hole monaural ring of other two the first forks is sheathed on into two the two or six prism axles of multidiameter respectively Section, two the first hex nuts difference pretensions, make one end of four forks be connected with the two ends of two multidiameters respectively in addition, and four Individual fork monaural ring is coaxial with four screwed holes of box connecting rod respectively, and four the first bolts distinguish pretension, make the another of four forks One end is connected with box connecting rod link, forms parallel four-bar mechanism, the first casing of two pendulous devices is respectively fixedly connected with two The blind end of individual first square tube shape telescopic arm, is symmetrical arranged two the first pendulous devices, two flexible shell types is carried cylinder of rail Cylinder body is respectively fixedly connected with two box connecting rod semicylindrical openings, constitutes rail-lifting equipment, the first square tube shape fixed arm is symmetrically connected On two longerons of railcar；

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

The second described telescopic component is by the second square tube shape fixed arm, the second square tube shape telescopic arm, second laser displacement sensing Device and the second range finding reference plate composition, the second square tube shape fixed arm are provided with blind end, and the second square tube shape telescopic arm is provided with blind end With two symmetrical grooves, groove is provided with bolt hole；

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

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

The second described pendulous device and the first pendulous device are constituted and version is the same, carries out identical with the first pendulous device Assembly operation, constitute the second pendulous device；

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

Described gripper is made up of ladder U-bracket, four the 3rd forks, two helical springs and pressing plates, 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 sector the second spiral rotary actuator output shaft ring flange spacing fan-shaped boss spacing with hydraulic jack ring flange convex Platform aligns connected, and the first thrust bearing is sheathed on the first axle journal of hydraulic jack, and hydraulic jack is penetrated the second casing shoulder hole It is interior, make the second spiral rotary actuator output shaft ring flange and hydraulic jack ring flange insert second the first circular hole portion of casing, Spacing fan-shaped boss left surface is contacted with fan-shaped the first confined planes of hole section, and the first thrust bearing inserts second the second circular hole of casing Section, makes the second spiral rotary actuator be fixed on the second box bottom, makes end cap and the second casing be connected；

Second thrust bearing is sheathed on the 3rd axle journal of oil cylinder so as to insert the 3rd circular hole portion section of the second casing, piston rod is worn Ladder U-bracket axis hole is crossed, piston shaft hole sleeve is located at piston rod axle journal, and piston is inserted hydraulic oil by the 3rd hex nut pretension In cylinder cylinder barrel, ladder U-bracket flange is penetrated into hydraulic jack cylinder barrel and is connected, make the second axle journal of oil cylinder and the second housing bushing section Piston rod ears ring, second connecting rod ears ring and first connecting rod monaural ring are coaxially penetrated pin hinge connection by chain connection, the Two fork ears rings coaxially penetrate pin hinge with roller and are connected, and the second fork pin-and-hole is coaxially penetrated with ladder U-bracket pin-and-hole Pin hinge connects, and first connecting rod ears ring and second connecting rod ears ring coaxially penetrate bearing pin hinge respectively with the first fork monaural ring Chain connects；

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

Two the first forks, six prism hole monaural ring is sheathed on into two the one or six prism shaft parts of multidiameter respectively, two the one or six Angle nut difference pretension, then six prism hole monaural ring of other two the first forks is sheathed on into two the two or six ribs of multidiameter respectively Axis of a cylinder section, in addition two the first hex nuts distinguish pretension, make one end of four the first forks respectively with two multidiameters two End is connected, and four the first fork monaural rings are coaxial with four screwed holes of the second casing respectively, and four the second bolts distinguish pretension, make Four the first forks are connected with the second chest hinge respectively, form in-parallel four-bar mechanism；

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

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

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 storehouses, wherein left side half sleeper storehouse are used for having stored sleeper, and right side half sleeper storehouse is used for storing bad rail Pillow；

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

Described series connection parallelogram lindage is by fixed cross beam, two forks, connecting rod, two the first forks and moving beam groups Into connecting rod is provided with monaural ring and ears ring, and moving beam is provided with two rollers and a circular hole；

Described reciprocating movement driving device is by hydraulic motor, yielding coupling, monaural ring bearing, screw rod and square nut group Into screw rod is provided with the first axle journal and the second axle journal；

By two forks respectively with fixed cross beam chain connection, fork ears ring, the first fork ears ring and connecting rod monaural ring are same Axle penetrates pin hinge connection, and another fork ears ring, another the first fork ears ring and connecting rod ears ring are coaxially penetrated Pin hinge connects, two the first forks respectively with moving beam chain connection, composition series connection parallelogram lindage, be symmetrical in solid The vertical plane of symmetry for determining crossbeam and moving beam assembles another parallelogram lindage, and base plate is fixed on fixed cross beam lower surface, Two rollers of moving beam are made to contact with plate upper surface, hydraulic motor is symmetrically fixed on fixed cross beam side, monaural ring On the second axle journal of screw rod, square nut screws on screw rod appropriate location to cover for seat, and screw rod is made square through the circular hole of moving beam Nut is fixed on moving beam side, and yielding coupling makes hydraulic motor output shaft be connected with the first axle journal of screw rod, monaural ring Seat is fixed on base plate, and the 3rd laser displacement sensor is fixed on moving beam side, constitutes reciprocating movement driving device；

Base plate is fixed on track car crossbeam, the first square tube shape fixed arm and the second square tube shape fixed arm, storage sleeper case is solid It is connected on moving beam, two rollers of storage sleeper case is contacted with substrate, composition moves back and forth storage sleeper device；

Described rigid hanger hoisting apparatus is by two telescopic cantilever boom devices, telescoping crossbeam device, rigid hanger and two Pick-and-place sleeper device is constituted；

Described telescopic cantilever boom device is by the first ladder square tube shape fixed arm, the first ladder square tube shape telescopic arm, square tube shape Telescopic arm, the first multi-stage expansion shell type oil cylinder, cantilever beam, end plate, cantilever and the 4th laser displacement sensor composition, the first ladder Square tube shape fixed arm is provided with ring flange and cylinder shoulder, and the first ladder square tube shape telescopic arm is provided with ring flange and cylinder shoulder, and square tube shape is stretched Arm is provided with ring flange and blind end, and the first multi-stage expansion shell type oil cylinder is provided with first flange disk, the first extension sleeve, second stretches Sleeve and second flange disk, cantilever beam are provided with ring flange；

End plate is symmetrically fixed on the first flexible shell type oil cylinder first flange disk, square tube shape telescopic arm is sheathed on the first multi-stage expansion Shell type oil cylinder, makes the first flexible shell type oil cylinder second flange disk symmetrically be fixed on square tube shape telescopic arm blind end, the first ladder side Tubular telescopic arm is sheathed on square tube shape telescopic arm, and the first ladder square tube shape fixed arm is sheathed on the first ladder square tube shape telescopic arm On, make the first ladder square tube fixed arm ring flange be connected with end plate, cantilever beam ring flange is fixed on square tube shape telescopic arm blind end On, cantilever is fixed on cantilever beam ring flange, and the 4th laser displacement sensor is fixed on cantilever, composition telescopic cantilever beam dress Put；

Described telescoping crossbeam device is by the second ladder square tube shape fixed arm, the second ladder square tube shape telescopic arm, the 3rd ladder Square tube shape telescopic arm, the second multi-stage expansion shell type oil cylinder, end cap, push pedal and the 5th laser displacement sensor composition, the second ladder Square tube shape fixed arm is provided with ring flange, cylinder shoulder and oblong aperture, and the second ladder square tube shape telescopic arm is provided with first shoulder, second shoulder And oblong aperture, the 3rd ladder square tube shape telescopic arm is provided with a shoulder and two monaural rings, and the second multi-stage expansion shell type oil cylinder is provided with One ring flange, first order extension sleeve, second level extension sleeve and second flange disk；

End cap is symmetrically fixed on the second flexible shell type oil cylinder first flange disk, the 3rd ladder square tube shape telescopic arm is sheathed on second On multi-stage expansion shell type oil cylinder, make the second flexible shell type oil cylinder second flange disk and the 3rd ladder square tube shape telescopic arm blind end solid Even, the second ladder square tube shape telescopic arm is sheathed on the 3rd ladder square tube shape telescopic arm, then by the second ladder square tube shape fixed arm It is sheathed on the second ladder square tube shape telescopic arm, makes end cap and ladder square tube shape fixed arm ring flange be connected, push pedal is fixed on the 5th laser displacement sensor is symmetrically fixed on the second ladder square tube shape fixed arm side by three ladder square tube shape telescopic arm blind ends Face, constitutes telescoping crossbeam device,

Described rigid hanger is made up of entablature, two pull bars and sill, and entablature is provided with two ears rings, sill It is provided with two circular holes；

One end of two pull bars is symmetrically fixed on below entablature, the other end of two pull bars is symmetrically fixed on sill Face, constitutes rigid hanger；

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

3rd spiral rotary actuator is penetrated in sill circular hole, the 3rd spiral rotary actuator ring flange is fixed on down Above crossbeam, yielding coupling makes the 3rd spiral rotary actuator output shaft be connected with interior wide-mouth nut axle journal, constitutes pick-and-place Sleeper device；

Two telescopic cantilever boom devices are symmetrically fixed on two longerons of railcar, the second ladder square tube shape fixed arm is fixed on Below two cantilever girder cantilevers, two ears rings of entablature are same with two monaural rings of the 3rd ladder square tube shape telescopic arm respectively Axle bolt connects, and cmos image sensor is fixed on the outside of railcar longeron, constitutes sleeper handling apparatus.