CN106676981A

CN106676981A - Small railway maintenance machine with shape recognition function

Info

Publication number: CN106676981A
Application number: CN201610768678.3A
Authority: CN
Inventors: 宋伟俊; 李向海; 刘树山
Original assignee: China Railway Construction Bridge Engineering Bureau Group Co Ltd
Current assignee: China Railway Construction Bridge Engineering Bureau Group Co Ltd
Priority date: 2016-08-30
Filing date: 2016-08-30
Publication date: 2017-05-17

Abstract

The invention discloses a small railway maintenance machine with a shape recognition function. The small railway maintenance machine comprises a tamping and ballast leveling device, a railway shoulder and ballast bed shape correction device, a grab bucket ballast clearing device, a ballast collection and discharge device, a sleeper end ballast clearing device, a sprocket ballast discharge device, a synchronous assembling and disassembling device for four nuts, a first rail lifting device, a shunting and sleeper push-pull device, a sleeper hanging device, an electric generator, a hydraulic system and control system cabinet and a rail car. The small railway maintenance machine has the advantages that working positions can be aligned rapidly; ballast on a ballast bed between sleepers, the outer sides of the sleeper ends and under steel rails can be discharged automatically, sand and soil in the ballast can be separated automatically, the ballast can be backfilled between the replaced sleepers to be tamped and leveled, and the shapes of railway shoulders and the ballast bed are repaired automatically; the four nuts can be assembled and disassembled synchronously, so that the fatigue life of bolts is prolonged, and connecting reliability between the sleepers and the rails is ensured; the shunting and sleeper push-pull device which is an integrated device is compact in structure and adaptive to various sleeper replacement operations in straight and curve rail sections, and accordingly high sleeper replacement efficiency is achieved.

Description

One kind has figure identification function railway maintenance small-sized machine

Technical field

The present invention relates to a kind of railway maintenance machinery, more particularly to a kind of to have figure identification function railway maintenance minicomputer Tool.

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 need 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 have figure identification function railway maintenance small-sized machine.

The present invention be by the flat quarrel device of tamping, road shoulder and railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, The clear stone device in pillow end, chain tooth row stone device, four nuts synchronization assembling and disassembling device, the first rail-lifting equipment, transition and push-and-pull sleeper device, Sleeper handling apparatus, generator, Hydraulic system and control System cabine and railcar composition.Railcar is provided with multiple castors and two Longeron, the flat quarrel device of tamping, road shoulder and railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, the clear stone device in pillow end, Chain tooth row stone device, four nuts synchronization assembling and disassembling device, the first rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, Generator and Hydraulic system and control System cabine are arranged on two longerons of railcar, and railcar is drawn by engineering truck, are generated electricity Machine provides power for oil pump and control system, be provided with Hydraulic system and control System cabine fuel tank, oil pump, hydraulic control system and Automatic control system；

The flat quarrel device of described tamping is made up of entablature, the first lowering or hoisting gear and the component that vibrates, and entablature is provided with two Individual connecting plate, connecting plate is provided with several bolts hole；

First lowering or hoisting gear is driven by the first series connection parallelogram lindage, the second series connection parallelogram lindage, the first lifting Dynamic device, servo-actuated Equipoising support apparatus and first laser displacement transducer composition；

Described first series connection parallelogram lindage by sill, the first fork, the second fork, two the 3rd forks, the One connecting rod, four the first bolts and entablature composition, first connecting rod is provided with two pairs of coaxial tapped blind holes and left handed threaded hole；

Second series connection parallelogram lindage is connected parallelogram lindage composition with first, and second connecting rod is provided with two pairs together The tapped blind hole of axle and right-handed thread hole, except aforesaid second connecting rod and first connecting rod version are different, remaining all zero Modular construction form is the same；

The first described lifting drive be by the hydraulic motor of double output shaft, two yielding couplings, left-handed screw, First connecting rod, right handed screw, second connecting rod and two monaural ring bearing compositions, right handed screw is provided with the first axle journal and the second axle Neck, left-handed screw is identical with right handed screw version；

Described servo-actuated Equipoising support apparatus be by plate shape entablature, the 3rd series connection parallelogram lindage, the first strut, the Two struts, slide bar, two slide blocks, two turriform linear Stiffness springs, two the first hex nuts, two the second bolts and two Individual 3rd bolt composition, slide bar is provided with fixed disc, is arranged with two light bar segments and two thread segments；Slide block is provided with circular hole With a pair of coaxial threaded blind holes；

Described 3rd series connection parallelogram lindage be by plate shape entablature, sill, the 4th fork, the 5th fork, the Six forks, the 7th fork, two third connecting rods and two bearing pin compositions；

By the first fork and sill chain connection, hinge connects between the second fork, three components of the 4th fork and sill Connect, the first fork ears ring and the 3rd fork ears ring are coaxial with a pair of of first connecting rod left side tapped blind hole, two the first bolts Pretension, makes chain connection between the first fork, three components of the 3rd fork and first connecting rod, the second fork ears ring and another the Three fork ears rings and first connecting rod the right a pair of tapped blind holes it is coaxial, two the first tools for bolts ' pretension, make the second fork, another Chain connection between three components of the 3rd fork and first connecting rod, two the 3rd forks respectively with entablature chain connection, composition the One series connection parallelogram lindage, the aforementioned assembly operation of repetition is being symmetrical in sill and entablature vertical plane of symmetry assembling second Series connection parallelogram lindage；

Monaural ring bearing is sheathed on the second axle journal of right handed screw, double output shaft hydraulic motor is symmetrically fixed on plate shape On entablature, 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, then Monaural ring bearing is sheathed on the second axle journal of left-handed screw, another yielding coupling by the first axle journal of left-handed screw and The left end output shaft fixed connection of double output shaft hydraulic motor, two yielding couplings are fixed on plate shape entablature, make left-handed spiral shell Bar and first connecting rod left handed threaded hole axial contact, make right handed screw and second connecting rod right-handed thread hole axial contact, rotate double The output shaft of output shaft hydraulic motor, makes left-handed screw screw in first connecting rod left handed threaded hole, while right handed screw screws in the In two connecting rod right-handed thread holes, the first lifting drive is constituted；

Two turriform linear Stiffness springs are symmetrically sheathed on into two light bar segments of slide bar, then two slide blocks are covered respectively Located at two light bar segments of slide bar, two hex nuts distinguish pretension, make two slide blocks make turriform linear Stiffness spring respectively Appropriate compression, by the 5th fork and sill chain connection, make the left side monaural ring of two second connecting rods respectively with the 4th fork Ears ring, the 6th fork ears ring and slide block a pair of tapped blind holes it is coaxial, two the second bolts distinguish pretensions, make the 4th pendulum Chain connection between bar, three components of the 6th fork and slide block, by the right monaural ring of two third connecting rods respectively with the 5th fork Ears ring, the 7th fork ears ring it is coaxial, two bearing pins are respectively penetrated, and make second connecting rod, the 5th fork and the 7th fork three Chain connection between individual component, the series connection parallelogram lindage of composition the 3rd；

Coaxial, two the 3rd bolts by a pair of tapped blind holes of the first strut ears ring, the second strut ears ring and slide block Respectively pretension, makes chain connection between the first strut, three components of the second strut and slide block, the 6th fork, the 7th fork and second Strut respectively with plate shape entablature chain connection, the servo-actuated Equipoising support apparatus of composition；

By four the 3rd forks and entablature chain connection, first laser displacement transducer is symmetrically fixed under entablature Face；Constitute the first lowering or hoisting gear；

It is described vibrate component by entablature, several elastic connecting components, oscillating plate, eight vibrating spears, eight the two or six Angle nut and the first dither motor are constituted, and elastic connecting component is by bolt, two helical springs, pad and hex nut groups Into oscillating plate is provided with several bolts hole and eight circular holes；

Bolt is passed through into square tube shape entablature connecting plate bolt hole, helical spring is sheathed on bolt, then passed through and shake Dynamic crab bolt hole, then another helical spring is sheathed on bolt, pad is sheathed on bolt, hex nut pretension, vibration Plate realizes elastic connection with entablature；Vibrating head passes through oscillating plate circular hole, the second hex nut pretension, the first dither motor Oscillating plate upper surface symmetric position is fixed on, sill is symmetrically fixed on two longerons of railcar, the flat quarrel dress of composition tamping Put.

Described road shoulder and railway roadbed modification device is by the first entablature component, the first retractable driving device, the second lifting Device and bucket device are constituted；

The first described entablature component is by the first square tube shape fixed arm, the first square tube shape telescopic arm, second laser position Displacement sensor and the second range finding reference plate composition, the first square tube shape fixed arm is provided with four ears rings, the first square tube shape telescopic arm Two symmetrical grooves are provided with, groove is provided with bolt hole；

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

Monaural ring bearing is sheathed on the second axle journal of screw rod, yielding coupling is by the first axle journal of screw rod and hydraulic pressure horse The output shaft fixed connection for reaching, square nut screws on screw rod appropriate location, and square slider is sheathed on the axle journal of screw rod the 3rd, hex nut Pretension, the first square tube shape telescopic arm is arranged thereon from screw rod left end, makes two tapped blind holes of square nut and the first square tube shape Two bolts hole of telescopic arm are coaxial, and two tools for bolts ' pretension, the first square tube shape fixed arm is arranged thereon from hydraulic motor right-hand member, and Hydraulic motor is fixed on into the first square tube shape fixed arm endoporus upper surface, the first retractable driving device is constituted, square slider and the One square tube shape telescopic arm forms moving sets, second laser displacement transducer is fixed on above the first square tube shape fixed arm, second Range finding reference plate is fixed on above the first square tube shape telescopic arm；

Described the second lowering or hoisting gear and the first lowering or hoisting gear composition, except aforesaid first square tube shape fixed arm and upper Beam structure form is different, and remaining all component structural form is the same；

Carry out and the first lifting drive identical assembly operation, by four the 3rd forks and the first square tube shape fixed arm Chain connection, first laser displacement transducer is symmetrically fixed on below the first square tube shape fixed arm；Constitute the second lowering or hoisting gear；

Described bucket device is made up of the first bucket component, arm and U-shaped suspension rod, arm be provided with monaural ring, first Ears ring, the second ears ring and ring flange；

The first described bucket component is made up of hydraulic jack, strut, connecting rod and bucket body, and the piston rod of hydraulic jack is certainly Monaural ring, cylinder body are provided with by end and are provided with monaural ring；Strut is provided with ears ring and monaural ring；Connecting rod is provided with monaural ring and ears Ring, bucket body is provided with the first ears ring and the second ears ring；

Cylinder body of hydraulic oil cylinder monaural ring is coaxially penetrated into pin hinge with arm the second ears ring to be connected, strut monaural ring with Arm the first ears ring coaxially penetrates pin hinge connection, and bucket body the second ears ring coaxially penetrates pin hinge with arm monaural ring Connection, connecting rod monaural ring coaxially penetrates pin hinge and is connected with bucket body the first ears ring, connecting rod ears ring, strut ears ring and Hydraulic cylinder piston rod is monocyclic coaxially to penetrate pin hinge connection, the first bucket component is constituted, by U-shaped suspension rod and arm ring flange It is connected, constitutes bucket device, U-shaped suspension rod is fixed on the first square tube shape telescopic arm, constitutes road shoulder and railway roadbed modification device；

The clear stone device of described grab bucket is made up of entablature, two the 3rd lowering or hoisting gears and eight the first grab mechanisms, Entablature is provided with two longerons and two cantilever longitudinal beams；

As described the 3rd lowering or hoisting gear and the composition of the first lowering or hoisting gear, except aforesaid 3rd lowering or hoisting gear entablature Different with the first lowering or hoisting gear entablature version, remaining all component structural form is the same；

Carry out and the first lifting drive identical assembly operation, four the 3rd forks are connected respectively with entablature hinge Connect, first laser displacement transducer is fixed on below entablature；Constitute the 3rd lowering or hoisting gear；

The first described grab mechanisms are made up of two the second bucket components and arm, and arm is arranged with two monaurals Ring, two the first ears rings, 2 second ears rings and ring flanges；

Second bucket component and the first bucket component are constituted and version is the same；

Respectively two cylinder body of hydraulic oil cylinder monaural rings are coaxially penetrated into pin hinge with two the second ears rings of arm to be connected, Two strut monaural rings coaxially penetrate pin hinge and are connected with two the first ears rings of arm respectively, two bucket body the second ears rings Coaxially penetrate pin hinge with two monaural rings of arm respectively to be connected, two connecting rod monaural rings respectively with two ears of bucket body first Ring coaxially penetrates pin hinge connection, and connecting rod ears ring, strut ears ring and hydraulic cylinder piston rod are monocyclic coaxially to penetrate bearing pin Chain connection, constitutes the first grab mechanisms, eight arm ring flanges is respectively symmetrically and is fixed on two longerons of entablature and two On cantilever longitudinal beam, the clear stone device of composition grab bucket；

Described ballast collection arranging device be by cmos image sensor, casing, two stone removing doors, two collection crossdrifts, two Stone removing door driving means, two collection crossdrift driving means, crossbeam, several second elastic connecting components, the second dither motors Constitute with two end caps, crossbeam is provided with several bolts hole, and end cap is provided with sand discharge Tu Zui；

Described casing be provided with base plate, flechette-type bottom, two the first Ji Shicang, the second Ji Shicang, two square tube shape holes, two Individual gradual change isosceles trapezoid skewed slot, four first it is convex stupefied and two it is second convex stupefied, base plate is provided with several bolts hole, and flechette-type bottom sets There are several sieve apertures, the first Ji Shicang is provided with Pai Shikou and two Ji Shikou of symmetrical two, and the second Ji Shicang is provided with symmetrical two Individual Pai Shikou and two Ji Shikou, the first convex stupefied top and bottom are provided with symmetrical two ears ring, and the second convex stupefied top and bottom are provided with right The two ears rings for claiming, stone removing door is provided with two the first monaural rings and four the second monaural rings, and collection crossdrift is provided with two first lists Earrings, four the second monaural rings and six spill plates；

Described stone removing door driving means are to drive hydraulic jack, the first pull bar and the second pull bar group by stone removing door Into the first pull bar is provided with the first ears ring and the second ears ring, and the second pull bar is provided with the first ears ring and the second ears ring；

Described collection crossdrift driving means are to drive hydraulic jack, the 3rd pull bar and the 4th pull bar group by collection crossdrift Into the 3rd pull bar is provided with the first ears ring and the second ears ring, and the 4th pull bar is provided with the first ears ring and the second ears ring；

Described the second elastic connecting component and the first Flexible Connector is constituted and version is the same；

Stone removing door drives hydraulic cylinder piston rod monaural ring, first pull bar the first ears ring, the second pull bar first pair Earrings coaxially penetrates pin hinge connection, constitutes stone removing door driving means, collection crossdrift drive hydraulic cylinder piston rod monaural ring, the Three pull bar the first ears rings, the 4th pull bar the first ears ring coaxially penetrate pin hinge connection, and composition collection crossdrift drives dress Put；

Four the second monaural rings of stone removing door ears ring respectively with two the first convex stupefied lower surfaces, second it is convex it is stupefied below Two ears rings coaxially penetrate pin hinge connection, collect four the second monaural rings of crossdrift respectively with two first it is convex it is stupefied above Ears ring, two ears rings of the second convex stupefied upper surface coaxially penetrate pin hinge connection；

Hydraulic jack is driven to be respectively fixedly connected with the madial wall in two square tube shape holes two stone removing doors, two the first push-and-pulls The second ears of bar ring is co-axially inserted pin hinge and is connected with two the first monaural rings of stone removing door respectively, two the second pull bars second Ears ring is co-axially inserted pin hinge and is connected with two the first monaural rings of another stone removing door respectively, and two collection crossdrifts are driven into liquid Compressing cylinder is respectively fixedly connected with the lateral wall in two square tube shape holes, two the 3rd the second ears of pull bar rings respectively with collection crossdrift two Individual first monaural ring is co-axially inserted pin hinge connection, two the 4th the second ears of pull bar rings respectively with another stone removing door two Individual first monaural ring is co-axially inserted pin hinge connection, and two end caps are respectively fixedly connected with casing；

Bolt is passed through into sill bolt hole, helical spring is sheathed on bolt, then pass through box bottom bolt hole, Another helical spring is sheathed on bolt again, pad is sheathed on bolt, hex nut pretension, casing realizes bullet with crossbeam Property connection；Second dither motor is symmetrically connected on box bottom, and crossbeam is symmetrically fixed on two longerons of railcar, Cmos image sensor is fixed on below crossbeam, constitutes ballast collection arranging device；

The clear stone device in described pillow end be by the second entablature component, the second retractable driving device, the 4th lowering or hoisting gear, Two grab mechanisms and U-shaped bar are constituted；

Described the second entablature component and the first entablature component composition and version are the same, carry out with first on it is horizontal Beam assembly identical assembly operation, constitutes the second entablature component；

The second described retractable driving device and the first retractable driving device constitute and version as, carry out and first Retractable driving device identical assembly operation, constitutes the second retractable driving device；

Described the 4th lowering or hoisting gear and the first lowering or hoisting gear is constituted and version is the same, carries out and the first lowering or hoisting gear Identical assembly operation, constitutes the 4th lowering or hoisting gear；

Described the second grab mechanisms and the first grab mechanisms are constituted and version is the same, carry out and the first grab mechanisms Identical is assembled, and constitutes the second grab mechanisms；

Arm ring flange is connected with U-shaped bar, then U-shaped bar is fixed on the first square tube shape telescopic arm, composition pillow end is clear Stone device；

Described chain tooth row stone device is by the 3rd entablature component, the lowering or hoisting gear of the 3rd retractable driving device the 5th and chain Tooth row stone component is constituted；

The 3rd described entablature component is swashed by the second square tube shape fixed arm, two the second square tube shape fixed arms, three Optical displacement sensor and the 3rd range finding reference plate composition, the second square tube shape fixed arm is provided with four ears rings, and the second square tube shape is consolidated Determine arm and be provided with symmetrical two groove, groove is provided with bolt hole；

The 3rd described retractable driving device is by the second square tube shape fixed arm, double output shaft hydraulic motor, two elasticity Shaft coupling, two monaural ring bearings, left-handed screw, left-handed square nut, right handed screw, dextrorotation square nut, two square cunnings Block, two hex nuts, four bolts and two the second square tube shape fixed 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 coaxials to left-handed screw Blind screwed 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 screws on right handed screw appropriate location, square slider set On the axle journal of right handed screw the 3rd, hex nut pretension, the second square tube shape telescopic arm is arranged thereon from right handed screw right-hand member, Make the second square tube shape telescopic arm groove bolt hole coaxial with dextrorotation square nut tapped blind hole, two bolts screw in respectively dextrorotation side The tapped blind hole pretension of shape nut, the aforementioned assembly operation of repetition, by the second monaural ring bearing, left-handed screw, left-handed square nut, Square slider, hex nut, yielding coupling, double output shaft hydraulic motor and the second square tube shape telescopic arm composition one, by the Two square tube shape fixed arms are sheathed on two the second square tube shape telescopic arms, make double output shaft hydraulic motor symmetrically be fixed on second party Tubular fixed arm endoporus upper surface, two monaural ring bearings are respectively fixedly connected with the second square tube shape fixed arm endoporus upper surface, and second Laser displacement sensor is symmetrically fixed on the second square tube shape fixed arm, and the second range finding reference plate is fixed on the second square tube shape and stretches On arm, the 3rd retractable driving device square slider and the second square tube shape telescopic arm form moving sets；

Described the 5th lowering or hoisting gear and the first lowering or hoisting gear is constituted, except the second square tube shape fixed arm and entablature are tied Configuration formula is different, and remaining all component structural form is the same；

Carry out and the first lowering or hoisting gear identical assembly operation, by four the 3rd forks and the second square tube shape fixed arm hinge Connection, first laser displacement transducer is fixed on below the second square tube shape fixed arm, constitutes the 5th lowering or hoisting gear；

Described chain tooth row stone component is by double output shaft hydraulic motor, two yielding couplings, two chain tooth row stone portions Part, U-shaped bar, eight C-shaped-rods and suspension bracket composition, U-shaped bar is provided with two circular flange disks and square flange, and C-shaped-rod is provided with the One ring flange and second flange disk, suspension bracket is provided with two first flange disks and eight second flange disks；

Described chain tooth row stone part is held by square beam, sprocket wheel, sprocket wheel wheel shaft, inducer, inducer wheel shaft, four Roller, four BOGEY WHEEL wheel shafts, several chain tooth assembly sum bearing pins composition, square beam be provided with the first ears ring, second Ears ring and four the 3rd ears rings；

By square beam the first ears ring and sprocket coaxiality, sprocket wheel wheel shaft chain connection, the ears of square beam second are penetrated Ring is coaxial with inducer, penetrates inducer wheel shaft chain connection, and the ears ring of square beam the 3rd is coaxial with BOGEY WHEEL, penetrates load-bearing Wheel wheel shaft chain connection, makes square beam, sprocket wheel, inducer and four BOGEY WHEELs be assembled into one；

Described chain tooth assembly is made up of sleeve and chain link；

Described chain link is made up of two bolts, two nuts, chain tooth plate, the first carrier bar and the second carrier bars, chain tooth plate Two bolts hole and several equal strength sprockets are provided with, the first carrier bar is provided with the first monaural ring, the second monaural ring and the 3rd monaural ring, Second carrier bar is provided with the first monaural ring, the second monaural ring and the 3rd monaural ring；

Sprocket crab bolt hole and first the second monaural of carrier bar ring is coaxial, penetrate bolt, nut pretension, chain tooth plate another Bolt hole and second the second monaural of carrier bar ring are coaxial, penetrate bolt, and nut pretension constitutes chain link, by the first chain of the first chain link Plate the first monaural ring, the monaural ring of second the first carrier bar of chain link the 3rd, sleeve, the monaural ring of second the second carrier bar of chain link the 3rd and first Chain link the second carrier bar the first monaural ring coaxially penetrates pin hinge connection, repeats aforementioned operation, until several chain links are hinged into one Body, the square beam being assembled into one, sprocket wheel, inducer and four BOGEY WHEELs are placed on it, by the first carrier bar of last chain link First monaural ring, the monaural ring of first the first carrier bar of chain link the 3rd, sleeve, the monaural ring of first the second carrier bar of chain link the 3rd and last chain Save second carrier bar the first monaural ring and coaxially penetrate pin hinge connection, make all chain tooth assembly chain connection annular integrative-structures, Composition chain tooth row stone part,

Double output shaft hydraulic motor double output shaft, two yielding couplings and two sprocket wheel wheel shafts are connected, U-shaped bar is square Ring flange is fixed on the 3rd double output shaft hydraulic motor, eight C-shaped-rod second flange disks be respectively symmetrically be fixed on two it is square On crossbeam, eight second flange disks of suspension bracket respectively with eight C-shaped-rod first flange disks be connected, two circular flange disks of U-shaped bar and Two first flange disks of suspension bracket are respectively fixedly connected with the second square tube shape telescopic arm, constitute chain tooth row stone device；

The described nut of sleeper four synchronization assembling and disassembling device is by entablature, the 6th lowering or hoisting gear and two nut assembling and disassembling devices Composition；

Described the 6th lowering or hoisting gear and the first lowering or hoisting gear is constituted, the sill in the 6th lowering or hoisting gear is provided with five Individual ears ring and two symmetrical long slot bores, the first forks are provided with shoulder hole, except aforesaid 6th lowering or hoisting gear entablature and The entablature version of one lowering or hoisting gear is different, the Lower Crossbeam Structure of the 6th lowering or hoisting gear sill and the first lowering or hoisting gear Form is different, the first swing rod structure form of the 6th the first fork of lowering or hoisting gear and the first lowering or hoisting gear is different, remaining institute There is component structural form the same；

Carry out and the first lowering or hoisting gear identical assembly operation, by four the 3rd forks and entablature chain connection, by the One laser displacement sensor is fixed on below entablature, constitutes the 6th lowering or hoisting gear；

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

Upper lid is sheathed on into the first spiral rotary actuator output shaft circular shaft section, makes lid swing hydraulic pressure with the first spiral Motor ring flange is connected, then circular connecting plate is sheathed on into the prism shaft part of the first spiral rotary actuator output shaft six, and first Hex nut pretension, internal gear is coaxially connected with circular connecting plate, and geared sleeve is connected located at the axle journal of power transmission shaft first, the first thrust On the axle journal of power transmission shaft second, power transmission shaft makes the first thrust bearing contact with housing to bearing holder (housing, cover) through housing axis hole, and second pushes away On the axle journal of power transmission shaft the 3rd, the second hex nut screws on power transmission shaft thread segment pretension to power bearing holder (housing, cover), and yielding coupling makes biography The axle journal of moving axis the 4th is coaxially connected with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, the gear teeth of two gears The flank of tooth is connected respectively with the gear teeth face of internal gear, upper lid and shell flange disk, and one end of two suspension rods is symmetrically fixed on Housing both sides, constitute nut assembling and disassembling device, and the other end of two suspension rods is symmetrically fixed on two sides of entablature, and sill is connected On two side rail inner faces of railcar, composition sleeper four nut synchronization assembling and disassembling device；

The first described rail-lifting equipment is by entablature, the 7th lowering or hoisting gear and carries rail assembly and constitutes, and entablature is provided with four Individual ears ring；

Described the 7th lowering or hoisting gear and the first lowering or hoisting gear composition are the same, except aforesaid 7th lowering or hoisting gear entablature with First lowering or hoisting gear entablature version is different, and remaining all component structural form is the same；

Carry out and the first lowering or hoisting gear identical assembly operation, by four the 3rd forks and entablature chain connection, by the One laser displacement sensor is fixed on below entablature, constitutes the 7th lowering or hoisting gear；

The described rail assembly that carries is by two suspension rods, third party's tubular fixed arm, double output shaft hydraulic motor, two elasticity Shaft coupling, two monaural ring bearings, left-handed screw, the first box type telescopic arm, right handed screw, the second box type telescopic arm and two carry Cylinder of rail is constituted, and suspension rod is provided with first flange disk and second flange disk, and third party's tubular fixed arm is provided with two symmetrical semicircles Post holes, left-handed screw is provided with the first axle journal and the second axle journal, and right handed screw as left-handed screw version, stretch by the first box Contracting arm is provided with semicylindrical opening and left-handed motion thread hole, and the second box type telescopic arm is provided with semicylindrical opening and clockwise drive screwed hole, Carry cylinder of rail cylinder body and be provided with gusset, piston rod free end and be provided with fagging；

Monaural ring bearing is sheathed on the axle journal of left-handed screw second, the left-handed biography of left-handed screw precession the first box type telescopic arm Dynamic screwed hole appropriate location, yielding coupling makes double output shaft hydraulic motor left side output shaft coaxial with the axle journal of left-handed screw first It is connected, the aforementioned assembly operation of repetition, by monaural ring bearing, right handed screw, the second box type telescopic arm, yielding coupling and dual output Axle hydraulic motor is assembled into one, and third party's tubular fixed arm is sheathed on the first box type telescopic arm and the second box type telescopic arm, Double output shaft hydraulic motor is set symmetrically to be fixed on third party's tubular fixed arm endoporus upper surface, two monaural ring bearings are fixed on Third party's tubular fixed arm endoporus upper surface, two carry cylinder of rail and are respectively fixedly connected with the first box type telescopic arm semicylindrical opening and the In two box type telescopic arm semicylindrical openings, make two to carry cylinder of rail and be symmetrical arranged, two suspension rod second flange disks are symmetrically fixed on Above three square tube shape fixed arms, composition carries rail assembly, and two suspension rod first flange disks are symmetrically fixed on entablature side, composition the One rail-lifting equipment.

Described swivel block and push-and-pull sleeper device be by first crossbeam telescopic component, first crossbeam retractable driving device, One pendulous device, four the first forks, crawls and swivel block devices, four the first hex nuts and four bolt compositions, the first pendulum Bar is provided with six prism hole monaural rings and monaural ring；

Described first crossbeam telescopic component is by the 4th square tube shape fixed arm, the 4th square tube shape telescopic arm, the 4th laser Displacement transducer and the 4th range finding reference plate composition, the 4th square tube shape telescopic arm is provided with blind end and two symmetrical grooves, groove It is provided with bolt hole；

Described the 4th retractable driving device and the first retractable driving device is constituted, except aforementioned 4th square tube shape is fixed Arm and the first square tube shape fixed arm version are different, and remaining all component structural form is the same；

Carry out and the first retractable driving device identical assembly operation, constitute the 4th retractable driving device, the 4th laser position Displacement sensor is symmetrically fixed on the 4th square tube shape fixed arm, and the 4th range finding reference plate is fixed on the 4th square tube shape telescopic arm；

The first described pendulous device is by the first casing, the second spiral rotary actuator, partial gear, two fans Shape gear, two multidiameters and embedded cover plate composition, it is spacing that the first casing is provided with two axis holes, the first positive stop lug boss and second Boss, multidiameter is provided with the first axle journal, the second axle journal, the 3rd axle journal, the one or six prism shaft part and the two or six prism shaft part, is 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 arranged respectively and are fixed on first diameter of axle of two multidiameters, two multidiameters are each passed through First axis hole of casing two, forms the axle journal of multidiameter second and the first casing axis hole and rotates secondary, partial gear is arranged solid It is connected on the second spiral rotary actuator output shaft, is placed into being made in the first casing the gear teeth of partial gear respectively with two The gear teeth of individual sector gear are contacted along the facewidth, and the second spiral rotary actuator is fixed on the first box bottom, embedded lid Two axis holes of plate are sheathed on respectively on two axle journals of multidiameter the 3rd, make embedded cover plate and the first casing be connected, composition the One pendulous device；

Described crawl and swivel block device is pushed away by the second casing, the 3rd spiral rotary actuator, hydraulic jack, first Power bearing, the second thrust bearing, the second hex nut, piston, piston rod, ladder U-bracket, first connecting rod, second connecting rod, two Individual second fork, two rollers, end cap and two mechanical gripper 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 3rd spiral rotary actuator output shaft fixed connection method Blue disk, 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 is provided with method Blue disk, the first axle journal, the second axle journal and the 3rd axle journal, ring flange is provided with spacing 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 is provided with ears ring and monaural ring, and second connecting rod is provided with two ears rings, and the second fork is provided with list Earrings, pin-and-hole and ears ring；

Described gripper is made up of ladder U-bracket, four the 3rd forks, two helical springs and pressing plates, the 3 first 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 spacing fan-shaped boss of the 3rd spiral rotary actuator output shaft ring flange and the spacing fan of hydraulic jack ring flange Shape boss aligns connected, and the first thrust bearing is sheathed on the axle journal of hydraulic jack first, and hydraulic jack is penetrated into the second casing rank In terraced hole, the 3rd spiral rotary actuator output shaft ring flange and hydraulic jack ring flange is set to insert second the first circular hole of casing Section, makes the spacing fan-shaped boss of the 3rd spiral rotary actuator output shaft ring flange and the spacing fan-shaped boss of hydraulic jack ring flange Insert in fan-shaped hole section, two spacing fan-shaped boss left surfaces is contacted with the fan-shaped confined planes of hole section first, the first thrust bearing Second the second circular hole portion of casing is inserted, the 3rd spiral rotary actuator is fixed on the second box bottom, make end cap and Two casings are connected；

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

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 penetrates pin hinge and is connected with four the second monaural rings of pressing plate respectively, Two helical spring one end are connected respectively with two the first monaural rings of ladder U-bracket, 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 all the time with pressing plate, the aforementioned assembly operation of repetition, assembles another gripper, composition crawl and swivel block device；

Two prism hole monaural rings of the first fork six are sheathed on into respectively two prism shaft parts of multidiameter the one or six, two One hex nut distinguishes pretension, then the prism hole monaural ring of other two the first forks six is sheathed on respectively into two multidiameters second 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, four bolts difference pretensions, make Four the first forks are connected respectively with the second chest hinge, form in-parallel four-bar mechanism；

First casing is fixed on into the 4th square tube shape telescopic arm blind end, composition swivel block and push-and-pull sleeper device；

Described sleeper handling apparatus reset by the second rail-lifting equipment, moving back and forth storage sleeper device and rigid hanger Put composition；

The second described rail-lifting equipment be by second cross beam telescopic component, second cross beam retractable driving device, two second Pendulous device, eight forks, eight hex nuts, two box connecting rods, eight bolts and two flexible shell types put forward cylinder of rail group Into fork is provided with six prism hole monaural rings and monaural ring, and box connecting rod is arranged with four bolts hole and semicylindrical opening, telescopic Formula carries cylinder of rail cylinder body and is provided with gusset, piston rod free end and is provided with fagging；

Described second cross beam telescopic component be by the 5th square tube shape fixed arm, two the 5th square tube shape telescopic arms, the 5th Laser displacement sensor and the 5th range finding reference plate composition, the 5th square tube shape telescopic arm is provided with blind end, two symmetrical grooves, recessed Groove is provided with bolt hole；

Second cross beam retractable driving device as the composition of the 3rd retractable driving device, except aforesaid 5th square tube shape it is solid Determine arm and the second square tube shape fixed arm version is different, remaining all component structural form is the same；

Carry out and the 3rd retractable driving device identical assembly operation, constitute second cross beam retractable driving device, the 5th swashs Optical displacement sensor is symmetrically fixed on the 5th square tube shape fixed arm side, and the 5th range finding reference plate is fixed on the 5th square tube shape and stretches Arm side；

Second pendulous device and the first pendulous device constitute and version as, carry out and the first pendulous device identical Assembly operation, constitutes the second pendulous device；

Two prism hole monaural rings of fork six are sheathed on into respectively two prism shaft parts of multidiameter the one or six, two hexagonal spiral shells The other pretension of mother stock, then the prism hole monaural ring of other two forks six is sheathed on into respectively two prism shaft parts of multidiameter the two or six, Other two hex nuts distinguish pretension, and the one end for making four forks is connected respectively with the two ends of two multidiameters, four forks Four screwed holes of monaural ring and box connecting rod are coaxial, and four bolts distinguish pretensions, make four forks respectively with box connecting rod link Connection, forms in-parallel four-bar mechanism；

Two casings are respectively fixedly connected with the blind end of two the 5th square tube shape telescopic arms, two the second pendulous devices pair are made Claim to arrange, two flexible shell types are carried into cylinder of rail cylinder body and is respectively fixedly connected with two box connecting rod semicylindrical openings, composition second is carried Rail device, the 5th square tube shape fixed arm is symmetrically fixed on two longerons of railcar；

Described reciprocating motion storage sleeper device is made up of reciprocator and storage sleeper case, stores sleeper case Two rollers and several sleeper storehouses are provided with, wherein left side half sleeper storehouse is used to store sleeper, right side half sleeper storehouse is used for Store bad sleeper.

Described reciprocator be by base plate, first series connection parallelogram lindage, second series connection parallelogram lindage, Reciprocating movement driving device and the 6th laser displacement sensor are constituted；

Described first series connection parallelogram lindage be by fixed cross beam, two the first forks, first connecting rod, two second Fork, moving beam and four bolt compositions, first connecting rod is provided with left handed threaded hole and two pairs of coaxial threaded blind holes, moving beam It is provided with two rollers；

Described the second series connection parallelogram lindage and the first series connection parallelogram lindage is constituted, second connecting rod is provided with Right-handed thread hole and two pairs of coaxial threaded blind holes, except aforesaid second connecting rod and first connecting rod version it is different, remaining institute There is component structural form the same；

Described reciprocating movement driving device is by double output shaft hydraulic motor, two yielding couplings, two monaural rings Bearing, monaural ring bearing, left-handed screw, first connecting rod, right handed screw, second connecting rod and motorcycle composition, right handed screw is provided with the One axle journal and the second axle journal, as right handed screw version, motorcycle is provided with four rolling to left-handed screw；

By two the first forks respectively with fixed cross beam chain connection, the first fork ears ring and the second fork ears ring with A pair of of first connecting rod left side coaxial threaded blind hole is coaxial, and two bolts distinguish pretensions, another the first fork ears ring and another A pair of coaxial threaded blind holes of individual second fork ears ring and first connecting rod the right are coaxial, and two bolts distinguish pretension, make the first pendulum Chain connection between bar, three components of the second fork and first connecting rod, by two the second forks respectively with moving beam chain connection, The series connection parallelogram lindage of composition first, the aforementioned assembly operation of repetition is symmetrical in fixed cross beam and the moving beam vertical plane of symmetry The series connection parallelogram lindage of assembling second；

Monaural ring bearing is sheathed on the second axle journal of right handed screw, the hydraulic motor of double output shaft is symmetrically fixed on support Che Shang, yielding coupling is by the first axle journal of right handed screw and the right-hand member output shaft fixed connection of double output shaft hydraulic motor, then incites somebody to action single Earrings bearing is sheathed on the second axle journal of left-handed screw, and another yielding coupling is by the first axle journal of left-handed screw and lose-lose The left end output shaft fixed connection of shaft hydraulic motor, two yielding couplings are fixed in motorcycle, connect left-handed screw and first Bar left handed threaded hole axial contact, makes right handed screw and second connecting rod right-handed thread hole axial contact, rotates double output shaft hydraulic pressure The output shaft of motor, makes left-handed screw screw in first connecting rod left handed threaded hole, while right handed screw screws in second connecting rod dextrorotation In screwed hole, the second driving means are constituted；

Base plate is fixed on into fixed cross beam lower surface, make moving beam two rollers and motorcycle four rolling respectively with Plate upper surface is contacted, and the 6th laser displacement sensor is symmetrically fixed on fixed cross beam side, constitutes reciprocator；

Base plate is fixed in track car crossbeam and the 5th square tube shape fixed arm, storage sleeper case is fixed on moving beam On, two rollers for making storage sleeper case are contacted with plate upper surface, 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, two Individual pick-and-place sleeper device and the 7th laser displacement sensor are constituted；

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 8th 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 is provided with ring flange；

End plate is symmetrically fixed on the first multi-stage expansion shell type oil cylinder first flange disk, square tube shape telescopic arm is sheathed on first Multi-stage expansion shell type oil cylinder, makes the first multi-stage expansion shell type oil cylinder second flange disk symmetrically be fixed on the closing of square tube shape telescopic arm End, the first ladder 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 rank On terraced square tube shape telescopic arm, the first ladder square tube fixed arm ring flange is set to be connected with end plate, cantilever beam ring flange is fixed on square tube On shape telescopic arm blind end, cantilever is fixed on cantilever beam ring flange, and the 8th laser displacement sensor is fixed on cantilever, composition Telescopic cantilever boom 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 and push pedal composition, the second ladder square tube shape fixed arm is provided with Ring flange, cylinder shoulder and long slot bore, the second ladder square tube shape telescopic arm is provided with first shoulder, second shoulder and long slot bore, the 3rd rank Terraced 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 first flange disk, the first order Extension sleeve, second level extension sleeve and second flange disk；

End cap is symmetrically fixed on the second multi-stage expansion shell type oil cylinder first flange disk, the 3rd ladder square tube shape telescopic arm set On the second multi-stage expansion shell type oil cylinder, the second multi-stage expansion shell type oil cylinder second flange disk is set to stretch with the 3rd ladder square tube shape Contracting arm blind end is connected, and 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 is sheathed on the second ladder square tube shape telescopic arm, makes end cap be connected with ladder square tube shape fixed arm ring flange, Push pedal is fixed on the 3rd ladder square tube shape telescopic arm blind end, and the 7th laser displacement sensor is symmetrically fixed on into the second ladder side Tubular 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, rigid hanger is constituted；

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

4th spiral rotary actuator is penetrated in sill circular hole, the 4th spiral rotary actuator ring flange is fixed on down Above crossbeam, the 3rd yielding coupling makes the 4th 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 ladder side of telescoping crossbeam device second Tubular fixed arm is fixed on below two cantilever girder cantilevers, and two ears rings of entablature are flexible with the 3rd ladder square tube shape respectively Two monaural ring coaxial bolts connection of arm, constitutes sleeper handling apparatus.

The invention has the beneficial effects as follows：

1. quickly equipment can be directed at into operating position；

2. the ballast between sleeper can be discharged quickly, while removing the sandy soil in rock ballast automatically；

3. railway roadbed ballast on the outside of pillow end can be removed quickly；

4. railway roadbed ballast below rail can be removed quickly；

5. can realize that four nuts are synchronously assembled and disassembled, make four nut pretightning forces consistent, improve the fatigue life of bolt, protect The reliability that card sleeper is connected with rail；

6. swivel block and push-and-pull sleeper are integrating device, compact conformation, swivel block and push-and-pull sleeper high working efficiency；

7. can quickly handling and put sleeper work；

8. quickly rock ballast can be backfilled to and switch tracks between pillow both sides sleeper；

9. the shape of shoulder and railway roadbed can be repaired quickly；

10. can be backfilling into the ballast switched tracks between pillow quickly tamping shake it is flat；

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

12. can realize automatically controlling, 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 the front view of Fig. 1.

Fig. 3 is the flat quarrel device off working state schematic perspective view of tamping of the present invention.

Fig. 4 is the flat quarrel working state of device schematic perspective view of tamping of the present invention.

Fig. 5 is the first lifting drive exploded perspective schematic diagram of the present invention.

Fig. 6 is the servo-actuated Equipoising support apparatus exploded perspective schematic diagram of the first lifting of the present invention.

Fig. 7 is the front view of Fig. 3.

Fig. 8 is close-up schematic view at A in Fig. 7.

Fig. 9 is the road shoulder of the present invention and railway roadbed modification device working condition schematic perspective view.

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

Figure 11 is the second lifting drive exploded perspective schematic diagram of the present invention.

Figure 12 is the servo-actuated Equipoising support apparatus exploded perspective schematic diagram of the second lifting of the present invention.

Figure 13 is the first bucket device exploded perspective schematic diagram of the present invention.

Figure 14 is that the clear stone device lasher of grab bucket of the present invention makees state schematic perspective view.

Figure 15 is the clear stone device collection stone working condition schematic perspective view of grab bucket of the present invention.

Figure 16 is that the clear stone device of grab bucket of the present invention arranges stone working condition schematic perspective view.

Figure 17 is the 3rd lifting drive exploded perspective schematic diagram of the present invention.

Figure 18 is the servo-actuated Equipoising support apparatus exploded perspective schematic diagram of the second lifting of the present invention.

Figure 19 is the first grab mechanisms exploded perspective schematic diagram of the present invention.

Figure 20 is the ballast collection arranging device collection stone working condition schematic perspective view of the present invention.

Figure 21 is close-up schematic view at B in Figure 20.

Figure 22 is ballast collection arranging device row's stone working condition schematic perspective view of the present invention.

Figure 23 is N-N section views schematic perspective view in Figure 20.

Figure 24 is the clear stone working state of device schematic perspective view in pillow end of the present invention.

Figure 25 is the second retractable driving device exploded perspective schematic diagram of the present invention.

Figure 26 is the 4th lifting drive exploded perspective schematic diagram of the present invention.

Figure 27 is the servo-actuated Equipoising support apparatus exploded perspective schematic diagram of the 4th lifting of the present invention.

Figure 28 is the second grab mechanisms exploded perspective schematic diagram of the present invention.

Figure 29 is the chain tooth row stone working state of device schematic perspective view of the present invention.

Figure 30 is the 3rd retractable driving device exploded perspective schematic diagram of the present invention.

Figure 31 is the 5th lifting drive exploded perspective schematic diagram of the present invention.

Figure 32 is the servo-actuated Equipoising support apparatus exploded perspective schematic diagram of the 5th lifting of the present invention.

Figure 33 is the chain tooth row stone device schematic perspective view of the present invention.

Figure 34 is the chain tooth row stone component exploded perspective schematic diagram of the present invention.

Figure 35 is the chain link exploded perspective schematic diagram of the present invention.

Figure 36 is the nut of the sleeper four synchronization assembling and disassembling device working condition schematic perspective view of the present invention.

Figure 37 is the 6th lifting drive exploded perspective schematic diagram of the present invention.

Figure 38 is the servo-actuated Equipoising support apparatus exploded perspective schematic diagram of the 6th lifting of the present invention.

Figure 39 is the nut assembling and disassembling device exploded perspective schematic diagram of the present invention.

Figure 40 is first rail-lifting equipment and swivel block of the present invention and push-and-pull sleeper device off working state schematic perspective view.

Figure 41 is the 7th lifting drive exploded perspective schematic diagram of the present invention.

Figure 42 is the servo-actuated Equipoising support apparatus exploded perspective schematic diagram of the 7th lifting of the present invention.

Figure 43 is that the present invention carries rail assembly exploded perspective schematic diagram.

Figure 44 is the first crossbeam retractable driving device exploded perspective schematic diagram of the present invention.

Figure 45 is the first pendulous device exploded perspective schematic diagram of the present invention.

Figure 46 is the crawl of the present invention and swivel block device exploded perspective schematic diagram.

Figure 47 is first rail-lifting equipment and swivel block of the present invention and push-and-pull sleeper working state of device schematic perspective view.

Figure 48 is the handling sleeper device off working state schematic perspective view of the present invention.

Figure 49 is close-up schematic view at C in Figure 48.

Figure 50 is the second rail-lifting equipment working condition schematic perspective view of the present invention.

Figure 51 is the second cross beam retractable driving device exploded perspective schematic diagram of the present invention.

Figure 52 is the second pendulous device exploded perspective schematic diagram of the present invention.

Figure 53 is the reciprocator schematic perspective view of the present invention.

Figure 54 is the storage sleeper case schematic perspective view of the present invention.

Figure 55 is the handling sleeper working state of device schematic perspective view of the present invention.

Figure 56 is the telescopic cantilever beam exploded perspective schematic diagram of the present invention.

Figure 57 is the telescoping crossbeam device exploded perspective schematic diagram of the present invention.

Figure 58 is the left view of Figure 48.

Figure 59 is close-up schematic view at D in Figure 58.

Specific embodiment

Fig. 1 and Fig. 2 is referred to, the present invention is by the flat quarrel device 1 of tamping, road shoulder and railway roadbed modification device 2, clear stone dress of grabbing bucket Put 3, ballast collection arranging device 4, the clear stone device 5 in pillow end, chain tooth row stone device 6, four nuts synchronization assembling and disassembling device 7, first carry rail dress Put 8, transition and push-and-pull sleeper device 9, sleeper handling apparatus 15, generator 18, Hydraulic system and control System cabine 19 and track Car 20 is constituted.Railcar is provided with multiple castors 201 and two longerons 202, the flat quarrel device 1 of tamping, road shoulder and railway roadbed modification device 2nd, the clear stone device 3 of grab bucket, ballast collection arranging device 4, the clear stone device 5 in pillow end, chain tooth row stone device 6, four nuts synchronization assembling and disassembling device 7th, the first rail-lifting equipment 8, transition and push-and-pull sleeper device 9, sleeper handling apparatus 15, generator 18 and Hydraulic system and control system System case 19 is arranged on two longerons 202 of railcar, and railcar 20 is drawn by engineering truck, and generator 18 is oil pump and control system System is provided in power, Hydraulic system and control System cabine 19 and is provided with fuel tank, oil pump, hydraulic control system and automatic control system；

Fig. 3 to Fig. 8 is referred to, the flat quarrel device 1 of described tamping is by entablature 11, the first lowering or hoisting gear 12 and group of vibrating Part 13 is constituted, and entablature 11 is provided with two connecting plates 111, and connecting plate is provided with several bolts hole 1111；

First lowering or hoisting gear 12 be by the first series connection series connection parallelogram lindage 122 of parallelogram lindage 121, second, the One lifting drive 123, servo-actuated Equipoising support apparatus 124 and first laser displacement transducer 125 are constituted；

Described first series connection parallelogram lindage 121 by sill 1211, the first fork 1212, the second fork 1213, Two the 3rd forks 1214,1215, four the first bolts 1216 of first connecting rod and entablatures 11 are constituted, and first connecting rod 1215 is provided with Two pairs of coaxial tapped blind holes 12151 and left handed threaded hole 12152；

Second series connection parallelogram lindage 122 is connected parallelogram lindage 121 constitutes with first, second connecting rod 1225 Two pairs of coaxial tapped blind holes 12251 and right-handed thread hole 12252 are provided with, except aforesaid second connecting rod 1225 and first connecting rod 1215 versions are different, and remaining all component structural form is the same；

The first described lifting drive 123 is by 1231, two yielding couplings of hydraulic motor of double output shaft 1232nd, left-handed screw 1233, first connecting rod 1215, right handed screw 1234, second connecting rod 1225 and two monaural ring bearings 1235 Composition, right handed screw 1234 is provided with the first axle journal 12341 and the second axle journal 12342, left-handed screw 1233 and right handed screw 1234 Version is identical；

Described servo-actuated Equipoising support apparatus 124 be by plate shape entablature the 1240, the 3rd series connection parallelogram lindage 1241, First strut 1242, the second strut 1243, the turriform linear Stiffness spring 1246, two of slide block 1245, two of slide bar 1244, two 1247, two the second bolts 1248 of individual first hex nut and two the 3rd bolts 1249 are constituted, and slide bar 1244 is provided with fixation Disk 12441, it is arranged with two light bar segments 12442 and two thread segments 12443；Slide block 1245 is provided with circular hole 12451 and To coaxial threaded blind hole 12452；

The 3rd described series connection parallelogram lindage 1241 is by plate shape entablature 1240, sill 1211, the 4th fork 12412nd, the 5th fork 12413, the 6th fork 12414,12415, two third connecting rods 12416 of the 7th fork and two bearing pins 12417 compositions；

By the first fork 1212 and the chain connection of sill 1211, the second fork 1213, the 4th fork 12412 and sill Chain connection between 1211 3 components, the ears ring of the first fork 1212 and the ears ring of the 3rd fork 1214 it is left with first connecting rod 1215 A pair of of side tapped blind hole 12151 is coaxial, two pretensions of the first bolt 1216, makes the first fork 1212, the 3rd fork 1214 and the Chain connection between one 1,215 3, connecting rod component, the ears ring of the second fork 1213 and another ears ring of the 3rd fork 1214 and One connecting rod 1215, a pair of of the right tapped blind holes 12151 are coaxial, two pretensions of the first bolt 1216, make the second fork 1213, another Chain connection between 1,215 3 components of individual 3rd fork 1214 and first connecting rod, two the 3rd forks 1214 respectively with entablature 11 Chain connection, composition first is connected parallelogram lindage 121, the aforementioned assembly operation of repetition, is being symmetrical in sill 1211 and upper The vertical plane of symmetry of crossbeam 11 assembling the second series connection parallelogram lindage 122；

Monaural ring bearing 1235 is sheathed on the second axle journal 12342 of right handed screw, double output shaft hydraulic motor 1231 Symmetrically it is fixed on plate shape entablature 1240, yielding coupling 1232 is by first axle journal 12341 and double output shaft of right handed screw The right-hand member output shaft fixed connection of hydraulic motor 1231, then monaural ring bearing 1235 is sheathed on into the second axle journal of left-handed screw 1233 On, another yielding coupling 1232 is defeated by the left end of the first axle journal of left-handed screw 1233 and double output shaft hydraulic motor 1231 Shaft is connected, and two yielding couplings 1232 are fixed on plate shape entablature 1240, makes left-handed screw 1233 and first connecting rod The axial contact of left handed threaded hole 12152, makes right handed screw 1234 and the axial contact of second connecting rod right-handed thread hole 12252, rotates The output shaft of double output shaft hydraulic motor 1231, makes left-handed screw 1233 screw in first connecting rod left handed threaded hole 12152, while Right handed screw 1234 is screwed in second connecting rod right-handed thread hole 12252, constitutes the first lifting drive 123；

Two turriform linear Stiffness springs 1246 are symmetrically sheathed on into two light bar segments 12442 of slide bar, then by two Slide block 1245 is sheathed on respectively two light bar segments 12442 of slide bar, and two hex nuts 1247 distinguish pretension, make two slide blocks 1245 make respectively turriform linear Stiffness spring 1246 suitably compress, by the 5th fork 12413 and the chain connection of sill 1211, Make the left side monaural ring of two second connecting rods 12416 ears ring, the ears of the 6th fork 12414 respectively with the 4th fork 12412 A pair of tapped blind holes 12452 of ring and slide block are coaxial, and two the second bolts 1248 distinguish pretension, make the 4th fork the 12412, the 6th Chain connection between 1,245 3 components of fork 12414 and slide block, by the right monaural ring of two third connecting rods 12416 respectively with The ears ring of five forks 12413, the ears ring of the 7th fork 12415 are coaxial, and two bearing pins 12417 are respectively penetrated, and make second connecting rod 12416th, chain connection between 12,415 3 components of the 5th fork 12413 and the 7th fork, the series connection parallelogram lindage of composition the 3rd 1241；

By a pair of tapped blind holes 12452 of the ears ring of the first strut 1242, the ears ring of the second strut 1243 and slide block 1245 Coaxially, two the 3rd bolts 1249 distinguish pretension, make between the first strut 1242,1,245 3 components of the second strut 1243 and slide block Chain connection, the 6th fork 12414, the 7th fork 12415 and the second strut 1243 connect respectively with the hinge of plate shape entablature 1240 Connect, the servo-actuated Equipoising support apparatus 124 of composition；

By four the 3rd forks 1214 and the chain connection of entablature 11, first laser displacement transducer 125 is symmetrically connected Below entablature 11；Constitute the first lowering or hoisting gear 12；

The described component 13 that vibrates is by entablature 11, several elastic connecting components 131,132, eight vibrating spears of oscillating plate 133rd, eight the second hex nuts 134 and the first dither motor 135 are constituted, and elastic connecting component 131 is by bolt 1311, two Individual helical spring 1312, pad 1313 and hex nut 1314 are constituted, and oscillating plate 132 is provided with several bolts hole 1321 and eight circles Hole 1322；

Bolt 1311 is passed through into square tube shape entablature connecting plate bolt hole 1111, helical spring 1312 is sheathed on into bolt On 1311, oscillating plate bolt hole 1321 is then passed through, then another helical spring 1312 is sheathed on bolt 1311, pad 1313 are sheathed on bolt 1311, the pretension of hex nut 1314, and oscillating plate 132 realizes elastic connection with entablature 11；Vibrating head 133 pass through oscillating plate circular hole 1322, the pretension of the second hex nut 134, the first dither motor 135 to be fixed on oscillating plate Surface symmetric position, sill 1211 is symmetrically fixed on two longerons 202 of railcar, the flat quarrel device 1 of composition tamping.

Fig. 9 to Figure 13 is referred to, described road shoulder and railway roadbed modification device 2 is stretched by the first entablature component 21, first Contracting driving means 22, the second lowering or hoisting gear 23 and bucket device 24 are constituted；

The first described entablature component 21 be by the first square tube shape fixed arm 211, the first square tube shape telescopic arm 212, The range finding reference plate 214 of dual-laser displacement transducer 213 and second is constituted, and the first square tube shape fixed arm 211 is provided with four ears rings 2111, the first square tube shape telescopic arm 212 is provided with two symmetrical grooves 2121, and groove 2121 is provided with bolt hole 21211；

The first described retractable driving device 22 is by the first square tube shape fixed arm 211, hydraulic motor 231, elastic shaft coupling Device 232, monaural ring bearing 233, screw rod 234, square nut 235, square slider 236,237, two and of bolt 238 of hex nut First square tube shape telescopic arm 212 is constituted, and screw rod 234 is provided with the first axle journal 2341, the second axle journal 2342 and the 3rd axle journal 2343, side Shape nut 235 is provided with two coaxial threaded blind holes 2351；

Monaural ring bearing 233 is sheathed on the second axle journal 2342 of screw rod, yielding coupling 232 is by the first axle of screw rod The output shaft fixed connection of neck 2341 and hydraulic motor 231, square nut 235 screws on the appropriate location of screw rod 234,236 sets of square slider On the axle journal 2343 of screw rod the 3rd, the pretension of hex nut 237, the first square tube shape telescopic arm 212 is sheathed on from the left end of screw rod 234 Thereon, make two bolts hole 22211 of 235 2 tapped blind holes 2352 of square nut and the second square tube shape telescopic arm coaxial, two The pretension of bolt 238, the first square tube shape fixed arm 211 is arranged thereon from the right-hand member of hydraulic motor 231, and hydraulic motor 231 is consolidated It is connected in the endoporus upper surface of the first square tube shape fixed arm 211, constitutes the first retractable driving device 22, square slider 236 and first party Tubular telescopic arm 212 forms moving sets, and second laser displacement transducer 213 is fixed on above the first square tube shape fixed arm 211, Second range finding reference plate 214 is fixed on above the first square tube shape telescopic arm 212；

As the second described lowering or hoisting gear 23 is constituted with the first lowering or hoisting gear 12, except aforesaid first square tube shape fixed arm 211 and the version of entablature 11 it is different, remaining all component structural form is the same；

Carry out and the identical assembly operation of the first lifting drive 12, by four the 3rd forks 1214 and the first square tube shape The chain connection of fixed arm 211, first laser displacement transducer 125 is symmetrically fixed on below the first square tube shape fixed arm 211；Group Into the second lowering or hoisting gear 23；

Described bucket device 24 is made up of the first bucket component 25, arm 26 and U-shaped suspension rod 27, and arm 26 is provided with list Earrings 261, the first ears ring 262, the second ears ring 263 and ring flange 264；

The first described bucket component 25 is made up of hydraulic jack 251, strut 252, connecting rod 253 and bucket body 254, hydraulic pressure The piston rod free end of oil cylinder 251 is provided with monaural ring 2511, cylinder body and is provided with monaural ring 2512；Strut 252 is provided with ears ring 2521 and monaural ring 2522；Connecting rod 253 is provided with monaural ring 2531 and ears ring 2532, and bucket body 254 is provided with the first ears ring 2541 and the second ears ring 2542；

Cylinder body of hydraulic oil cylinder monaural ring 2512 is coaxially penetrated into pin hinge with the second ears of arm ring 263 to be connected, strut Monaural ring 2522 coaxially penetrates pin hinge and is connected with the first ears of arm ring 262, the second ears of bucket body ring 2542 and arm list Earrings 261 coaxially penetrates pin hinge connection, and connecting rod monaural ring 2531 coaxially penetrates bearing pin hinge with the first ears of bucket body ring 2541 Chain connects, and connecting rod ears ring 2532, strut ears ring 2521 and hydraulic cylinder piston rod monocyclic 2511 coaxially penetrate pin hinge Connection, constitutes the first bucket component 25, and U-shaped suspension rod 27 is connected with arm ring flange 264, constitutes bucket device 24, and U-shaped is hung Bar 27 is fixed on the first square tube shape telescopic arm 212, constitutes road shoulder and railway roadbed modification device 2；

Figure 14 to Figure 23 is referred to, the clear stone device 3 of described grab bucket is by 31, two and of the 3rd lowering or hoisting gear 32 of entablature Eight the first grab mechanisms 33 are constituted, and entablature 31 is provided with two longerons 311 and two cantilever longitudinal beams 312；

The 3rd described lowering or hoisting gear 32 as the composition of the first lowering or hoisting gear 12, except on aforesaid 3rd lowering or hoisting gear Crossbeam 31 and first lowering or hoisting gear entablature, 11 versions are different, and remaining all component structural form is the same；

Carry out and the identical assembly operation of the first lifting drive 12, by four the 3rd forks 1214 respectively with entablature 31 chain connections, first laser displacement transducer 125 is fixed on below entablature 31；Constitute the 3rd lowering or hoisting gear 32；

The first described grab mechanisms 33 are made up of two the second bucket components 34 and arm 35, and arm 35 is arranged with Two monaural rings 351, two the first ears rings 352,2 second ears rings 353 and ring flanges 354；

Second bucket component 34 and the first bucket component 25 constitute and version as；

Two cylinder body of hydraulic oil cylinder monaural rings 2512 are coaxially penetrated into respectively bearing pin hinge with two the second ears rings 353 of arm Chain connects, and two strut monaural rings 2522 coaxially penetrate pin hinge and are connected with two the first ears rings 352 of arm respectively, two The second ears of bucket body ring 2542 coaxially penetrates pin hinge and is connected with two monaural rings 351 of arm respectively, two connecting rod monaural rings 2531 coaxially penetrate pin hinge with two the first ears of bucket body rings 2541 respectively is connected, connecting rod ears ring 2532, strut ears Ring 2521 and hydraulic cylinder piston rod monocyclic 2511 coaxially penetrate pin hinge connection, the first grab mechanisms 33 are constituted, by eight Arm ring flange 354 is respectively symmetrically and is fixed on two longerons 321 of entablature and two cantilever longitudinal beams 322, the clear stone of composition grab bucket Device 3；

Described ballast collection arranging device 4 is by cmos image sensor 40, the stone removing door 42, two of casing 41, two collection stone 43, two stone removing door driving means of door, 44, two collection crossdrift driving means 45, crossbeam 46, several second elastic connecting components 47, Second dither motor 48 and two end caps 49 are constituted, and crossbeam 46 is provided with several bolts hole 461, and end cap 49 is provided with sand discharge Tu Zui 491；

Described casing 41 be provided with base plate 411, the collection stone of flechette-type bottom 412, two first storehouses 413, second collect stone storehouse 414, Two 415, two, square tube shape hole gradual change isosceles trapezoid skewed slots 416, four first convex stupefied 417 and two second convex stupefied 418, base plate 411 are provided with several bolts hole 4111, and flechette-type bottom 412 is provided with several sieve apertures 4121, and the first collection stone storehouse 413 is provided with symmetrical two Individual row's stone mouth 4131 and two collection stone mouths 4132, the second collection stone storehouse 414 is provided with symmetrical two row's stone mouth 4141 and two collection stones Mouth 4142, the first convex stupefied 417 top and bottom are provided with symmetrical two ears ring 4171, and the second convex stupefied 418 top and bottom are provided with symmetrical Two ears rings 4181, stone removing door 42 is provided with two the first monaural rings 421 and four the second monaural rings 422, and collection crossdrift 43 is provided with Two the first monaural rings, 431, four the second monaural rings 432 and six spill plates 433；

Described stone removing door driving means 44 are to drive hydraulic jack 441, the first pull bar 442 and second to push away by stone removing door Pull bar 443 is constituted, and the first pull bar 442 is provided with the first ears ring 4421 and the second ears ring 4422, and the second pull bar 443 is provided with First ears ring 4431 and the second ears ring 4432；

Described collection crossdrift driving means 45 are to drive hydraulic jack 451, the 3rd pull bar 452 and the 4th to push away by collection crossdrift Pull bar 453 is constituted, and the 3rd pull bar 452 is provided with the first ears ring 4521 and the second ears ring 4522, and the 4th pull bar 453 is provided with First ears ring 4531 and the second ears ring 4532；

The second described elastic connecting component 47 and the first Flexible Connector 131 constitute and version as；

Stone removing door drives the piston rod monaural ring of hydraulic jack 441, first pull bar the first ears ring 4421, the second pull bar First ears ring 4431 coaxially penetrates pin hinge connection, and composition stone removing door driving means 44, collection crossdrift drives hydraulic jack 451 Piston rod monaural ring, the 3rd pull bar the first ears ring 4521, the 4th the first ears of pull bar ring 4531 coaxially penetrate bearing pin hinge Chain connects, composition collection crossdrift driving means 45；

Four the second monaural rings 422 of stone removing door 42 ears ring 4171 respectively with two the first convex stupefied 417 lower surfaces, Two ears rings 4181 below two convex stupefied 418 coaxially penetrate pin hinge connection, collect four the second monaural rings 432 of crossdrift 43 Coaxially wear with the two ears rings 4181 of convex stupefied 418 upper surface of ears ring 4171, second above two first convex stupefied 417 respectively Enter pin hinge connection；

Hydraulic jacks 441 are driven to be respectively fixedly connected with the madial wall in two square tube shape holes 415 two stone removing doors, two the One the second ears of pull bar ring 4422 is co-axially inserted pin hinge and is connected with two the first monaural rings 421 of stone removing door respectively, two Second the second ears of pull bar ring 4432 is co-axially inserted respectively pin hinge company with two the first monaural rings 421 of another stone removing door Connect, collect crossdrift by two and drive hydraulic jack 451 to be respectively fixedly connected with the lateral wall in two square tube shape holes 415, two the 3rd push away The second ears of pull bar ring 4522 is co-axially inserted pin hinge and is connected with collection two the first monaural rings 431 of crossdrift respectively, two the 4th The second ears of pull bar ring 4432 is co-axially inserted pin hinge and is connected with two the first monaural rings 431 of another stone removing door respectively, Two end caps 49 are respectively fixedly connected with casing 41；

Bolt 1311 is passed through into sill bolt hole 461, helical spring 1312 is sheathed on bolt 1311, then passed through Box bottom bolt hole 4111, then another helical spring 1312 is sheathed on bolt 1311, pad 1313 is sheathed on bolt On 1311, the pretension of hex nut 1314, casing 41 realizes elastic connection with crossbeam 46；Second dither motor 48 is symmetrical connected On box bottom 411, crossbeam 46 is symmetrically fixed on two longerons 202 of railcar, and cmos image sensor 40 is fixed on horizontal stroke Below beam 46, composition ballast collection arranging device 4；

Figure 24 to Figure 28 is referred to, the clear stone device 5 in described pillow end is by the second entablature component 51, the second telescopic drive Device 52, the 4th lowering or hoisting gear 53, the second grab mechanisms 54 and U-shaped bar 55 are constituted；

The second described entablature component 51 and the first entablature component 21 constitute and version as, carry out and first The identical assembly operation of entablature component 21, constitutes the second entablature component 52；

The second described retractable driving device 52 and the first retractable driving device 22 constitute and version as, carry out with The identical assembly operation of first retractable driving device 22, constitutes the second retractable driving device 52；

The 4th described lowering or hoisting gear 53 and the first lowering or hoisting gear 12 constitute and version as, carry out and the first lifting The identical assembly operation of device 12, constitutes the 4th lowering or hoisting gear 53；

The second described grab mechanisms 54 and the first grab mechanisms 33 constitute and version as, carry out and the first grab bucket The identical of device 33 is assembled, and constitutes the second grab mechanisms 54；

Arm ring flange 354 is connected with U-shaped bar 55, then U-shaped bar 55 is fixed on the first square tube shape telescopic arm 212, The clear stone device 5 in composition pillow end；

Figure 29 to Figure 35 is referred to, described chain tooth row stone device 6 is by the 3rd entablature component 61, the 3rd telescopic drive Device 62, the 5th lowering or hoisting gear 63 and chain tooth row stone component 64 are constituted；

The 3rd described entablature component 61 is by 611, two the second square tube shape fixed arms of the second square tube shape fixed arm 611st, the 3rd laser displacement sensor 613 and the 3rd range finding reference plate 614 are constituted, and the second square tube shape fixed arm 611 is provided with four Ears ring 6111, the second square tube shape fixed arm 611 is provided with symmetrical two groove 6121, and groove 6121 is provided with bolt hole 61211；

The 3rd described retractable driving device 62 be by the second square tube shape fixed arm 611, double output shaft hydraulic motor 621, Two yielding couplings, 622, two monaural ring bearings 623, left-handed screw 624, left-handed square nut 625, right handed screw 626, 629, four bolts 630 of the hex nut of square slider 628, two of dextrorotation square nut 627, two and two the second square tube shapes are consolidated Determine arm 611 to constitute, right handed screw 626 is provided with the first axle journal 6261, the second axle journal 6262 and the 3rd axle journal 6263, left-handed screw 624 as the version of right handed screw 626, and dextrorotation square nut 627 is provided with the blind screwed hole 6271 of two symmetric coaxials, left As the version of dextrorotation square nut 627, square slider 628 is provided with axis hole 6281 to rotation square nut 625；

Monaural ring bearing 623 is sheathed on the second axle journal 6262 of right handed screw, and yielding coupling 622 is by right handed screw The right-hand member output shaft fixed connection of the first axle journal 6261 and double output shaft hydraulic motor 621, dextrorotation square nut 627 screws on right handed screw 626 appropriate locations, square slider 628 is sheathed on the axle journal 6263 of right handed screw the 3rd, the pretension of hex nut 629, the second square tube Shape telescopic arm 612 is arranged thereon from the right-hand member of right handed screw 626, makes the second square tube shape telescopic arm groove bolt hole 61211 and the right side Rotation square nut tapped blind hole 6271 is coaxial, and two bolts 630 screw in respectively the pretension of tapped blind hole 6271 of dextrorotation square nut, The aforementioned assembly operation of repetition, by the second monaural ring bearing 623, left-handed screw 624, left-handed square nut 625, square slider 628, Hex nut 629, yielding coupling 622, the composition one of 621 and second square tube shape telescopic arm of double output shaft hydraulic motor 612, will Second square tube shape fixed arm 611 is sheathed on two the second square tube shape fixed arms 611, makes double output shaft hydraulic motor 621 symmetrical The endoporus upper surface of the second square tube shape fixed arm 611 is fixed on, two monaural ring bearings 623 are respectively fixedly connected with and are fixed in the second square tube shape The endoporus upper surface of arm 611, second laser displacement transducer 613 is symmetrically fixed on the second square tube shape fixed arm 611, the second range finding Reference plate 614 is fixed on the second square tube shape telescopic arm 611, the 3rd retractable driving device square slider 628 and the second square tube shape Telescopic arm 612 forms moving sets；

As the 5th described lowering or hoisting gear 63 is constituted with the first lowering or hoisting gear 12, except the He of the second square tube shape fixed arm 611 The version of entablature 11 is different, and remaining all component structural form is the same；

Carry out and the identical assembly operation of the first lowering or hoisting gear 12, four the 3rd forks 1214 are fixed with the second square tube shape The chain connection of arm 611, first laser displacement transducer 125 is fixed on below the second square tube shape fixed arm 611, constitutes the 5th liter Falling unit 63；

Described chain tooth row stone component 64 is by the chain of yielding coupling 642, two of double output shaft hydraulic motor 641, two Tooth row stone part 643,644, eight C-shaped-rods 645 of U-shaped bar and suspension bracket 646 are constituted, and U-shaped bar 644 is provided with two circular flange disks 6441 and square flange 6442, C-shaped-rod 645 is provided with first flange disk 6451 and second flange disk 6452, and suspension bracket 646 is provided with two Individual first flange disk 6461 and eight second flange disks 6462；

Described chain tooth row stone part 643 is by square beam 6431, sprocket wheel 6432, sprocket wheel wheel shaft 6433, inducer 6434th, 6435, four, inducer wheel shaft BOGEY WHEEL 6436, four BOGEY WHEEL wheel shaft 6437, several chain tooth assemblies 6438 and several Bearing pin 6439 is constituted, and square beam 6431 is provided with the first ears ring 64311, the second ears ring 64312 and four the 3rd ears Ring 64313；

The first ears of square beam ring 64311 is coaxial with sprocket wheel 6432, the chain connection of sprocket wheel wheel shaft 6433 is penetrated, it is square The second ears of crossbeam ring 64312 is coaxial with inducer 6334, penetrates the chain connection of inducer wheel shaft 6435, square beam the 3rd pair Earrings 64313 is coaxial with BOGEY WHEEL 6436, penetrates the chain connection of BOGEY WHEEL wheel shaft 6437, make square beam 6431, sprocket wheel 6432, Inducer 6434 and four BOGEY WHEELs 6436 are assembled into one；

Described chain tooth assembly 6438 is made up of sleeve 64381 and chain link 64382；

Described chain link 64382 is by two bolts 64383, two nuts 64384, chain tooth plate 64385, the first carrier bars 64388 and second carrier bar 64392 constitute, chain tooth plate 64385 is provided with two bolts hole 64386 and several equal strength sprockets 64387, First carrier bar 64388 is provided with the first monaural ring 64389, the second monaural ring 64390 and the 3rd monaural ring 64391, the second carrier bar 64392 are provided with the first monaural ring 64393, the second monaural ring 64394 and the 3rd monaural ring 64395；

Sprocket crab bolt hole 64386 and first the second monaural of carrier bar ring 64390 is coaxial, penetrate bolt 64383, nut 64384 pretensions, another the second monaural of carrier bar ring 64394 of bolt hole 64386 and second of chain tooth plate is coaxial, penetrates bolt 64383, The pretension of nut 64384, constitutes chain link 64382, by first carrier bar the first monaural ring 64389, second chain link first of the first chain link The monaural ring 64391 of carrier bar the 3rd, sleeve 64381, the monaural ring 64395 of second the second carrier bar of chain link the 3rd and first the second chain of chain link The first monaural of plate ring 64393 coaxially penetrates the chain connection of bearing pin 6439, repeats aforementioned operation, until several chain links 64382 are cut with scissors One is connect, the square beam 6431 being assembled into one, sprocket wheel 6432, inducer 6434 and four BOGEY WHEELs 6436 are placed on it, By first carrier bar the first monaural ring 64389, the monaural ring 64391, sleeve of first the first carrier bar of chain link the 3rd of last chain link 64381st, the monaural ring 64393 of first the second carrier bar of chain link the 3rd and last chain link the first monaural of the second carrier bar ring 64395 are coaxially worn Enter the chain connection of bearing pin 6339, make all chain connection of chain tooth assembly 6438 annular integrative-structures, constitute chain tooth row stone part 643,

The double output shaft of double output shaft hydraulic motor 641, two yielding couplings 642 and two sprocket wheel wheel shafts 6433 are consolidated Even, the square flange of U-shaped bar 644 is fixed on the 3rd double output shaft hydraulic motor 641, eight C-shaped-rod second flange disks 6452 Be respectively symmetrically and be fixed on two square beams 6431, eight second flange disks 6462 of suspension bracket respectively with eight methods of C-shaped-rod first Blue disk 6451 is connected, and two first flange disks 6461 of two circular flange disks 6441 of U-shaped bar and suspension bracket are respectively fixedly connected with second party On tubular telescopic arm 612, composition chain tooth row stone device 6；

Figure 36 to Figure 39 is referred to, the described nut of sleeper four synchronization assembling and disassembling device 7 is filled by the lifting of entablature the 71, the 6th Put 72 and two nut assembling and disassembling devices 73 constitute；

As the 6th described lowering or hoisting gear 72 is constituted with the first lowering or hoisting gear 12, the sill in the 6th lowering or hoisting gear 72 7111 are provided with the symmetrical long slot bore 71112 of five ears rings 71111 and two, the first fork 7212 is provided with shoulder hole 72121, removes The version of entablature 11 of the entablature 71 of aforesaid 6th lowering or hoisting gear 72 and the first lowering or hoisting gear 12 is different, the 6th lifting The version of sill 1211 of the sill 7211 of device 72 and the first lowering or hoisting gear 12 is different, the 6th lowering or hoisting gear 72 first The version of first fork 1212 of the lowering or hoisting gear 12 of fork 7212 and first is different, remaining all component structural form one Sample；

Carry out and the identical assembly operation of the first lowering or hoisting gear 12, four the 3rd forks 1214 are connected with the hinge of entablature 71 Connect, first laser displacement transducer 125 is fixed on below entablature 71, constitute the 6th lowering or hoisting gear 72；

Described nut assembling and disassembling device 73 be by two suspension rods 731, the first spiral rotary actuator 732, upper lid 733, Circular connecting plate 734, the first hex nut 735, the gear 738 of power transmission shaft 737, two of internal gear 736, two, housing 739, two 742, two and of yielding coupling 743 of the second hex nut of the second thrust bearing 741, two of individual first thrust bearing 740, two Two interior wide-mouth magnetic coupling boxs 744 are constituted, and the first spiral rotary actuator 732 is provided with ring flange 7321, its output shaft The prism shaft part 7323 of circular shaft section 7322 and six is provided with, upper lid 733 is provided with axis hole 7331, and circular connecting plate 734 is provided with hexagonal axis hole 7341, power transmission shaft 737 is provided with the first axle journal 7371, the second axle journal 7372, the 3rd axle journal 7373, the 4th axle journal 7374 and thread segment 7375, housing 739 is provided with ring flange 7391 and two axis holes 7392, and interior wide-mouth magnetic coupling box 744 is provided with axle journal 7441；

Upper lid 733 is sheathed on into the first spiral rotary actuator output shaft circular shaft section 7322, the spiral shell of lid 733 and first is made Rotation rotary actuator ring flange 7321 is connected, then circular connecting plate 734 is sheathed on into the output of the first spiral rotary actuator The prism shaft part 7323 of axle six, the pretension of the first hex nut 735, internal gear 736 is coaxial with circular connecting plate 734 to be connected, gear 738 It is sheathed on the first axle journal of power transmission shaft 7371 to be connected, the first thrust bearing 740 is sheathed on the second axle journal of power transmission shaft 7372, power transmission shaft 737 make the first thrust bearing 740 contact with housing 739 through housing axis hole 7392, and the second thrust bearing 741 is sheathed on power transmission shaft On 3rd axle journal 7373, the second hex nut 742 screws on the pretension of power transmission shaft thread segment 7375, and yielding coupling 743 makes power transmission shaft 4th axle journal 7374 is coaxial with interior wide-mouth magnetic coupling box axle journal 7441 to be connected, and internal gear 736 is inserted in housing 739, two The gear teeth flank of tooth of gear 738 is connected respectively with the gear teeth face of internal gear 736, upper lid 733 and shell flange disk 7391, and two One end of individual suspension rod 731 is symmetrically fixed on the both sides of housing 739, composition nut assembling and disassembling device 73, the other end pair of two suspension rods 731 Title is fixed on 71 2 sides of entablature, and sill 7211 is fixed on two medial surfaces of longeron 202 of railcar, constitutes sleeper four Nut synchronization assembling and disassembling device 7；

Figure 40 to Figure 47 is referred to, the first described rail-lifting equipment 8 is by entablature 81, the 7th lowering or hoisting gear 82 and carries rail Component 83 is constituted, and entablature 81 is provided with four ears rings 811；

Described the 7th lowering or hoisting gear 82 and the first lowering or hoisting gear 12 is constituted, except horizontal on aforesaid 7th lowering or hoisting gear Beam 81 and first lowering or hoisting gear, 12 entablature, 11 versions are different, and remaining all component structural form is the same；

Carry out and the identical assembly operation of the first lowering or hoisting gear 12, four the 3rd forks 1214 are connected with the hinge of entablature 81 Connect, first laser displacement transducer 125 is fixed on below entablature 81, constitute the 7th lowering or hoisting gear 82；

The described rail assembly 83 that carries is by two suspension rods 830, third party's tubular fixed arm 831, double output shaft hydraulic motor 832nd, two yielding couplings, 833, two monaural ring bearings 834, left-handed screw 835, the first box type telescopic arm 836, dextrorotation spiral shell Bar 837, the second box type telescopic arm 838 and two carry cylinder of rail 839 and constitute, and suspension rod 830 is provided with first flange disk 8301 and second Ring flange 8302, third party's tubular fixed arm 831 is provided with two symmetrical semicylindrical openings 8311, and left-handed screw 835 is provided with first The axle journal 8352 of axle journal 8351 and second, right handed screw 837 as the version of left-handed screw 835, the first box type telescopic arm 836 Semicylindrical opening 8361 and left-handed motion thread hole 8362 are provided with, the second box type telescopic arm 838 is provided with semicylindrical opening 8381 and dextrorotation Motion thread hole 8362, carries the cylinder body of cylinder of rail 839 and is provided with gusset 8391, piston rod free end and be provided with fagging 8392；

Monaural ring bearing 834 is sheathed on the second axle journal of left-handed screw 8352, the first box of precession of left-handed screw 835 is stretched The left-handed appropriate location of motion thread hole 8362 of contracting arm, yielding coupling 833 make the left side output shaft of double output shaft hydraulic motor 832 with The first axle journal of left-handed screw 8351 is coaxially connected, the aforementioned assembly operation of repetition, by monaural ring bearing 834, right handed screw 837, the Two box type telescopic arms 838, yielding coupling 833 and double output shaft hydraulic motor 832 are assembled into one, by third party's tubular fixed arm 831 are sheathed on the first box type telescopic arm 836 and the second box type telescopic arm 838, make double output shaft hydraulic motor 832 symmetrically be connected In the endoporus upper surface of third party's tubular fixed arm 831, two monaural ring bearings 834 are fixed in third party's tubular fixed arm 831 Hole upper surface, two carry cylinder of rail 839 and are respectively fixedly connected with the first box type telescopic arm semicylindrical opening 8361 and the second box type telescopic In the semicylindrical opening of arm 8381, make two to carry cylinder of rail 839 and be symmetrical arranged, two second flange disks 8302 of suspension rod 830 are symmetrical connected Above third party's tubular fixed arm 831, composition carries rail assembly 83, and two first flange disks 8301 of suspension rod 830 are symmetrically fixed on The side of entablature 81, constitutes the first rail-lifting equipment 8.

Described swivel block and push-and-pull sleeper device 9 is by first crossbeam telescopic component 90, first crossbeam retractable driving device 91st, 92, four the first forks 93 of the first pendulous device, crawl and 94, four the first hex nuts 96 of swivel block device and four spiral shells Bolt 97 is constituted, and the first fork 93 is provided with six prism hole monaural rings 931 and monaural ring 932；

Described first crossbeam telescopic component 90 be by the 4th square tube shape fixed arm 901, the 4th square tube shape telescopic arm 902, 4th laser displacement sensor 903 and the 4th range finding reference plate 904 are constituted, and the 4th square tube shape telescopic arm 902 is provided with blind end 9021 and two symmetrical grooves 9022, groove 9022 is provided with bolt hole 90221；

Described the 4th retractable driving device 91 and the first retractable driving device 22 is constituted, except aforementioned 4th square tube shape Fixed arm 901 and first square tube shape fixed arm, 211 versions are different, and remaining all component structural form is the same；

Carry out and the identical assembly operation of the first retractable driving device 22, constitute the 4th retractable driving device 91, the 4th swashs Optical displacement sensor 903 is symmetrically fixed on the 4th square tube shape fixed arm 901, and it is cubic that the 4th range finding reference plate 904 is fixed on the On tubular telescopic arm 902；

The first described pendulous device 92 is by the first casing 921, the second spiral rotary actuator 922, incomplete tooth Wheel 923, two sector gears, 924, two multidiameters 925 and embedded cover plate 926 are constituted, and the first casing 921 is provided with two axles Hole 9211, the first positive stop lug boss 9212 and the second positive stop lug boss 9213, multidiameter 925 is provided with the first axle journal 9251, the second axle journal 9252nd, the 3rd axle journal 9253, the one or six prism shaft part 9254 and the two or six prism shaft part 9255, embedded cover plate 926 is provided with two Individual axis hole 9261, the first positive stop lug boss 9262 and the second positive stop lug boss 9263；

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

Described crawl and swivel block device 94 is by the second casing 941, the 3rd spiral rotary actuator 942, hydraulic oil Cylinder 943, the first thrust bearing 944, the second thrust bearing 945, the second hex nut 946, piston 947, piston rod 948, ladder U Shape support 949, first connecting rod 950, second connecting rod 951, two the second forks, 952, two rollers 953, end cap 954 and two machines The device of machinery claw 955 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, the circular hole portion 9416 of axle sleeve section 9415 and the 3rd, the output shaft fixed connection of the 3rd spiral rotary actuator 942 Ring flange 9421, ring flange 9421 is provided with spacing fan-shaped boss 94211, and fan-shaped hole section 9413 is provided with the He of the first confined planes 94131 Second confined planes 94132, hydraulic jack 943 is provided with ring flange 9431, the first axle journal 9432, the second axle journal 9433 and the 3rd axle journal 9434, ring flange 9431 is provided with spacing fan-shaped boss 94311, and piston 947 is provided with axis hole 9471, and piston rod 948 is provided with axle journal 9481 and ears ring 9482, ladder U-bracket 949 is provided with flange 9491, the pin-and-hole of slotted eye 9493, two of axis hole 9492, two 9494th, four the first monaural rings 9495 and eight the second monaural rings 9496, first connecting rod 950 is provided with ears ring 9501 and monaural ring 9502, second connecting rod 951 is provided with two ears rings 9511, and the second fork 952 is provided with monaural ring 9521, pin-and-hole 9522 and ears ring 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 three the first forks 9551 are provided with two ears rings 95511, and pressing plate 9553 is provided with two the first monaural rings 95531 and four the second monaural rings 95532；

The spacing fan-shaped boss 9421 of 3rd spiral rotary actuator output shaft ring flange and hydraulic jack ring flange are limited 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 the shoulder hole of the second casing 941, makes the 3rd 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, makes the spacing sector of the 3rd spiral rotary actuator output shaft ring flange Boss 94211 and the spacing fan-shaped boss 94311 of hydraulic jack ring flange are inserted in fan-shaped hole section 9413, make two spacing sectors convex Platform left surface is contacted with the first confined planes of fan-shaped hole section 94131, makes the first thrust bearing 944 insert second the second circular hole portion of casing 9414, the 3rd spiral rotary actuator 942 is fixed on the base plate of the second casing 941, make the casing 941 of end cap 954 and second It is connected；

Second thrust bearing 945 is sheathed on the axle journal 9434 of hydraulic jack the 3rd so as to insert the circle of the second casing the 3rd 9416 sections of hole section, piston rod 948 passes through ladder U-bracket axis hole 9492, and piston axis hole 9471 is sheathed on piston rod axle journal 9481, The pretension of second hex nut 946, piston 947 is inserted in the cylinder barrel of hydraulic jack 943, and ladder U-bracket flange 9491 is penetrated The cylinder barrel of hydraulic jack 943 is connected, and makes oil cylinder the second axle journal 9433 and the chain connection of the second housing bushing section 9415, and piston rod is double Earrings 9482, second connecting rod ears ring 9511 and first connecting rod monaural ring 9502 coaxially penetrate pin hinge connection, the second fork Ears ring 9523 coaxially penetrates pin hinge and is connected with roller 953, the second fork pin-and-hole 9522 and ladder U-bracket pin-and-hole 9494 Coaxially penetrate pin hinge connection, first connecting rod ears ring 9501 and second connecting rod ears ring 9511 respectively with two the second forks Monaural ring 9521 coaxially penetrates 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 one end of helical spring 9552 are single with ladder U-bracket two first respectively Earrings 9495 is connected, and two other ends of helical spring 9552 are connected respectively with two the first monaural rings 95531 of pressing plate, 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 assembles another gripper 955, composition crawl and swivel block device 94；

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

First casing 921 is fixed on into the 4th square tube shape telescopic arm blind end 9021, composition swivel block and push-and-pull sleeper device 9；

Figure 48 to Figure 59 is referred to, described sleeper handling apparatus 15 are by the second rail-lifting equipment 150, reciprocating motion storage rail Pillow device 160 and rigid hanger hoisting apparatus 168 are constituted；

The second described rail-lifting equipment 150 be by second cross beam telescopic component 151, second cross beam retractable driving device 152, Two 156, eight, box connecting rod and of bolt 157 of hex nut 155, two of fork 154, eight of the second pendulous device 153, eight Two flexible shell types carry cylinder of rail 158 and constitute, and fork 154 is provided with six prism hole monaural rings 1541 and monaural ring 1542, and box connects Bar 156 is arranged with four bolts hole 1561 and semicylindrical opening 1562, and flexible shell type carries the cylinder body of cylinder of rail 158 and is provided with gusset 1581st, piston rod free end is provided with fagging 1582；

Described second cross beam telescopic component 151 is stretched by 1511, two the 5th square tube shapes of the 5th square tube shape fixed arm Arm 1512, the 5th laser displacement sensor 1513 and the 5th range finding reference plate 1514 are constituted, and the 5th square tube shape telescopic arm 1512 sets There are 15121, two symmetrical grooves 15122 of blind end, groove 15122 is provided with bolt hole 15123；

Second cross beam retractable driving device 152 as the composition of the 3rd retractable driving device 62, except aforesaid 5th side Tubular fixed arm 1511 and second square tube shape fixed arm, 611 versions are different, and remaining all component structural form is the same；

Carry out and the identical assembly operation of the 3rd retractable driving device 62, composition second cross beam retractable driving device 152, the Five laser displacement sensors 1513 are symmetrically fixed on the side of the 5th square tube shape fixed arm 1511, and the 5th range finding reference plate 1514 is consolidated It is connected in the side of the 5th square tube shape telescopic arm 1512；

Second pendulous device 153 and the first pendulous device 92 constitute and version as, carry out and the first pendulous device 92 identical assembly operations, constitute the second pendulous device 153；

The prism hole monaural ring 1541 of two forks six is sheathed on into respectively two prism shaft parts 9254 of multidiameter the one or six, two Individual hex nut 155 distinguishes pretension, then the prism hole monaural ring 1541 of other two forks six is sheathed on respectively into two multidiameters Two or six prism shaft part 9255, in addition two hex nuts 155 distinguish pretension, make one end of four forks 154 respectively with two The two ends of multidiameter 925 are connected, and four screwed holes 1561 of four fork monaural rings 1542 and box connecting rod are coaxial, four bolts 157 difference pretensions, make four forks 154 respectively with the chain connection of box connecting rod 156, formed in-parallel four-bar mechanism；

Two casings 1531 are respectively fixedly connected with the blind end 15121 of two the 5th square tube shape telescopic arms, two second are made Pendulous device 153 is symmetrical arranged, and two flexible shell types is carried into the cylinder body of cylinder of rail 158 and is respectively fixedly connected with two box connecting rod semicolumns In hole 1562, the second rail-lifting equipment 150 is constituted, the 5th square tube shape fixed arm 1511 is symmetrically fixed on into two longerons of railcar On 202；

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 two rollers 1671 and several sleeper storehouses 1672, wherein left side half sleeper storehouse is used to store rail Pillow, right side half sleeper storehouse is used to store bad sleeper.

Described reciprocator 161 is parallel by the series connection series connection of parallelogram lindage 163, second of base plate 162, first Four-bar mechanism 164, the laser displacement sensor 166 of reciprocating movement driving device 165 and the 6th are constituted；

The first described series connection parallelogram lindage 163 is connected by 1631, two the first forks 1632, first of fixed cross beam 1633, two the second forks 1634 of bar, moving beam 1635 and four bolts 1636 are constituted, and first connecting rod is provided with left handed threaded hole 16331 and two pairs of coaxial threaded blind holes 16332, moving beam 1635 is provided with two rollers 16351；

As the second described series connection parallelogram lindage 164 is constituted with the first series connection parallelogram lindage 163, second connects Bar 1643 is provided with right-handed thread hole 16431 and two pairs of coaxial threaded blind holes 16432, except aforesaid second connecting rod 1643 and first connects The version of bar 1633 is different, and remaining all component structural form is the same；

Described reciprocating movement driving device 165 be by 1651, two yielding couplings 1652 of double output shaft hydraulic motor, Two monaural ring bearings 1653, monaural ring bearing 1653, left-handed screw 1654, first connecting rod 1633, right handed screws 1655, second Connecting rod 1643 and motorcycle 1656 are constituted, and right handed screw 1655 is provided with the first axle journal 16551 and the second axle journal 16552, left-handed screw 1654 as the version of right handed screw 1655, and motorcycle 1656 is provided with four rolling 16561；

By two the first forks 1632 respectively with the chain connection of fixed cross beam 1631, the ears ring of the first fork 1632 and second The ears ring of fork 1634 is coaxial with a pair of of 1633 left side of first connecting rod coaxial threaded blind hole 16332, and two bolts 1636 are pre- respectively Tightly, a pair of another ears ring of the first fork 1632 and another ears ring of the second fork 1634 and the right of first connecting rod 1633 are same Axle thread blind hole 16332 is coaxial, and two bolts 1636 distinguish pretension, connects the first fork 1632, the second fork 1634 and first Chain connection between 1,633 3 components of bar, by two the second forks 1634 respectively with the chain connection of moving beam 1635, composition the One series connection parallelogram lindage 163, the aforementioned assembly operation of repetition is symmetrical in fixed cross beam and the assembling of the moving beam vertical plane of symmetry Second series connection parallelogram lindage 164；

Monaural ring bearing 1653 is sheathed on the second axle journal 16552 of right handed screw, the hydraulic motor of double output shaft 1651 are symmetrically fixed in motorcycle 1656, and yielding coupling 1652 is by first axle journal 16551 and double output shaft liquid of right handed screw The right-hand member output shaft fixed connection of pressure motor 1651, then monaural ring bearing 1653 is sheathed on the second axle journal of left-handed screw 1654, Another yielding coupling 1652 exports the left end of the first axle journal of left-handed screw 1654 and double output shaft hydraulic motor 1651 Axle is connected, and two yielding couplings 1652 are fixed in motorcycle 1656, makes left-handed screw 1654 and first connecting rod left hand thread The axial contact of hole 16331, makes right handed screw 1655 and the axial contact of second connecting rod right-handed thread hole 10231, rotates double output shaft The output shaft of hydraulic motor 1651, makes left-handed screw 1654 screw in first connecting rod left handed threaded hole 16331, while right handed screw 1655 screw in second connecting rod right-handed thread hole 10231, constitute the second driving means 165；

Base plate 162 is fixed on into the lower surface of fixed cross beam 1631, two rollers 16351 of moving beam and the four of motorcycle are made Individual roller respectively with the upper surface of base plate 162, the 6th laser displacement sensor 166 is symmetrically fixed on the side of fixed cross beam 1631 Face, constitutes reciprocator 161；

Base plate 162 is fixed on the crossbeam of railcar 20 and the 5th square tube shape fixed arm 1511, storage sleeper case 167 is connected On moving beam 1635, two rollers 1671 and the upper surface of base plate 162 of storage sleeper case, composition are made to move back and forth storage Deposit sleeper device 160；

Described rigid hanger hoisting apparatus 168 is by two telescopic cantilever boom devices 169, telescoping crossbeam device 170, just Property 171, two pick-and-place sleeper devices 172 of suspension bracket and the 7th laser displacement sensor 173 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 8th 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 is 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 is provided with ring flange 16951；

End plate 1696 is symmetrically fixed on into the first multi-stage expansion shell type oil cylinder first flange disk 16941, square tube shape telescopic arm 1693 are sheathed on the first multi-stage expansion shell type oil cylinder 1694, make the first multi-stage expansion shell type oil cylinder second flange disk 16944 symmetrical Square tube shape telescopic arm blind end 16932 is fixed on, the first ladder square tube shape telescopic arm 1692 is sheathed on square tube shape telescopic arm 1693 On, the first ladder square tube shape fixed arm 1691 is sheathed on the first ladder square tube shape telescopic arm 1692, consolidates the first ladder square tube Determine arm ring flange 16911 to be connected with end plate 1696, cantilever beam ring flange 16951 is fixed on square tube shape telescopic arm blind end 16932 On, cantilever 1697 is fixed on cantilever beam ring flange 16951, and the 8th laser displacement sensor 1698 is fixed on cantilever 1697, Composition 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 1706 groups of arm 1702, the 3rd ladder square tube shape telescopic arm 1703, the second multi-stage expansion shell type oil cylinder 1704, end cap 1705 and push pedal Into the second ladder square tube shape fixed arm 1701 is provided with ring flange 17011, cylinder shoulder 17012 and long slot bore 17013, the second ladder side Tubular telescopic arm 1702 is provided with first shoulder, 17021, second shoulder 17022 and long slot bore 17023, and the 3rd ladder square tube shape is stretched Arm 1703 is provided with a shoulder 17031 and two monaural rings 17032, and the second multi-stage expansion shell type oil cylinder 1704 is provided with first flange disk 17041st, 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 multi-stage expansion shell type oil cylinder first flange disk 17041, the 3rd ladder square tube Shape telescopic arm 1703 is sheathed on the second multi-stage expansion shell type oil cylinder 1704, makes the second multi-stage expansion shell type oil cylinder second flange disk 17044 and the blind end of the 3rd ladder square tube shape telescopic arm 1703 be connected, the second ladder square tube shape telescopic arm 1702 is sheathed on the 3rd On ladder square tube shape telescopic arm 1703, then the second ladder square tube shape fixed arm 1701 is sheathed on into the second ladder square tube shape telescopic arm On 1702, end cap 1705 is set to be connected with ladder square tube shape fixed arm ring flange 17011, push pedal 1706 is fixed on the 3rd ladder square tube The blind end of shape telescopic arm 1703, by the 7th laser displacement sensor 173 the second ladder square tube shape fixed arm 1701 is symmetrically fixed on Side, 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 1713, 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 4th spiral rotary actuator 1721, the 3rd yielding coupling 1722 Constitute with interior wide-mouth nut 1723, the 4th spiral rotary actuator 1721 is provided with ring flange 17211 and output shaft 17212, interior Wide-mouth nut 1723 is provided with axle journal 17231；

4th spiral rotary actuator 1721 is penetrated in sill circular hole 17131, the 4th spiral rotary actuator flange Disk 17211 is fixed on above sill 17132, and the 3rd yielding coupling 1722 makes the 4th spiral rotary actuator output shaft 17212 It is 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, telescoping crossbeam device second Ladder square tube shape fixed arm 1701 is fixed on below two cantilevers of cantilever beam 169, two ears rings 17111 of entablature respectively with Two coaxial bolts of monaural ring 17032 connection of the 3rd ladder square tube shape telescopic arm, composition sleeper handling apparatus 15.

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

1. clear stone screening work：Bolt machine oil is marked on the outside of sleeper to be changed, and engineering truck traction track car is run to treating When switching tracks pillow nearby, the image information of cmos image sensor collection, by pattern recognition system automatic identification, stops engineering truck The coaxial position of bolt is marked in cmos image sensor and machine oil, two ranked first grab mechanisms positioned at sleeper both sides to be changed sleeper Between, position shown in Fig. 1, oil pump is started working, and hydraulic oil makes hydraulic oil make the 3rd lifting drive double output shaft hydraulic motor to start Rotate forward, drive left-handed screw and right handed screw to start positive synchronous axial system, promote first connecting rod and second connecting rod same respectively Step translation, up and down each two pairs of forks are same to make symmetrically arranged first series connection parallelogram lindage and the second series connection parallelogram lindage Step backswing, the 3rd lowering or hoisting gear entrust two ranked first grab mechanisms decline, by first laser displacement sensor its With the 3rd lifting drive double output shaft hydraulic motor displacement signal come control the 3rd lifting drive double output shaft hydraulic motor and Two hydraulic jack work of grab bucket, when grab bucket is Jie Jin ballast between the sleeper of sleeper both sides to be changed, two cylinder piston rods of grab bucket are opened Begin to retract, two link motions are pulled respectively, symmetrically arranged two bucket bodies is flared to respect to arm monaural ring backswing Maximum opening, two cylinder piston rod stop motions of grabbing bucket, when bucket tooth contacts ballast, the 3rd lifting drives double output shaft hydraulic pressure Motor stops rotating forward, position shown in Figure 14, and two cylinder piston rods of grab bucket start to stretch out, and two connecting rod fortune are promoted respectively It is dynamic, symmetrically arranged two bucket bodies is swung in opposite directions with respect to arm monaural ring, make grab bucket gradually close ballast between crawl sleeper, grab Two cylinder piston rods of bucket stop stretching out, while hydraulic oil makes the 3rd lifting drive double output shaft hydraulic motor to start reversely to turn It is dynamic, drive left-handed screw and right handed screw to start reverse sync rotation, first connecting rod and second connecting rod synchronization translation are pulled respectively, Make symmetrically arranged first series connection parallelogram lindage and the second series connection parallelogram lindage opposite synchronization of each two pairs of forks up and down Swing, the 3rd lowering or hoisting gear entrusts two and ranked first grab mechanisms and rises to position shown in Figure 15, and two collection crossdrifts drive hydraulic oil Cylinder piston rod starts synchronously to stretch out, and promotes two the 3rd pull bars and two the 4th pull bars two collection crossdrifts is synchronously put respectively Move to position shown in Figure 15, two collection crossdrifts drive hydraulic cylinder piston rod to stop stretching out, and the second dither motor starts work Make, casing starts vibration, two hydraulic cylinder piston rods of grab bucket start synchronous retraction, and two link motions are pulled respectively, make two Individual bucket body is slowly flared to maximum opening, and two hydraulic cylinder piston rods of grab bucket stop retracting, and the ballast in grab bucket rushes down and drops down onto two Individual collection crossdrift, is slipped in collection stone storehouse along two collection crossdrifts, and casing vibration makes the sandy soil in collection stone storehouse in ballast pass through flechette-type case The sieve aperture at bottom is separated in two gradual change isosceles trapezoid skewed slots, and sandy soil slide into two end caps along two gradual change isosceles trapezoid skewed slots Sand discharge Tu Zui is discharged, and waits that the ballast in grabbing bucket is slipped to completely in collection stone storehouse, and two collection crossdrifts drive hydraulic cylinder piston rod to open Begin synchronously to retract, pull two the 3rd pull bars and two the 4th pull bars to make two collection crossdrift synchronous huntings to Fig. 1 institutes respectively Show position, two collection crossdrifts drive hydraulic cylinder piston rod to stop retracting, and the second dither motor quits work, while two Grab bucket cylinder piston rod starts to stretch out, and two link motions are promoted respectively, makes symmetrically arranged two bucket bodies with respect to arm monaural Ring swings in opposite directions, and grab bucket is gradually closed；

2. rest the head on end lasher to make：Engineering truck traction track car is moved to left, by the firm rail of pattern recognition system automatic identification sleeper The number of outer bolt image, makes railcar move to left two sleeper pitches, and the second grab mechanisms are located at the pillow end top of sleeper to be changed, Hydraulic oil makes the second telescopic drive hydraulic motor start to rotate forward, and promotes the second square tube shape telescopic arm to entrust the second grab mechanisms Move out, second laser displacement sensor its flexible drive controlling second with the displacement signal of the second range finding reference plate Two hydraulic jack work of hydrodynamic pressure motor and grab bucket, while hydraulic oil makes the 4th lifting drive double output shaft hydraulic motor to start Rotate forward, the 4th lowering or hoisting gear entrusts the decline of the second grab mechanisms, by first laser displacement sensor its with the 4th Lifting drive double output shaft hydraulic motor displacement signal come control the 4th lifting drive double output shaft hydraulic motor and grab bucket two Individual hydraulic jack work, when the bucket tooth of grab bucket is close to pillow end railway roadbed ballast, two hydraulic cylinder piston rods of grab bucket start synchronization Retract, two link motions are pulled respectively, make grab bucket be flared to maximum opening, two hydraulic cylinder piston rods of grab bucket stop contracting Return, when bucket tooth of grabbing bucket contacts ballast, the 4th lifting drives double output shaft hydraulic motor to stop rotating forward, position shown in Figure 24 Put, the grab bucket force feed cylinder piston rod of liquid two starts synchronously to stretch out, and two link motions are promoted respectively, makes grab bucket gradually close crawl stone Quarrel, two hydraulic cylinder piston rods of grab bucket stop stretching out, while hydraulic oil makes the 4th lifting drive double output shaft hydraulic motor to open Beginning rotates backward, and the 4th lowering or hoisting gear entrusts the rising of the second grab mechanisms, while hydraulic oil makes the second telescopic drive hydraulic motor Start to rotate forward, promote the second square tube shape telescopic arm entrust the second grab mechanisms move out to road shoulder top when, the 4th liter Drop drives double output shaft hydraulic motor to stop rotating forward, and the second telescopic drive hydraulic motor stops rotating forward, and grabs bucket two Hydraulic cylinder piston rod starts to retract and pulls two link motions respectively, grab bucket is gradually opened, and is slipped to the ballast in grab bucket On road shoulder, two hydraulic cylinder piston rods of grab bucket start synchronously to stretch out, and two link motions are promoted respectively, grab bucket is gradually closed Close, the second telescopic drive hydraulic motor and the 4th lifting driving double output shaft hydraulic motor are started simultaneously at and rotated backward, the 4th liter Falling unit entrusts the second grab mechanisms and moves to position shown in Fig. 1, and the second telescopic drive hydraulic motor and the 4th lifting drive double Output shaft hydraulic motor all stops rotating backward, and pillow end lasher makees to terminate；

3. lapicide is arranged below rail to make：Engineering truck traction track car is moved to left, by pattern recognition system automatic identification sleeper Just the number of rail outer bolt image, makes railcar move to left a sleeper pitch, and chain tooth row stone device is located at the siding track of sleeper to be changed two Top between pillow, hydraulic oil makes the 3rd telescopic drive double output shaft hydraulic motor start to rotate forward, and drives left-handed screw and dextrorotation Screw rod forward direction synchronous axial system, makes left-handed square nut and dextrorotation square nut promote the square tube shape of two connected with it second respectively Telescopic arm synchronously stretches out, and makes two the second square tube shape telescopic arms entrust two chain tooth row stone devices respectively and moves out, and the 3rd swashs Optical displacement sensor measures it with the displacement signal of the 3rd range finding reference plate to control the 3rd flexible drive double output shaft hydraulic motor With the work of chain tooth row stone component double output shaft hydraulic motor, treat that chain tooth row stone device moves out to rail sleeper to be changed two Between siding track pillow during top, the 3rd flexible drive double output shaft hydraulic motor stops stopping and rotates forward, while hydraulic oil makes the 5th liter Drop drives double output shaft hydraulic motor to start to rotate forward, and the 5th band chain tooth row stone of lowering or hoisting gear support two device declines, and passes through First laser displacement sensor its drive the displacement signal of double output shaft hydraulic motor controlling the 5th liter with the 5th lifting Drop drives double output shaft hydraulic motor and the work of chain tooth row stone component double output shaft hydraulic motor, when chain tooth row stone device contacts stone During quarrel, the 5th lifting drives double output shaft hydraulic motor to stop rotating forward, and hydraulic oil makes chain tooth row stone component double output shaft liquid Pressure motor is rotated forward, and makes two sprocket wheels forward direction synchronous axial systems, chain wheel drive by several chain connection one several sprocket groups Part is moved, and the ballast that the sprocket of the following chain tooth plate of chain tooth row stone device is contacted pushes railway roadbed outside to, and hydraulic oil makes the 3rd to stretch Contracting drives double output shaft hydraulic motor to start to rotate backward, and drives left-handed screw and right handed screw reverse sync to rotate, and makes left-handed Square nut and dextrorotation square nut pull respectively the two second square tube shape telescopic arms connected with its it is synchronous retract, two second Square tube shape telescopic arm entrusts respectively motion in two chain tooth row stone device phases, and chain tooth row stone device inwardly moves to its front end sprocket The sprocket of plate is contacted with the ballast below rail, ballast is gnawed successively between the adjacent two chains tooth plate sprocket of chain tooth row stone device, Ballast is pushed into successively railway roadbed outside by chain tooth plate, when chain tooth row stone device inwardly moves to position shown in Figure 29, arranges below rail Stone terminates, and the 3rd telescopic drive double output shaft hydraulic motor stops rotating forward, while chain tooth row stone component double output shaft hydraulic pressure Motor stops rotating forward, and the 3rd telescopic drive double output shaft hydraulic motor starts to rotate forward, and stretches two the second square tube shapes Contracting arm is entrusted respectively two chain tooth row stone devices and is moved out, and treats that chain tooth row stone device is moved out to the chain of its inner side chain tooth plate When tooth is left on the outside of rail lower flange, the 3rd telescopic drive double output shaft hydraulic motor stops rotating forward, and hydraulic oil makes the 5th Lifting drives double output shaft hydraulic motor to start to rotate backward, and the 5th lowering or hoisting gear is entrusted two chain tooth row stone devices and raised, together When hydraulic oil make the 3rd telescopic drive double output shaft hydraulic motor start to rotate backward, make two the second square tube shape telescopic arms difference Entrust two chain tooth row stone devices inwardly to move, treat that chain tooth row stone device moves to position shown in Fig. 1, the 3rd telescopic drive lose-lose Shaft hydraulic motor and the 5th lifting drive double output shaft hydraulic motor all to stop rotating backward, and lapicide is arranged below rail and is made knots Beam；

4. nut work is dismantled：Engineering truck traction track car is moved to left, by the firm rail of pattern recognition system automatic identification sleeper The number of outer bolt image, makes railcar move to left a sleeper pitch, and four interior wide-mouth magnetic coupling boxs are located at sleeper to be changed Directly over four bolts, hydraulic oil makes hydraulic oil make the 6th lifting drive double output shaft hydraulic motor to start to rotate forward, and the 6th Lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is declined, and by first laser displacement sensor, it believes with the displacement of sill Number come control the 6th lifting drive double output shaft hydraulic motor and the first spiral rotary actuator work, when interior wide-mouth magnetic Coupling box is sheathed on nut, position shown in Figure 36, and the 6th lifting drives double output shaft hydraulic motor to stop rotating forward, high Force feed makes two the first spiral rotary actuators start reverse sync rotation, drives two circular connecting plates to entrust two respectively Internal gear is rotated backward, and each internal gear is engaged with two gears simultaneously, drives two drive axis, makes four interior wide-mouth magnetic Property coupling box reverse sync rotate, four interior wide-mouth magnetic coupling boxs synchronously screw off four nuts, interior wide-mouth magnetic plum blossom The magnetic of sleeve makes the nut for screwing off stay in interior wide-mouth magnetic coupling box, and two the first spiral rotary actuators stop instead To rotation, while hydraulic oil makes the 6th lifting drive double output shaft hydraulic motor to start to rotate backward, the 6th lowering or hoisting gear is entrusted Two nut assembling and disassembling devices rise to position shown in Fig. 1, and the 6th lifting drives double output shaft hydraulic motor to stop rotating backward, tears open Removing nut end-of-job；

5. the work of bad sleeper is pulled out：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 at bad sleeper to be changed Surface, the first rail-lifting equipment is located at surface between the sleeper of bad sleeper to be changed right side, and hydraulic oil makes first crossbeam telescopic drive liquid Pressure motor starts to rotate forward, and drive screw is rotated forward, and square nut promotes the fourth square tube shape telescopic arm connected with it to stretch Go out, the 4th square tube shape telescopic arm entrusts the first pendulous device and crawl and swivel block device is moved out, by the 4th laser displacement Sensor measures it with the displacement signal of the 4th range finding reference plate to control first crossbeam telescopic drive hydraulic motor and the second spiral shell Swing hydrodynamic pressure motor operations, the first pendulous device and crawl and swivel block device are moved out to appropriate location, and first crossbeam is stretched Contracting drives hydraulic motor to stop rotating forward, and hydraulic oil makes the second spiral rotary actuator start to rotate forward, incomplete tooth Wheel and two sector gear engaged transmissions, two multidiameters drive the positive swing of four the first forks, entrust the second casing and grab Take and swivel block device makees translation, when two the first forks are contacted with the first positive stop lug boss, the second spiral rotary actuator stops Only rotate forward, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, while hydraulic oil stretches first crossbeam Contracting drives hydraulic motor to start to rotate backward, and drive screw is rotated backward, and square nut pulls fourth square tube shape connected with it Telescopic arm is retracted, and the 4th square tube shape telescopic arm entrusts the first pendulous device and crawl and swivel block device is inwardly moved, and works as gripper Two pressing plates when inwardly moving to bad sleeper both sides appropriate location to be changed, first crossbeam telescopic drive hydraulic motor stops reverse Rotate, hydraulic oil makes hydraulic cylinder piston rod start to stretch out, promote first connecting rod and second connecting rod to make symmetrically arranged two respectively Individual second fork swings in opposite directions, and the roller for being articulated with the second fork ears ring pushes down pressing plate, and roller is rolled makes pressing plate overcome two The pulling force of cylindrically coiled spring makees translation, and two in-parallel four-bar mechanism forward directions swing, when two platen clamp sleepers, electricity The middle position of magnetic reversal valve makes hydraulic jack pressurize；

Hydraulic oil makes the 7th lifting drive double output shaft hydraulic motor to start to rotate forward, and the 7th lowering or hoisting gear entrusts first Rail-lifting equipment declines, by first laser displacement sensor its with the displacement signal of double output shaft hydraulic motor controlling 7th lifting drives double output shaft hydraulic motor and proposes the work of rail assembly double output shaft hydraulic motor, when the first rail-lifting equipment declines When cylinder of rail cylinder body gusset upper surface and coplanar rail lower surface is carried, the 7th lifting drives double output shaft hydraulic motor to stop Rotate forward, hydraulic oil makes the double output shaft hydraulic motor for carrying rail assembly start to rotate forward, drive left-handed screw and dextrorotation spiral shell Bar forward direction synchronous axial system, promotes respectively two box type telescopic arms synchronously to stretch out, and it is outside that two box type telescopic fupport arm bands carry cylinder of rail Motion, when cylinder of rail cylinder body is carried with rail lower flange contacts side surfaces, carries below cylinder of rail cylinder body gusset upper surface and rail Contact, the double output shaft hydraulic motor for carrying rail assembly stops rotating forward, and hydraulic oil makes to carry cylinder of rail piston rod and stretches out, when being connected Railway roadbed ballast is contacted in the fagging for carrying cylinder of rail piston rod and after being compacted into, with carrying constantly stretching out for cylinder of rail piston rod, The cylinder body for carrying cylinder of rail is entrusted gusset and is moved upwards, makes rail jack-up, the middle position of solenoid directional control valve make to propose cylinder of rail pressurize；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, and gripper is positive to be turned to entrust hydraulic jack Dynamic, gripper rotates forward sleeper, when the 3rd 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 3rd spiral swings hydraulic pressure Motor stops rotating forward, and hydraulic oil makes first crossbeam telescopic drive hydraulic motor start to rotate forward, and the 4th square tube shape is stretched Fupport arm the first pendulous device of band and crawl and swivel block device are moved out, and gripper pulls bad sleeper to move out, when bad sleeper Move out to end face thereafter with above rail lower flange trailing flank is coplanar when, first crossbeam telescopic drive hydraulic motor stop just To rotation, hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and makes cylinder body of hydraulic oil cylinder entrust gripper reverse Rotate, gripper rotates backward sleeper, when the 3rd spiral rotary actuator ring flange and the spacing fan of hydraulic jack ring flange When shape boss is contacted with second the first confined planes of casing scallop hole, gripper makes sleeper rotate backward 90 °, position shown in Figure 47, 3rd spiral rotary actuator stops rotating backward；

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

Hydraulic oil rotates backward the second spiral rotary actuator, and partial gear engages biography with two sector gears Dynamic, two multidiameters drive four the first fork backswings, and the second casing entrusts crawl and swivel block device makees translation, when two When first fork is contacted with the second positive stop lug boss, the second spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes Second spiral rotary actuator pressurize；

Hydraulic oil makes first crossbeam telescopic drive hydraulic motor start to rotate backward, and the 4th square tube shape telescopic arm entrusts first Pendulous device and crawl and swivel block device inwardly move to position shown in Fig. 1, and first crossbeam telescopic drive hydraulic motor stops anti- To rotation；

Hydraulic oil makes to carry cylinder of rail piston rod and starts to retract, and its piston rod hauls fagging and moves upwards, and under rail original is dropped down onto Position, bad sleeper to be changed is pushed down makes its upper surface parallel with two rail lower surfaces, carries cylinder of rail piston rod and is retracted to stop,

Hydraulic oil makes to carry rail assembly double output shaft hydraulic motor and starts to rotate backward, and drives left-handed screw and right handed screw anti- To synchronous axial system, two box type telescopic arms are pulled synchronously to retract, two box type telescopic fupport arm bands carry cylinder of rail and inwardly move, when it Gusset is disengaged when contacting with rail, and first carries rail assembly double output shaft hydraulic motor stops rotating backward；

Hydraulic oil makes the 7th lifting drive double output shaft hydraulic motor to start to rotate backward, and the 7th lowering or hoisting gear entrusts first Rail-lifting equipment rises, and when the first rail-lifting equipment rises to position shown in Fig. 1, the 7th lifting drives double output shaft hydraulic motor to stop Rotate backward, pull out bad sleeper end-of-job；

6. handling bad sleeper 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 six sleeper pitches, and it is adjacent that the second rail-lifting equipment is located at sleeper to be changed right side Directly between sleeper, position shown in Figure 48, hydraulic oil makes second cross beam telescopic drive double output shaft hydraulic motor start positive turning It is dynamic, make left-handed square nut and dextrorotation square nut promote the square tube shape telescopic arm of two connected with its 5th synchronously to stretch respectively Go out, two the 5th square tube shape telescopic arms entrust two the second pendulous devices respectively and flexible shell type carries cylinder of rail and outwards synchronously transports It is dynamic, it is measured by the 5th laser displacement sensor flexible to control second cross beam with the displacement signal of the 5th range finding reference plate Double output shaft hydraulic motor and the work of the second spiral rotary actuator are driven, when two the second pendulous devices and flexible shell type carry rail oil Cylinder is moved out to appropriate location, and second cross beam telescopic drive double output shaft hydraulic motor stops rotating forward, and it starts reversely Rotate, the two fiveth tubular telescopic arms connected with its are synchronous to contract left-handed square nut and dextrorotation square nut is pulled respectively Return, two the 5th square tube shape telescopic arms entrust two the second pendulous devices respectively and flexible shell type carries cylinder of rail and inwardly synchronously transports It is dynamic, while the second spiral rotary actuator starts to rotate forward, partial gear and two sector gear engaged transmissions, two Multidiameter drives that four forks are positive to be swung, and box connecting rod entrusts flexible shell type and carries cylinder of rail and makees translation, when two forks and the When one positive stop lug boss is contacted, the second spiral rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes the second spiral Rotary actuator pressurize, when the second pendulous device and flexible shell type carry cylinder of rail and inwardly move to flexible shell type cylinder of rail cylinder is carried When body is with rail lower flange contact outside, flexible shell type carries cylinder of rail cylinder body gusset upper surface and contacts with below rail, and second Crossbeam telescopic drive double output shaft hydraulic motor is rotated backward；

Hydraulic oil makes reciprocating motion drive double output shaft hydraulic motor to rotate forward, and promotes first connecting rod and second to connect respectively Bar synchronization translation, makes each two pairs of symmetrically arranged first series connection parallelogram lindage and the second series connection parallelogram lindage or so Swing link synchronous backswing, makes two pairs of the second forks pull moving beams to left movement, moving beam entrust storage sleeper case to Left movement, measures it with the displacement signal of double output shaft hydraulic motor to control reciprocal fortune by the 6th laser displacement sensor It is dynamic to drive the work of double output shaft hydraulic motor, when storage sleeper case moves to the left the bad sleeper position in storehouse of storage in pick-and-place sleeper device During underface, move back and forth and drive double output shaft hydraulic motor to stop rotating forward, reciprocating movement driving device is supported by motorcycle Move freely left and right；

Hydraulic oil makes the second level extension sleeve of the second multi-stage expansion shell type oil cylinder start to stretch out with first order extension sleeve, The 3rd ladder square tube shape telescopic arm is promoted to stretch out, the 3rd ladder square tube shape telescopic arm is entrusted rigid hanger and moved out, when the 3rd When ladder square tube shape telescopic arm extend out to its shoulder and tactile second second shoulder grafting of ladder square tube shape telescopic arm, the first multi-stage expansion Shell type oil cylinder second level extension sleeve starts to stretch out, and promotes the 3rd ladder square tube shape telescopic arm to stretch by first order extension sleeve Go out, the 3rd ladder square tube shape telescopic arm pulls the second ladder square tube shape telescopic arm to stretch out, and is surveyed by the 8th laser displacement sensor It is measured with the displacement signal of push pedal to control the second multi-stage expansion shell type cylinder efficient, when two interior wide-mouths of pick-and-place sleeper device When two bolts in inner side are coaxial above nut and the bad sleeper having been pulled out between sleeper, the second multi-stage expansion shell type oil cylinder second level is stretched Contracting sleeve stops stretching out；

Hydraulic oil makes the sleeve of the first multi-stage expansion shell type oil cylinder start to retract step by step, the second 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 7th laser displacement Sensor measures it with the displacement signal of sill to control the first multi-stage expansion shell type cylinder efficient, when two interior wide-mouth nuts With when two bolts in inner side are close above sleeper, hydraulic oil makes two the 4th 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, the 4th spiral swings Hydraulic motor is rotated forward to hard-over, position shown in Figure 55, and the 4th spiral rotary actuator stops rotating forward, and first The first order sleeve of 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 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 and 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, is made the middle position of rail jack-up, solenoid directional control valve and is made 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 again, 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, the 3rd ladder square tube shape Telescopic arm entrusts rigid hanger and pick-and-place sleeper device is moved out, and pick-and-place sleeper device is entrusted bad sleeper and moved out, when bad Sleeper move out to end face thereafter leave sleeper lower flange appropriate location when, the second multi-stage expansion shell type oil cylinder second level stretch Sleeve stops stretching out；

Hydraulic oil makes the first order sleeve of the first multi-stage expansion shell type oil cylinder start to stretch out, and entrusts the second square tube shape telescopic arm Stretch out, rigid hanger entrusts the rising of pick-and-place sleeper device, when the second 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 second multi-stage expansion shell type oil cylinder starts to stretch out, and the second square tube shape telescopic arm is pulled First ladder square tube shape telescopic arm stretches out, when pick-and-place sleeper device rises to appropriate height, the first multi-stage expansion shell type oil cylinder Second 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, when bad sleeper declines Jie Jin bad sleeper orlop Or be previously put into bad sleeper when, hydraulic oil make two the 4th spiral rotary actuators start reverse sync rotation, make two Interior wide-mouth nut is rotated backward, and when bad sleeper is discharged into storehouse, the 4th spiral rotary actuator stops rotating backward, and second 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；

7. handling is well placed sleeper work：Hydraulic oil makes reciprocating motion drive double output shaft hydraulic motor to start 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 connected first connecting rod and second connecting rod synchronization translation, make each two pairs of symmetrically arranged two series connection parallelogram lindage or so The opposite synchronous hunting of fork, two pairs of the second forks promote moving beam to move right, and moving beam entrusts storage sleeper case to the right Motion, moves right when sleeper position in storehouse has been stored immediately below pick-and-place sleeper device when sleeper case is stored, and moves back and forth and drives Double output shaft hydraulic motor stops rotating backward；

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 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 entrusted sleeper and drops to it and contact 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 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, the second multi-stage expansion shell type 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, sleeper to be finished changing is pushed down so as to which upper surface is parallel with two rail lower surfaces, and flexible shell type carries cylinder of rail and stops work Make；

Hydraulic oil makes second cross beam telescopic drive double output shaft hydraulic motor start to rotate forward, and two the 7th square tube shapes are stretched Contracting arm entrusts respectively two the second pendulous devices and flexible shell type carries cylinder of rail and moves out, when flexible shell type carries cylinder of rail cylinder body Gusset is disengaged when contacting with rail lower flange, and second cross beam telescopic drive double output shaft hydraulic motor stops rotating forward, together When the second spiral rotary actuator start to rotate backward, partial gear and two sector gear engaged transmissions, two ladders Axle drives four the first fork backswings, and box connecting rod entrusts flexible shell type and carries cylinder of rail and makees translation, when two the first forks When contacting with the second positive stop lug boss, the second spiral rotary actuator stops operating, two the second pendulous devices and flexible shell type Carry cylinder of rail and move to position shown in Fig. 1, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize；

Hydraulic oil makes the 4th spiral rotary actuator start to rotate backward, when the 4th spiral rotary actuator reversely turns When moving to hard-over, sleeper is discharged, the 4th 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 entrusts 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 motion, pick-and-place sleeper device moves to position shown in Fig. 1, and 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；

8. advanced sleeper to 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 six sleeper pitches, and swivel block and push-and-pull sleeper device are located at good sleeper top, Directly over first rail-lifting equipment is located between the sleeper of good sleeper right side, hydraulic oil makes first crossbeam telescopic drive hydraulic motor start just To rotation, stretch out the 4th square tube shape telescopic arm, the 4th square tube shape telescopic arm entrusts the first pendulous device and crawl and swivel block dress Put and move out, when the 4th square tube shape telescopic arm extend out to stop, first crossbeam telescopic drive hydraulic motor stops positive turning Dynamic, hydraulic oil rotates forward the second spiral rotary actuator, and the second casing entrusts crawl and swivel block device makees translation, when two When individual first fork is contacted with the first positive stop lug boss, the second spiral rotary actuator stops operating, the middle position of solenoid directional control valve Make the second spiral rotary actuator pressurize；

Hydraulic oil makes first crossbeam telescopic drive hydraulic motor start to rotate backward, when two pressing plates of gripper are inwardly transported Move when sleeper both sides appropriate location is finished changing, position shown in Figure 47, first crossbeam telescopic drive hydraulic motor stops reversely turning Dynamic, hydraulic oil makes hydraulic cylinder piston rod start to stretch out, and when two platen clamp sleepers, hydraulic cylinder piston rod stops stretching Go out, the middle position of solenoid directional control valve makes hydraulic jack pressurize；

Hydraulic oil makes the 7th lifting drive double output shaft hydraulic motor to start to rotate forward, and the 7th lowering or hoisting gear entrusts first Rail-lifting equipment declines, when the first rail-lifting equipment drops to carries cylinder of rail cylinder body gusset upper surface and coplanar rail lower surface, 7th lifting drives double output shaft hydraulic motor to stop rotating forward, and hydraulic oil makes to carry rail assembly double output shaft hydraulic motor and starts Rotate forward, when cylinder of rail cylinder body is carried with rail lower flange contacts side surfaces, carry cylinder of rail cylinder body gusset upper surface and rail Contact below, carry rail assembly double output shaft hydraulic motor and stop rotating forward, hydraulic oil makes to carry cylinder of rail piston rod and stretches out, and makes steel Rail jack-up, the middle position of solenoid directional control valve makes to propose cylinder of rail pressurize；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, and gripper makes sleeper rotate forward 90 °, and the 3rd Spiral rotary actuator stops rotating forward, and hydraulic oil makes first crossbeam telescopic drive hydraulic motor start to rotate backward, machine Machinery claw has promoted sleeper inwardly to move, when having made sleeper inwardly move to position shown in Fig. 1, first crossbeam telescopic drive hydraulic pressure horse Up to stopping rotating backward, hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and gripper rotates backward sleeper 90 °, the 3rd spiral rotary actuator stops rotating backward；

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

Hydraulic oil makes first crossbeam telescopic drive hydraulic motor start to rotate backward, and makes the 4th square tube shape telescopic arm entrust One pendulous device and crawl and swivel block device inwardly move to position shown in Fig. 1, and first crossbeam telescopic drive hydraulic motor stops Rotate backward；

Hydraulic oil makes to carry cylinder of rail piston rod and starts to retract, and under rail original position is dropped down onto, and carries cylinder of rail piston rod and is retracted to Stop, hydraulic oil makes to carry rail assembly double output shaft hydraulic motor and starts to rotate backward, when carrying cylinder of rail cylinder body gusset and rail When disengaging contact, carry rail assembly double output shaft hydraulic motor and stop rotating backward；

Hydraulic oil makes the 7th lifting drive double output shaft hydraulic motor to start to rotate backward, and the 7th lowering or hoisting gear entrusts first Rail-lifting equipment rises to position shown in Fig. 1, and the 7th lifting drives double output shaft hydraulic motor to stop rotating backward, advanced sleeper End-of-job；

9. nut work is installed：Engineering truck traction track car is moved to right, the image information of cmos image sensor collection, is passed through The number of the firm rail outer bolt image of pattern recognition system automatic identification sleeper, makes railcar move to right a sleeper pitch, and four are stayed There is wide-mouth magnetic coupling box in nut coaxial with four bolts on sleeper respectively, hydraulic oil makes the 6th lifting double output shaft liquid Pressure motor starts to rotate forward, and the 6th lowering or hoisting gear is entrusted two nut assembling and disassembling devices and declined, when dropping to interior wide-mouth magnetic plum Nut in flower sleeve and the pillow threaded bolt contacts that switch tracks, position shown in Figure 36, the 6th lifting double output shaft hydraulic motor stops just To rotation, hydraulic oil makes two the first spiral rotary actuators start positive synchronous axial system, drives two circular connecting plates point Do not entrust two internal gears to rotate forward, each internal gear is engaged with two gears simultaneously, drive two drive axis, make four Individual interior wide-mouth magnetic coupling box forward direction synchronous axial system, the nut in four interior wide-mouth magnetic coupling boxs synchronously screws in sleeper four Individual bolt and pretension, two the first spiral rotary actuators stop rotating forward, and hydraulic oil makes the 6th lifting double output shaft liquid Pressure motor starts to rotate backward, and the 6th lowering or hoisting gear entrusts two nut assembling and disassembling devices and rises to position shown in Fig. 1, the 6th lifting Double output shaft hydraulic motor stops rotating backward, and installs nut work and completes；

10. ballast backfilling working：Engineering truck traction track car is moved to right, the image information of cmos image sensor collection, is led to The number of the firm rail outer bolt image of pattern recognition system automatic identification sleeper is crossed, makes railcar move to right four sleeper pitches, ballast Collection arranging device is located at directly over the pillow that switches tracks, and the second dither motor is started working, and two stone removing doors drive hydraulic jack to live Stopper rod starts to stretch out, and two the first pull bars and two the second pull bars are promoted respectively, makes two stone removing door synchronous huntings to figure Position shown in 16, the ballast in stone storehouse to be collected rushes down to be fallen completely switch tracks between pillow both sides sleeper, and the second dither motor stops Work, two stone removing doors drive hydraulic cylinder piston rods to start to retract, and pull two the first pull bars respectively and two second push away Pull bar makes two stone removing door synchronous huntings to position shown in Fig. 1, and ballast backfilling working is completed；

11. road shoulders and railway roadbed correction of the flank shape work：Engineering truck traction track car is moved to right, by pattern recognition system automatic identification rail The number of firm rail outer bolt image is rested the head on, makes railcar move to right two sleeper pitches, bucket device is located on the pillow end of the pillow that switches tracks Side, hydraulic oil makes the first telescopic drive hydraulic motor start to rotate forward, stretches out the first square tube shape telescopic arm, the first square tube shape Telescopic arm is entrusted bucket device and is moved out, second laser displacement sensor its with second range finding reference plate displacement letter Number come control the first telescopic drive hydraulic motor and bucket hydraulic jack work, while hydraulic oil make the second lifting drive lose-lose Shaft hydraulic motor starts to rotate forward, and the second lowering or hoisting gear entrusts bucket device decline, by first laser displacement transducer It is measured with the displacement signal of the second lifting driving double output shaft hydraulic motor to control the second lifting driving double output shaft hydraulic pressure Motor and bucket hydraulic jack work, and when the close road shoulder ballast of the bucket tooth of bucket, bucket hydraulic cylinder piston rod stretches out, and promote Link motion, makes the appropriate angle of the positive swing of bucket, unnecessary ballast is combined in bucket when being easy to shoulder correction of the flank shape, when bucket motion During to road shoulder base angle, the first telescopic drive hydraulic motor stops rotating forward, and the second lifting drives double output shaft hydraulic motor to stop Only rotate forward, position shown in Fig. 9, hydraulic oil makes the first telescopic drive hydraulic motor start to rotate backward, and makes the first square tube shape Telescopic arm is retracted, and the first square tube shape telescopic arm is entrusted bucket and inwardly moved, while the second lifting drives double output shaft hydraulic motor Start to rotate backward, the second lowering or hoisting gear entrusts bucket device rising, the first telescopic drive hydraulic motor and the second lifting drive Double output shaft hydraulic motor starts reversely to coordinate to rotate, and makes the movement locus of bucket bucket tooth for the stringcourse of isosceles trapezoid road shoulder, enters Trade shoulder correction of the flank shape, when bucket moves to bucket tooth to railway roadbed upper surface, it is anti-that the second lifting drives double output shaft hydraulic motor to stop To rotation, road shoulder correction of the flank shape terminates, and the first telescopic drive hydraulic motor continues to rotate backward, and the movement locus of bucket bucket tooth is straight Line, while bucket hydraulic cylinder piston rod is slowly retracted, pulls link motion, makes the slow backswing of bucket, makes to combine in bucket Ballast gush, with repair pillow end railway roadbed, when bucket bucket tooth be close to pillow end when, bucket hydraulic jack quits work, second lifting Double output shaft hydraulic motor is driven to start to rotate backward, when the second lowering or hoisting gear entrusts bucket device and rises to position shown in Fig. 1, First telescopic drive hydraulic motor stops rotating backward, and the second lifting drives double output shaft hydraulic motor to stop rotating backward, Switch tracks Zhen Zhenduan roads shoulder and railway roadbed correction of the flank shape end-of-job；

12. tamping flat quarrel work：Engineering truck traction track car is moved to right, by pattern recognition system automatic identification sleeper rail The number of outer bolt image, makes railcar move to right a sleeper pitch, and two row's vibrating spears are located at and switch tracks between pillow both sides sleeper, figure Position shown in 3, hydraulic oil makes the first lifting drive double output shaft hydraulic motor to start to rotate forward, and the first lowering or hoisting gear is entrusted and shaken Component decline is smash, it drives the displacement letter of double output shaft hydraulic motor with the first lifting by first laser displacement sensor Number come control the first lifting drive double output shaft hydraulic motor and the first dither motor work, when vibrating spear is freely terminated It is near switch tracks ballast between pillow both sides sleeper when, the first dither motor is started working, and oscillating plate drives two row's vibrating spear high frequencies Vibration, the first lifting drives double output shaft hydraulic motor to continue to rotate forward, and the first lowering or hoisting gear entrusts the insertion of two row's vibrating spears Railway roadbed ballast appropriate depth, the first lifting drives double output shaft hydraulic motor to stop rotating forward, position shown in Fig. 4, and first is high Frequency vibration motor works on to the ballast tamping between pillow both sides sleeper that will switch tracks and shakes at ordinary times, and the first dither motor stops work Make, hydraulic oil makes the first lifting drive double output shaft hydraulic motor to start to rotate backward, and the first lowering or hoisting gear entrusts the component that vibrates Position shown in Fig. 1 is risen to, the first lifting drives double output shaft hydraulic motor to stop rotating backward, and oil pump quits work, and changes Flat quarrel end-of-job is consolidated between the sleeper of sleeper both sides.

The first series connection parallelogram lindage and the second series connection parallelogram lindage in lowering or hoisting gear, makes corresponding entablature It is parallel all the time with sill, change the correspondence work of pillow to adapt to straight line and curved rail length section；3rd series connection parallelogram lindage Make plate shape entablature parallel with sill all the time, make servo-actuated Equipoising support apparatus adaptation straight line and curved rail length section change the right of pillow Should work；The first symmetrically arranged series connection parallelogram lindage and the second series connection parallelogram lindage in reciprocator, Make moving beam parallel with solid crossbeam all the time, make storage sleeper case make translation；Yielding coupling and interior wide-mouth nut can be fitted effectively Sleeper bolt position deviation is answered, makes interior wide-mouth nut easily screw on sleeper bolt；Synchronous valve in hydraulic system, it is ensured that two The sleeve synchronization telescope of one multi-stage expansion shell type oil cylinder；Rigid hanger makes sleeper in handling without swing, improve handling sleeper speed.

In position shown in Fig. 3, two linear Stiffness amount of spring compression being servo-actuated in Equipoising support apparatus are minimum, elastic force Less, now symmetrically arranged 6th fork and the second strut are maximum with entablature angle, and two springs are by two slide blocks point Do not act on the 6th fork and the power on the second strut and act on plate shape more than its more small power, the 6th fork and the second strut The vertical component of entablature power is big, makes servo-actuated Equipoising support apparatus bear the deadweight of plate shape entablature, double output shaft hydraulic motor certainly The summation that weight, the part of two deadweights of the first yielding coupling, two monaural ring bearing deadweights and two screw rods of left-right rotary are conducted oneself with dignity And balance, being servo-actuated Equipoising support apparatus lifts with lowering or hoisting gear and balances, in position shown in Fig. 4, two linear Stiffness springs Decrement is maximum, and elastic force is maximum, and now symmetrically arranged 6th fork and the second strut are minimum with entablature angle, two bullets Spring by two slide blocks be respectively acting on the 6th fork and the second fork on power less than maximum flexibility power, the 6th fork and second The vertical component that strut acts on plate shape entablature power is less, makes servo-actuated Equipoising support apparatus bear plate shape entablature deadweight, double The portion of the deadweight of output shaft hydraulic motor, the deadweight of two yielding couplings, two monaural ring bearings deadweights and two screw rods of left-right rotary Divide the summation of deadweight and balance, it is to avoid two screw rods of left-right rotary bear moment of flexure.

Claims

It is 1. a kind of that there is figure identification function railway maintenance small-sized machine, it is characterised in that：Be by the flat quarrel device of tamping, road shoulder and Railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, the clear stone device in pillow end, chain tooth row stone device, four nuts are synchronously filled Dismantling device, the first rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, generator, Hydraulic system and control system Case and railcar are constituted.Railcar is provided with multiple castors and two longerons, the flat quarrel device of tamping, road shoulder and railway roadbed modification device, Grab bucket clear stone device, ballast collection arranging device, the clear stone device in pillow end, chain tooth row stone device, four nuts synchronization assembling and disassembling device, first carry Rail device, transition and push-and-pull sleeper device, sleeper handling apparatus, generator and Hydraulic system and control System cabine are arranged on track On two longerons of car, railcar is drawn by engineering truck, and generator provides power, hydraulic system and control for oil pump and control system Fuel tank, oil pump, hydraulic control system and automatic control system are provided with System cabine processed；

The flat quarrel device of described tamping is made up of entablature, the first lowering or hoisting gear and the component that vibrates, and entablature is provided with two companies Fishplate bar, connecting plate is provided with several bolts hole；

First lowering or hoisting gear is to drive dress by the first series connection parallelogram lindage, the second series connection parallelogram lindage, the first lifting Put, servo-actuated Equipoising support apparatus and first laser displacement transducer are constituted；

The first described series connection parallelogram lindage is connected by sill, the first fork, the second fork, two the 3rd forks, first Bar, four the first bolts and entablature composition, first connecting rod is provided with two pairs of coaxial tapped blind holes and left handed threaded hole；

Second series connection parallelogram lindage is connected parallelogram lindage constitutes with first, second connecting rod be provided with two pairs it is coaxial Tapped blind hole and right-handed thread hole, except aforesaid second connecting rod and first connecting rod version it is different, remaining all parts Version is the same；

The first described lifting drive be by the hydraulic motor of double output shaft, two yielding couplings, left-handed screw, first Connecting rod, right handed screw, second connecting rod and two monaural ring bearing compositions, right handed screw is provided with the first axle journal and the second axle journal, left Rotation screw rod is identical with right handed screw version；

Described servo-actuated Equipoising support apparatus are by plate shape entablature, the 3rd series connection parallelogram lindage, the first strut, the second support Bar, slide bar, two slide blocks, two turriform linear Stiffness springs, two the first hex nuts, two the second bolts and two Three bolts are constituted, and slide bar is provided with fixed disc, is arranged with two light bar segments and two thread segments；Slide block is provided with circular hole and one To coaxial threaded blind hole；

The 3rd described series connection parallelogram lindage is by plate shape entablature, sill, the 4th fork, the 5th fork, the 6th pendulum Bar, the 7th fork, two third connecting rods and two bearing pin compositions；

By the first fork and sill chain connection, chain connection between the second fork, three components of the 4th fork and sill, the One fork ears ring and the 3rd fork ears ring are coaxial with a pair of of first connecting rod left side tapped blind hole, two the first tools for bolts ' pretension, Make chain connection between the first fork, three components of the 3rd fork and first connecting rod, the second fork ears ring and another the 3rd pendulum Bar ears ring and first connecting rod the right a pair of tapped blind holes it is coaxial, two the first tools for bolts ' pretension, make the second fork, another the 3rd Chain connection between three components of fork and first connecting rod, two the 3rd forks respectively with entablature chain connection, composition first goes here and there Connection parallelogram lindage, the aforementioned assembly operation of repetition is being symmetrical in sill and the series connection of entablature vertical plane of symmetry assembling second Parallelogram lindage；

Monaural ring bearing is sheathed on the second axle journal of right handed screw, double output shaft hydraulic motor is symmetrically fixed in plate shape horizontal Liang Shang, yielding coupling is by the first axle journal of right handed screw and the right-hand member output shaft fixed connection of double output shaft hydraulic motor, then incites somebody to action single Earrings bearing is sheathed on the second axle journal of left-handed screw, and another yielding coupling is by the first axle journal of left-handed screw and lose-lose The left end output shaft fixed connection of shaft hydraulic motor, two yielding couplings are fixed on plate shape entablature, make left-handed screw with First connecting rod left handed threaded hole axial contact, makes right handed screw and second connecting rod right-handed thread hole axial contact, rotates dual output The output shaft of axle hydraulic motor, makes left-handed screw screw in first connecting rod left handed threaded hole, while right handed screw screws in second connecting In bar right-handed thread hole, the first lifting drive is constituted；

Two turriform linear Stiffness springs are symmetrically sheathed on into two light bar segments of slide bar, then two slide blocks are sheathed on respectively Two light bar segments of slide bar, two hex nuts distinguish pretension, make two slide blocks make turriform linear Stiffness spring appropriate respectively Compression, by the 5th fork and sill chain connection, makes the left side monaural ring of two second connecting rods double with the 4th fork respectively A pair of tapped blind holes of earrings, the 6th fork ears ring and slide block are coaxial, and two the second bolts distinguish pretensions, make the 4th fork, Chain connection between three components of the 6th fork and slide block, the right monaural ring of two third connecting rods is double with the 5th fork respectively Earrings, the 7th fork ears ring are coaxial, and two bearing pins are respectively penetrated, and make second connecting rod, three structures of the 5th fork and the 7th fork Chain connection between part, the series connection parallelogram lindage of composition the 3rd；

A pair of tapped blind holes of the first strut ears ring, the second strut ears ring and slide block are coaxial, two the 3rd bolt difference Pretension, makes chain connection between the first strut, three components of the second strut and slide block, the 6th fork, the 7th fork and the second strut Respectively with plate shape entablature chain connection, the servo-actuated Equipoising support apparatus of composition；

By four the 3rd forks and entablature chain connection, first laser displacement transducer is symmetrically fixed on below entablature； Constitute the first lowering or hoisting gear；

The described component that vibrates is by entablature, several elastic connecting components, oscillating plate, eight vibrating spears, eight the second hexagonal spiral shells Female and the first dither motor composition, elastic connecting component is made up of bolt, two helical springs, pad and hex nuts, Oscillating plate is provided with several bolts hole and eight circular holes；

Bolt is passed through into square tube shape entablature connecting plate bolt hole, helical spring is sheathed on bolt, then pass through oscillating plate Bolt hole, then another helical spring is sheathed on bolt, pad is sheathed on bolt, hex nut pretension, oscillating plate with Entablature realizes elastic connection；Vibrating head passes through oscillating plate circular hole, the second hex nut pretension, the first dither motor to be connected In oscillating plate upper surface symmetric position, sill is symmetrically fixed on two longerons of railcar, the flat quarrel device of composition tamping.

Described road shoulder and railway roadbed modification device is by the first entablature component, the first retractable driving device, the second lowering or hoisting gear With bucket device composition；

The first described entablature component is passed by the first square tube shape fixed arm, the first square tube shape telescopic arm, second laser displacement Sensor and the second range finding reference plate composition, the first square tube shape fixed arm is provided with four ears rings, and the first square tube shape telescopic arm is provided with Two symmetrical grooves, groove is provided with bolt hole；

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

Monaural ring bearing is sheathed on the second axle journal of screw rod, yielding coupling is by the first axle journal of screw rod and hydraulic motor Output shaft fixed connection, square nut screws on screw rod appropriate location, and square slider is sheathed on the axle journal of screw rod the 3rd, and hex nut is pre- Tightly, the first square tube shape telescopic arm is arranged thereon from screw rod left end, two tapped blind holes of square nut is stretched with the first square tube shape Two bolts hole of contracting arm are coaxial, and two tools for bolts ' pretension, the first square tube shape fixed arm is arranged thereon from hydraulic motor right-hand member, and will Hydraulic motor is fixed on the first square tube shape fixed arm endoporus upper surface, constitutes the first retractable driving device, square slider and first Square tube shape telescopic arm forms moving sets, and second laser displacement transducer is fixed on above the first square tube shape fixed arm, and second surveys It is fixed on above the first square tube shape telescopic arm away from reference plate；

Described the second lowering or hoisting gear and the first lowering or hoisting gear is constituted, except aforesaid first square tube shape fixed arm and entablature Version is different, and remaining all component structural form is the same；

Carry out and the first lifting drive identical assembly operation, by four the 3rd forks and the first square tube shape fixed arm hinge Connection, first laser displacement transducer is symmetrically fixed on below the first square tube shape fixed arm；Constitute the second lowering or hoisting gear；

Described bucket device is made up of the first bucket component, arm and U-shaped suspension rod, and arm is provided with monaural ring, the first ears Ring, the second ears ring and ring flange；

The first described bucket component is made up of hydraulic jack, strut, connecting rod and bucket body, the piston rod free end of hydraulic jack It is provided with monaural ring, cylinder body and is provided with monaural ring；Strut is provided with ears ring and monaural ring；Connecting rod is provided with monaural ring and ears ring, Bucket body is provided with the first ears ring and the second ears ring；

Cylinder body of hydraulic oil cylinder monaural ring is coaxially penetrated into pin hinge with arm the second ears ring to be connected, strut monaural ring and arm First ears ring coaxially penetrates pin hinge connection, and bucket body the second ears ring coaxially penetrates pin hinge company with arm monaural ring Connect, connecting rod monaural ring coaxially penetrates pin hinge and is connected with bucket body the first ears ring, connecting rod ears ring, strut ears ring and hydraulic pressure Cylinder piston rod is monocyclic coaxially to penetrate pin hinge connection, constitutes the first bucket component, and U-shaped suspension rod is consolidated with arm ring flange Even, bucket device is constituted, U-shaped suspension rod is fixed on the first square tube shape telescopic arm, constitute road shoulder and railway roadbed modification device；

The clear stone device of described grab bucket is made up of entablature, two the 3rd lowering or hoisting gears and eight the first grab mechanisms, upper horizontal stroke Beam is provided with two longerons and two cantilever longitudinal beams；

As described the 3rd lowering or hoisting gear and the composition of the first lowering or hoisting gear, except aforesaid 3rd lowering or hoisting gear entablature and One lowering or hoisting gear entablature version is different, and remaining all component structural form is the same；

Carry out and the first lifting drive identical assembly operation, by four the 3rd forks respectively with entablature chain connection, First laser displacement transducer is fixed on below entablature；Constitute the 3rd lowering or hoisting gear；

The first described grab mechanisms are made up of two the second bucket components and arm, arm be arranged with two monaural rings, Two the first ears rings, 2 second ears rings and ring flanges；

Second bucket component and the first bucket component are constituted and version is the same；

Respectively two cylinder body of hydraulic oil cylinder monaural rings are coaxially penetrated into pin hinge with two the second ears rings of arm to be connected, two Strut monaural ring coaxially penetrates pin hinge and is connected with two the first ears rings of arm respectively, two the second ears of bucket body ring difference Pin hinge is coaxially penetrated with two monaural rings of arm to be connected, two connecting rod monaural rings are same with two bucket body the first ears rings respectively Axle penetrates pin hinge connection, and connecting rod ears ring, strut ears ring and hydraulic cylinder piston rod are monocyclic coaxially to penetrate pin hinge Connection, constitutes the first grab mechanisms, eight arm ring flanges is respectively symmetrically and is fixed on two longerons of entablature and two cantilevers On longeron, the clear stone device of composition grab bucket；

Described ballast collection arranging device is by cmos image sensor, casing, two stone removing doors, two collection crossdrifts, two row's stones Door drive, two collection crossdrift driving means, crossbeam, several second elastic connecting components, the second dither motors and two Individual end cap composition, crossbeam is provided with several bolts hole, and end cap is provided with sand discharge Tu Zui；

Described casing be provided with base plate, flechette-type bottom, two the first Ji Shicang, the second Ji Shicang, two square tube shape holes, two gradually Become isosceles trapezoid skewed slot, four first it is convex stupefied and two it is second convex stupefied, base plate is provided with several bolts hole, and flechette-type bottom is provided with number Individual sieve aperture, the first Ji Shicang is provided with Pai Shikou and two Ji Shikou of symmetrical two, and the second Ji Shicang is provided with symmetrical two row Shi Kou and two Ji Shikou, the first convex stupefied top and bottom are provided with symmetrical two ears ring, and the second convex stupefied top and bottom are provided with symmetrical Two ears rings, stone removing door is provided with two the first monaural rings and four the second monaural rings, collection crossdrift be provided with two the first monaural rings, Four the second monaural rings and six spill plates；

Described stone removing door driving means drive hydraulic jack, the first pull bar and the second pull bar to constitute by stone removing door, the One pull bar is provided with the first ears ring and the second ears ring, and the second pull bar is provided with the first ears ring and the second ears ring；

Described collection crossdrift driving means drive hydraulic jack, the 3rd pull bar and the 4th pull bar to constitute by collection crossdrift, the Three pull bars are provided with the first ears ring and the second ears ring, and the 4th pull bar is provided with the first ears ring and the second ears ring；

Described the second elastic connecting component and the first Flexible Connector is constituted and version is the same；

Stone removing door drives hydraulic cylinder piston rod monaural ring, first pull bar the first ears ring, second pull bar the first ears ring Pin hinge connection is coaxially penetrated, stone removing door driving means are constituted, collection crossdrift drives hydraulic cylinder piston rod monaural ring, the 3rd to push away Pull bar the first ears ring, the 4th pull bar the first ears ring coaxially penetrate pin hinge connection, composition collection crossdrift driving means；

Four the second monaural rings of stone removing door ears ring respectively with two the first convex stupefied lower surfaces, second it is convex it is stupefied below two Ears ring coaxially penetrate pin hinge connection, collect crossdrift four the second monaural rings respectively with two first it is convex it is stupefied above ears Ring, two ears rings of the second convex stupefied upper surface coaxially penetrate pin hinge connection；

Hydraulic jacks are driven to be respectively fixedly connected with the madial wall in two square tube shape holes two stone removing doors, two the first pull bars the Two ears rings are co-axially inserted pin hinge and are connected with two the first monaural rings of stone removing door respectively, two second the second ears of pull bar Ring is co-axially inserted pin hinge and is connected with two the first monaural rings of another stone removing door respectively, and two collection crossdrifts are driven into hydraulic oil Cylinder is respectively fixedly connected with the lateral wall in two square tube shape holes, two the 3rd the second ears of pull bar rings respectively with collection crossdrift two the One monaural ring is co-axially inserted pin hinge connection, two the 4th the second ears of pull bar rings respectively with another stone removing door two the One monaural ring is co-axially inserted pin hinge connection, and two end caps are respectively fixedly connected with casing；

Bolt is passed through into sill bolt hole, helical spring is sheathed on bolt, then pass through box bottom bolt hole, then will Another helical spring is sheathed on bolt, and pad is sheathed on bolt, hex nut pretension, and casing realizes elasticity even with crossbeam Connect；Second dither motor is symmetrically connected on box bottom, and crossbeam is symmetrically fixed on two longerons of railcar, CMOS figures As sensor is fixed on below crossbeam, ballast collection arranging device is constituted；

The clear stone device in described pillow end is grabbed by the second entablature component, the second retractable driving device, the 4th lowering or hoisting gear, second Bucket device and U-shaped bar are constituted；

Described the second entablature component and the first entablature component is constituted and version is the same, carries out and the first entablature group Part identical assembly operation, constitutes the second entablature component；

The second described retractable driving device and the first retractable driving device constitute and version as, carry out flexible with first Driving means identical assembly operation, constitutes the second retractable driving device；

Described the 4th lowering or hoisting gear and the first lowering or hoisting gear is constituted and version is the same, carries out identical with the first lowering or hoisting gear Assembly operation, constitute the 4th lowering or hoisting gear；

Described the second grab mechanisms and the first grab mechanisms are constituted and version is the same, carry out identical with the first grab mechanisms Assembling, constitute the second grab mechanisms；

Arm ring flange is connected with U-shaped bar, then U-shaped bar is fixed on the first square tube shape telescopic arm, the clear stone dress in composition pillow end Put；

Described chain tooth row stone device is by the 3rd entablature component, the lowering or hoisting gear of the 3rd retractable driving device the 5th and chain tooth row Stone component is constituted；

The 3rd described entablature component is by the second square tube shape fixed arm, two the second square tube shape fixed arms, the 3rd laser positions Displacement sensor and the 3rd range finding reference plate composition, the second square tube shape fixed arm is provided with four ears rings, the second square tube shape fixed arm Symmetrical two groove is provided with, groove is provided with bolt hole；

The 3rd described retractable driving device is by the second square tube shape fixed arm, double output shaft hydraulic motor, two elastic shaft couplings Device, two monaural ring bearings, left-handed screw, left-handed square nut, right handed screw, dextrorotation square nut, two square sliders, two Individual hex nut, four bolts and two the second square tube shape fixed arms composition, right handed screw be provided with the first axle journal, the second axle journal and 3rd axle journal, as right handed screw version, dextrorotation square nut is provided with the blind screw thread of two symmetric coaxials to left-handed screw 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 screws on right handed screw appropriate location, and square slider is sheathed on On the axle journal of right handed screw the 3rd, hex nut pretension, the second square tube shape telescopic arm is arranged thereon from right handed screw right-hand member, makes Two square tube shape telescopic arm groove bolts hole are coaxial with dextrorotation square nut tapped blind hole, and two bolts screw in respectively the square spiral shell of dextrorotation Female tapped blind hole pretension, the aforementioned assembly operation of repetition, by the second monaural ring bearing, left-handed screw, left-handed square nut, square Slide block, hex nut, yielding coupling, double output shaft hydraulic motor and the second square tube shape telescopic arm composition one, by second party Tubular fixed arm is sheathed on two the second square tube shape telescopic arms, makes double output shaft hydraulic motor symmetrically be fixed on the second square tube shape Fixed arm endoporus upper surface, two monaural ring bearings are respectively fixedly connected with the second square tube shape fixed arm endoporus upper surface, second laser Displacement transducer is symmetrically fixed on the second square tube shape fixed arm, and the second range finding reference plate is fixed on the second square tube shape telescopic arm On, the 3rd retractable driving device square slider and the second square tube shape telescopic arm form moving sets；

Described the 5th lowering or hoisting gear and the first lowering or hoisting gear is constituted, except the second square tube shape fixed arm and entablature structure shape Formula is different, and remaining all component structural form is the same；

Carry out and the first lowering or hoisting gear identical assembly operation, four the 3rd forks and the second square tube shape fixed arm hinge are connected Connect, first laser displacement transducer is fixed on below the second square tube shape fixed arm, constitute the 5th lowering or hoisting gear；

Described chain tooth row stone component is by double output shaft hydraulic motor, two yielding couplings, two chain tooth row stone parts, U Shape bar, eight C-shaped-rods and suspension bracket composition, U-shaped bar is provided with two circular flange disks and square flange, and C-shaped-rod is provided with the first method Blue disk and second flange disk, suspension bracket is provided with two first flange disks and eight second flange disks；

Described chain tooth row stone part is by square beam, sprocket wheel, sprocket wheel wheel shaft, inducer, inducer wheel shaft, four load-bearing Wheel, four BOGEY WHEEL wheel shafts, several chain tooth assembly sum bearing pins are constituted, square beam be provided with the first ears ring, second pair Earrings and four the 3rd ears rings；

By square beam the first ears ring and sprocket coaxiality, penetrate sprocket wheel wheel shaft chain connection, square beam the second ears ring with Inducer is coaxial, penetrates inducer wheel shaft chain connection, and the ears ring of square beam the 3rd is coaxial with BOGEY WHEEL, penetrates BOGEY WHEEL wheel Pivot hinge connects, and makes square beam, sprocket wheel, inducer and four BOGEY WHEELs be assembled into one；

Described chain tooth assembly is made up of sleeve and chain link；

Described chain link is made up of two bolts, two nuts, chain tooth plate, the first carrier bar and the second carrier bars, and chain tooth plate is provided with Two bolts hole and several equal strength sprockets, the first carrier bar is provided with the first monaural ring, the second monaural ring and the 3rd monaural ring, and second Carrier bar is provided with the first monaural ring, the second monaural ring and the 3rd monaural ring；

Sprocket crab bolt hole and first the second monaural of carrier bar ring is coaxial, penetrate bolt, nut pretension, chain tooth plate another bolt Hole and second the second monaural of carrier bar ring are coaxial, penetrate bolt, and nut pretension constitutes chain link, by the first carrier bar of the first chain link the One monaural ring, the monaural ring of second the first carrier bar of chain link the 3rd, sleeve, the monaural ring of second the second carrier bar of chain link the 3rd and the first chain link Second carrier bar the first monaural ring coaxially penetrates pin hinge connection, repeats aforementioned operation, until several chain links are hinged into one, will Square beam, sprocket wheel, inducer and four BOGEY WHEELs being assembled into one are placed on it, and the first carrier bar first of last chain link is single Earrings, the monaural ring of first the first carrier bar of chain link the 3rd, sleeve, the monaural ring of first the second carrier bar of chain link the 3rd and last chain link second Carrier bar the first monaural ring coaxially penetrates pin hinge connection, makes all chain tooth assembly chain connection annular integrative-structures, constitutes chain Tooth row stone part,

Double output shaft hydraulic motor double output shaft, two yielding couplings and two sprocket wheel wheel shafts are connected, U-shaped bar square flange Disk is fixed on the 3rd double output shaft hydraulic motor, and eight C-shaped-rod second flange disks are respectively symmetrically and are fixed on two square beams On, eight second flange disks of suspension bracket are connected respectively with eight C-shaped-rod first flange disks, two circular flange disks of U-shaped bar and suspension bracket Two first flange disks are respectively fixedly connected with the second square tube shape telescopic arm, constitute chain tooth row stone device；

The described nut of sleeper four synchronization assembling and disassembling device is by entablature, the 6th lowering or hoisting gear and two nut assembling and disassembling device groups Into；

Described the 6th lowering or hoisting gear and the first lowering or hoisting gear is constituted, the sill in the 6th lowering or hoisting gear is provided with five pairs Earrings and two symmetrical long slot bores, the first forks are provided with shoulder hole, except aforesaid 6th lowering or hoisting gear entablature and first liter The entablature version of falling unit is different, the Lower Crossbeam Structure form of the 6th lowering or hoisting gear sill and the first lowering or hoisting gear First swing rod structure form of different, the 6th the first fork of lowering or hoisting gear and the first lowering or hoisting gear is different, and remaining all zero Modular construction form is the same；

Carry out and the first lowering or hoisting gear identical assembly operation, four the 3rd forks and entablature chain connection swash first Optical displacement sensor is fixed on below entablature, constitutes the 6th lowering or hoisting gear；

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

Upper lid is sheathed on into the first spiral rotary actuator output shaft circular shaft section, lid and the first spiral rotary actuator is made Ring flange is connected, then circular connecting plate is sheathed on into the prism shaft part of the first spiral rotary actuator output shaft six, the first hexagonal Nut pretension, internal gear is coaxially connected with circular connecting plate, and geared sleeve is connected located at the axle journal of power transmission shaft first, the first thrust bearing It is sheathed on the axle journal of power transmission shaft second, power transmission shaft makes the first thrust bearing contact with housing through housing axis hole, the second thrust axis On the axle journal of power transmission shaft the 3rd, the second hex nut screws on power transmission shaft thread segment pretension to bearing sleeve, and yielding coupling makes power transmission shaft 4th axle journal is coaxially connected with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, the gear teeth flank of tooth of two gears Respectively with the gear teeth face of internal gear, upper lid is connected with shell flange disk, and one end of two suspension rods is symmetrically fixed on housing Both sides, constitute nut assembling and disassembling device, and the other end of two suspension rods is symmetrically fixed on two sides of entablature, and sill is fixed on rail On two side rail inner faces of road car, composition sleeper four nut synchronization assembling and disassembling device；

The first described rail-lifting equipment is by entablature, the 7th lowering or hoisting gear and carries rail assembly and constitutes, entablature be provided with four it is double Earrings；

Described the 7th lowering or hoisting gear and the first lowering or hoisting gear is constituted, except aforesaid 7th lowering or hoisting gear entablature and first Lowering or hoisting gear entablature version is different, and remaining all component structural form is the same；

Carry out and the first lowering or hoisting gear identical assembly operation, four the 3rd forks and entablature chain connection swash first Optical displacement sensor is fixed on below entablature, constitutes the 7th lowering or hoisting gear；

The described rail assembly that carries is by two suspension rods, third party's tubular fixed arm, double output shaft hydraulic motor, two elastic shaft couplings Device, two monaural ring bearings, left-handed screw, the first box type telescopic arm, right handed screw, the second box type telescopic arm and two carry rail oil Cylinder is constituted, and suspension rod is provided with first flange disk and second flange disk, and third party's tubular fixed arm is provided with two symmetrical semicylindrical openings, Left-handed screw is provided with the first axle journal and the second axle journal, right handed screw as left-handed screw version, the first box type telescopic arm Semicylindrical opening and left-handed motion thread hole are provided with, the second box type telescopic arm is provided with semicylindrical opening and clockwise drive screwed hole, carries rail Cylinder block is provided with gusset, piston rod free end and is provided with fagging；

Monaural ring bearing is sheathed on the axle journal of left-handed screw second, the left-handed transmission spiral shell of left-handed screw precession the first box type telescopic arm Pit appropriate location, yielding coupling makes double output shaft hydraulic motor left side output shaft coaxially solid with the axle journal of left-handed screw first Even, the aforementioned assembly operation of repetition, by monaural ring bearing, right handed screw, the second box type telescopic arm, yielding coupling and double output shaft Hydraulic motor is assembled into one, and third party's tubular fixed arm is sheathed on the first box type telescopic arm and the second box type telescopic arm, makes Double output shaft hydraulic motor is symmetrically fixed on third party's tubular fixed arm endoporus upper surface, and two monaural ring bearings are fixed on the 3rd Square tube shape fixed arm endoporus upper surface, two carry cylinder of rail and are respectively fixedly connected with the first box type telescopic arm semicylindrical opening and the second case In type telescopic arm semicylindrical opening, make two to carry cylinder of rail and be symmetrical arranged, two suspension rod second flange disks are symmetrically fixed on third party Above tubular fixed arm, composition carries rail assembly, and two suspension rod first flange disks are symmetrically fixed on entablature side, and composition first is carried Rail device.

Described swivel block and push-and-pull sleeper device is by first crossbeam telescopic component, first crossbeam retractable driving device, the first pendulum Dynamic device, four the first forks, crawls and swivel block devices, four the first hex nuts and four bolt compositions, the first fork sets There are six prism hole monaural rings and monaural ring；

Described first crossbeam telescopic component is by the 4th square tube shape fixed arm, the 4th square tube shape telescopic arm, the 4th laser displacement Sensor and the 4th range finding reference plate composition, the 4th square tube shape telescopic arm is provided with blind end and two symmetrical grooves, and groove is provided with Bolt hole；

Described the 4th retractable driving device is the same with the first retractable driving device composition, except aforementioned 4th square tube shape fixed arm with First square tube shape fixed arm version is different, and remaining all component structural form is the same；

Carry out and the first retractable driving device identical assembly operation, constitute the 4th retractable driving device, the 4th laser displacement is passed Sensor is symmetrically fixed on the 4th square tube shape fixed arm, and the 4th range finding reference plate is fixed on the 4th square tube shape telescopic arm；

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

Two sector gears are arranged respectively and are fixed on first diameter of axle of two multidiameters, two multidiameters are each passed through first Two axis holes of casing, form the axle journal of multidiameter second and the first casing axis hole and rotate secondary, partial gear is arranged and is fixed on On second spiral rotary actuator output shaft, it is placed into being made in the first casing the gear teeth of partial gear to fan with two respectively The gear teeth of shape gear are contacted along the facewidth, and the second spiral rotary actuator is fixed on the first box bottom, embedded cover plate Two axis holes are sheathed on respectively on two axle journals of multidiameter the 3rd, make embedded cover plate and the first casing be connected, and composition first is put Dynamic device；

Described crawl and swivel block device is by the second casing, the 3rd spiral rotary actuator, hydraulic jack, the first thrust axis Hold, the second thrust bearing, the second hex nut, piston, piston rod, ladder U-bracket, first connecting rod, second connecting rod, two Two forks, two rollers, end cap and two mechanical gripper device compositions, the second casing is provided with symmetrical four screwed hole, the first circle Hole section, fan-shaped hole section, the second circular hole portion, axle sleeve section and the 3rd circular hole portion, the 3rd spiral rotary actuator output shaft fixed connection 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, hydraulic jack be provided with ring flange, 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, and piston rod is provided with axle Neck 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 Two monaural rings, first connecting rod is provided with ears ring and monaural ring, and second connecting rod is provided with two ears rings, and the second fork is provided with monaural Ring, pin-and-hole and ears ring；

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

The spacing fan-shaped boss of 3rd spiral rotary actuator output shaft ring flange sector spacing with hydraulic jack ring flange is convex Platform aligns connected, and the first thrust bearing is sheathed on the axle journal of hydraulic jack first, and hydraulic jack is penetrated into the second casing shoulder hole It is interior, make the 3rd spiral rotary actuator output shaft ring flange and hydraulic jack ring flange insert second the first circular hole portion of casing, Put the spacing fan-shaped boss of the 3rd spiral rotary actuator output shaft ring flange and the spacing fan-shaped boss of hydraulic jack ring flange Enter in fan-shaped hole section, two spacing fan-shaped boss left surfaces is contacted with the fan-shaped confined planes of hole section first, the first thrust axis bearing Enter second the second circular hole portion of casing, the 3rd spiral rotary actuator is fixed on the second box bottom, make end cap and second Casing is connected；

Second thrust bearing is sheathed on the axle journal of hydraulic jack the 3rd so as to insert the circular hole portion section of the second casing the 3rd, 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 second hex nut pretension In compressing cylinder cylinder barrel, ladder U-bracket flange is penetrated into hydraulic jack cylinder barrel and is connected, make the axle journal of oil cylinder second and the second casing axle Set section chain connection, coaxially penetrates piston rod ears ring, second connecting rod ears ring and first connecting rod monaural ring pin hinge and connects Connect, the second fork ears ring coaxially penetrates pin hinge and is connected with roller, 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 are coaxially worn respectively with two the second fork monaural rings Enter pin hinge connection；

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

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

First casing is fixed on into the 4th square tube shape telescopic arm blind end, composition swivel block and push-and-pull sleeper device；

Described sleeper handling apparatus are by the second rail-lifting equipment, reciprocating motion storage sleeper device and rigid hanger hoisting apparatus group Into；

The second described rail-lifting equipment is by second cross beam telescopic component, second cross beam retractable driving device, two the second swings Device, eight forks, eight hex nuts, two box connecting rods, eight 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；

Described second cross beam telescopic component is by the 5th square tube shape fixed arm, two the 5th square tube shape telescopic arms, the 5th laser Displacement transducer and the 5th range finding reference plate composition, the 5th square tube shape telescopic arm is provided with blind end, two symmetrical grooves, and groove sets There is bolt hole；

Second cross beam retractable driving device as the composition of the 3rd retractable driving device, except aforesaid 5th square tube shape fixed arm Different with the second square tube shape fixed arm version, remaining all component structural form is the same；

Carry out and the 3rd retractable driving device identical assembly operation, constitute second cross beam retractable driving device, the 5th laser position Displacement sensor is symmetrically fixed on the 5th square tube shape fixed arm side, and the 5th range finding reference plate is fixed on the 5th square tube shape telescopic arm side Face；

Second pendulous device and the first pendulous device constitute and version as, carry out and the assembling of the first pendulous device identical Operation, constitutes the second pendulous device；

Two prism hole monaural rings of fork six are sheathed on into respectively two prism shaft parts of multidiameter the one or six, two hex nuts point Other pretension, then the prism hole monaural ring of other two forks six is sheathed on into respectively two prism shaft parts of multidiameter the two or six, in addition Two hex nuts distinguish pretension, and the one end for making four forks is connected respectively with the two ends of two multidiameters, four fork monaurals Four screwed holes of ring and box connecting rod are coaxial, and four bolts distinguish pretension, four forks is connected with box connecting rod link respectively, Form in-parallel four-bar mechanism；

Two casings are respectively fixedly connected with the blind end of two the 5th square tube shape telescopic arms, two the second pendulous devices is symmetrically set Put, two flexible shell types are carried into cylinder of rail cylinder body and is respectively fixedly connected with two box connecting rod semicylindrical openings, composition second carries rail dress Put, the 5th square tube shape fixed arm is symmetrically fixed on two longerons of railcar；

Described reciprocating motion storage sleeper device is made up of reciprocator and storage sleeper case, and storage sleeper case is provided with Two rollers and several sleeper storehouses, wherein left side half sleeper storehouse is used to store sleeper, right side half sleeper storehouse is used to store Bad sleeper.

Described reciprocator is by base plate, the first series connection parallelogram lindage, the second series connection parallelogram lindage, reciprocal Kinematic driving unit and the 6th laser displacement sensor are constituted；

The first described series connection parallelogram lindage is by fixed cross beam, two the first forks, first connecting rod, two the second pendulum Bar, moving beam and four bolt compositions, first connecting rod is provided with left handed threaded hole and two pairs of coaxial threaded blind holes, and moving beam sets There are two rollers；

Described the second series connection parallelogram lindage and the first series connection parallelogram lindage is constituted, second connecting rod is provided with dextrorotation Screwed hole and two pairs of coaxial threaded blind holes, except aforesaid second connecting rod and first connecting rod version are different, remaining all zero Modular construction form is the same；

Described reciprocating movement driving device be by double output shaft hydraulic motor, two yielding couplings, two monaural ring bearings, Monaural ring bearing, left-handed screw, first connecting rod, right handed screw, second connecting rod and motorcycle composition, right handed screw is provided with the first axle journal With the second axle journal, as right handed screw version, motorcycle is provided with four rolling to left-handed screw；

By two the first forks respectively with fixed cross beam chain connection, the first fork ears ring and the second fork ears ring and first A pair of of connecting rod left side coaxial threaded blind hole is coaxial, and two bolts distinguish pretensions, another the first fork ears ring and another the A pair of coaxial threaded blind holes of two fork ears rings and first connecting rod the right are coaxial, two bolts difference pretensions, make the first fork, the Chain connection between three components of two forks and first connecting rod, by two the second forks respectively with moving beam chain connection, composition First series connection parallelogram lindage, the aforementioned assembly operation of repetition is symmetrical in fixed cross beam and the assembling of the moving beam vertical plane of symmetry Second series connection parallelogram lindage；

Monaural ring bearing is sheathed on the second axle journal of right handed screw, the hydraulic motor of double output shaft is symmetrically fixed on motorcycle On, 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, then by monaural Ring bearing is sheathed on the second axle journal of left-handed screw, and another yielding coupling is by first axle journal and dual output of left-handed screw The left end output shaft fixed connection of axle hydraulic motor, two yielding couplings are fixed in motorcycle, make left-handed screw and first connecting rod Left handed threaded hole axial contact, makes right handed screw and second connecting rod right-handed thread hole axial contact, rotates double output shaft hydraulic pressure horse The output shaft for reaching, makes left-handed screw screw in first connecting rod left handed threaded hole, while right handed screw screws in second connecting rod dextrorotation spiral shell In pit, the second driving means are constituted；

Base plate is fixed on into fixed cross beam lower surface, make moving beam two rollers and motorcycle four rolling respectively with base plate Upper surface, the 6th laser displacement sensor is symmetrically fixed on fixed cross beam side, constitutes reciprocator；

Base plate is fixed in track car crossbeam and the 5th square tube shape fixed arm, storage sleeper case is fixed on moving beam, is made Two rollers of storage sleeper case are contacted with plate upper surface, and composition moves back and forth storage sleeper device；

Described rigid hanger hoisting apparatus is grabbed by two telescopic cantilever boom devices, telescoping crossbeam device, rigid hanger, two Put sleeper device and the 7th laser displacement sensor composition；

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 8th 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 is provided with ring flange；

End plate is symmetrically fixed on the first multi-stage expansion 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 multi-stage expansion shell type oil cylinder second flange disk symmetrically be fixed on square tube shape telescopic arm blind end, the One ladder 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 On shape telescopic arm, the first ladder square tube fixed arm ring flange is set to be connected with end plate, cantilever beam ring flange is fixed on square tube shape and stretches On arm blind end, cantilever is fixed on cantilever beam ring flange, and the 8th laser displacement sensor is fixed on cantilever, and composition is flexible outstanding Arm boom device；

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 and push pedal composition, the second ladder square tube shape fixed arm is provided with flange Disk, cylinder shoulder and long slot bore, the second ladder square tube shape telescopic arm is provided with first shoulder, second shoulder and long slot bore, the 3rd ladder side Tubular telescopic arm is provided with a shoulder and two monaural rings, and the second multi-stage expansion shell type oil cylinder is provided with first flange disk, the first order and stretches Sleeve, second level extension sleeve and second flange disk；

End cap is symmetrically fixed on the second multi-stage expansion 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 multi-stage expansion shell type oil cylinder second flange disk and the 3rd ladder square tube shape telescopic arm are made Blind end is connected, and 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 is sheathed on the second ladder square tube shape telescopic arm, makes end cap be connected with ladder square tube shape fixed arm ring flange, push pedal The 3rd ladder square tube shape telescopic arm blind end is fixed on, the 7th laser displacement sensor is symmetrically fixed on into the second ladder square tube shape 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, 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 4th spiral rotary actuator, yielding coupling and interior wide-mouth nut, the Four spiral rotary actuators are provided with ring flange and output shaft, and interior wide-mouth nut is provided with axle journal；

4th spiral rotary actuator is penetrated in sill circular hole, the 4th spiral rotary actuator ring flange is fixed on sill Above, the 3rd yielding coupling makes the 4th 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, telescoping crossbeam device the second ladder square tube shape Fixed arm is fixed on below two cantilever girder cantilevers, two ears rings of entablature respectively with the 3rd ladder square tube shape telescopic arm Two monaural ring coaxial bolts connections, constitute sleeper handling apparatus.