CN206109898U - Automated machine is changed to sleeper - Google Patents

Abstract

The utility model discloses an automated machine is changed to sleeper, be by four nuts of sleeper install and remove the device in step, carry the rail device, swivel block and push -and -pull sleeper device, generator, hydraulic system and control system case and railcar form, the railcar is equipped with four truckles and two longerons, four nuts of sleeper are installed and removed the device in step, are carried the rail device, swivel block and push -and -pull sleeper device, generator and hydraulic system and control system case set up on two longerons of railcar, the railcar is drawn by the machineshop car. The utility model discloses can be with equipment automatic alignment operating position, can realize four nuts and install and remove in step, make four nut pretightning forces unanimous, improve the fatigue life of bolt, ensure the reliability that sleeper and rail be connected, can adapt to the relevant work of trading the pillow in straight line and curve rail highway section, swivel block and push -and -pull sleeper are integrated device, simple structure compactness, automatic control, convenient operation, and it is high to trade pillow work efficiency.

Description

A kind of sleeper replacement automated machine

Technical field

This utility model is related to a kind of railway maintenance machinery, more particularly to a kind of sleeper replacement automated machine.

Background technology

, during prolonged use, due to due to natural subsidence and vibration, railway ballast local is heavy for railroad sleeper Drop, needs are conserved, and indivedual sleepers are damaged, and are needed to change in time, during railway roadbed maintenance or sleeper replacement is carried out, are adopted With manual work, waste time and energy, inefficiency.(can not be commonly called as in effective train passage gap：Skylight) in complete work, Small-sized efficient automated machine is only adopted, train passage gap could be utilized not closed a road to traffic operation.

Utility model content

The purpose of this utility model is to provide a kind of sleeper replacement automated machine.

This utility model is by four nut of sleeper synchronization assembling and disassembling device, rail-lifting equipment, swivel block and push-and-pull sleeper device, generates electricity Machine, Hydraulic system and control System cabine and railcar composition, railcar are provided with four castors and two longerons, and four nut of sleeper is same Step assembling and disassembling device, rail-lifting equipment, swivel block and push-and-pull sleeper device, electromotor and Hydraulic system and control System cabine are arranged on track On two longerons of car, railcar is drawn by engineering truck, and electromotor is that oil pump and control system provide power, hydraulic system and control Fuel tank, oil pump, hydraulic control system and automatic control system are provided with System cabine processed；

Described four nut of sleeper synchronization assembling and disassembling device is by entablature component, the first lowering or hoisting gear and two nut assembly and disassembly Device is constituted；

Described entablature component is made up of the first square tube shape fixed arm and two the first square tube shape telescopic arms, first party Tubular fixed arm is provided with symmetrical two long slot bore, and the first square tube shape telescopic arm is provided with two monaural rings and symmetrical two recessed Groove, groove are provided with bolt hole；

The first described lowering or hoisting gear is by the first lifting drive, symmetrically arranged two the first parallelogram lindages Constitute with first laser displacement transducer；

The first described lifting drive be by the first square tube shape fixed arm, double output shaft hydraulic motor, two it is elastic Shaft coupling, two monaural ring bearings, left-handed screw, left-handed square nut, right handed screw, dextrorotation square nut, two first party Tubular telescopic arm, two square sliders, four bolts and two the first hex nuts 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 coaxial spiral shells to left-handed screw Stricture of vagina blind hole, as dextrorotation square nut version, square slider is provided with axis hole to left-handed square nut；

The first described parallelogram lindage is made up of sill, two forks and the first square tube shape telescopic arm, lower horizontal stroke Beam is provided with four ears rings and two symmetrical long slot bores；

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

By one end of two forks respectively with the first square tube shape telescopic arm chain connection, the other end of two forks respectively with Sill chain connection, constitutes the first parallelogram lindage, and the vertical for being symmetrical in sill and the first square tube shape fixed arm is symmetrical Face assembles another the first parallelogram lindage, and first laser displacement transducer is symmetrically fixed on the first square tube shape fixed arm Face, constitutes the first 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, Second hex nut, internal gear, two power transmission shafts, two gears, housing, two the first thrust bearings, two the second thrust axis Hold, the 3rd hex nut, two yielding couplings and two interior wide-mouth magnetic coupling boxs are constituted, 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 six prisms Hole, power transmission shaft are 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 are provided with axle journal；

Upper lid is sheathed on into the first spiral rotary actuator output shaft circular shaft section, makes lid hydraulic pressure be swung with the first spiral The contact of motor ring flange is connected, then circular connecting plate is sheathed on six prism shaft part of the first spiral rotary actuator output shaft, Second hex nut pretension, internal gear are coaxially fixed with one with circular connecting plate, and geared sleeve is connected located at the first axle journal of power transmission shaft, First thrust bearing is sheathed on the second axle journal of power transmission shaft, and power transmission shaft makes the first thrust bearing connect with housing through housing axis hole Touch, the second thrust bearing is sheathed on the 3rd axle journal of power transmission shaft, the 3rd hex nut screws on power transmission shaft thread segment pretension, elasticity connection Axle device makes the 4th axle journal of power transmission shaft coaxially be fixed with one with interior wide-mouth magnetic coupling box axle journal, and internal gear is inserted in housing, and two The gear teeth flank of tooth of individual gear gear teeth face respectively with internal gear, upper lid are fixed with one with shell flange disk, two suspension rods One end be symmetrically fixed on housing both sides, constitute nut assembling and disassembling device, the other end of two suspension rods is symmetrically fixed on the first square tube Two sides of shape fixed arm, sill are fixed on two side rail inner faces of railcar, and synchronously assembly and disassembly are filled four nut of composition sleeper Put；

Described rail-lifting equipment by cmos image sensor, entablature, the second lowering or hoisting gear, carry rail assembly and constitute；

The second described lowering or hoisting gear by sill component, the second lifting drive, two it is symmetrically arranged second flat Row four-bar mechanism and second laser displacement transducer composition；

Described sill component is made up of the second square tube shape fixed arm and two the second square tube shape telescopic arms, the second square tube Shape fixed arm is provided with symmetrical two long slot bore, and the second square tube shape telescopic arm is provided with symmetrical two groove, and groove is provided with bolt Hole；

The second described lifting drive and the first lifting drive composition, except aforesaid second square tube shape admittedly Determine outside arm and the first square tube shape fixed arm interferometry difference, the second square tube shape telescopic arm and the first square tube shape telescopic arm interferometry difference, Remaining all component structural form is the same；

Carry out and the first lifting drive identical assembly operation, constitute the second lifting drive；

The second described parallelogram lindage is made up of the second square tube shape telescopic arm, two forks and entablature；

By one end of two forks respectively with the second square tube shape telescopic arm chain connection, the other end of two forks respectively with Entablature chain connection, constitutes the second parallelogram lindage, and the vertical for being symmetrical in entablature and the second square tube shape fixed arm is symmetrical Face assembles another the second parallelogram lindage, and second laser displacement transducer is symmetrically fixed on the second square tube shape fixed arm Face, constitutes the second lowering or hoisting gear；

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

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

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

Described swivel block and push-and-pull sleeper device are by telescopic component, retractable driving device, pendulous device, four the first pendulum Bar, crawl and swivel block device, four the first hex nuts and four the first bolt compositions, the first fork are provided with six prism hole monaurals Ring and monaural ring；

Described telescopic component is by third party's tubular fixed arm, third party's tubular telescopic arm, the 3rd laser displacement sensing Device and the 3rd range finding reference plate composition, third party's tubular telescopic arm are provided with blind end and two symmetrical grooves, and groove is provided with bolt Hole；

The second described retractable driving device be by third party's tubular fixed arm, hydraulic motor, yielding coupling, screw rod, Monaural ring bearing, square nut, square slider, the second hex nut, two the second bolts and third party's tubular telescopic arm composition, Screw rod is provided with the first axle journal, the second axle journal and the 3rd axle journal, and square nut is provided with two coaxial threaded blind holes, and square slider is provided with Axis hole；

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

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

Two sector gears are 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 second axle journal of multidiameter and the first casing axis hole and rotates secondary, partial gear is arranged solid It is connected on the 3rd spiral rotary actuator output shaft, is placed into making 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 3rd spiral rotary actuator is fixed on the first box bottom, embedded lid Two axis holes of plate are sheathed on two the 3rd axle journals of multidiameter respectively, make embedded cover plate and the first casing be connected, composition pendulum Dynamic device；

Described crawl and swivel block device are pushed away by the second casing, the 4th spiral rotary actuator, hydraulic jack, first Power bearing, the second thrust bearing, the 3rd hex nut, piston, piston rod, ladder U-bracket, first connecting rod, second connecting rod, two Individual second fork, two rollers, end cap and two mechanical gripper devices compositions, the second casing be provided with symmetrical four screwed hole, the One circular hole portion, fan-shaped hole section, the second circular hole portion, axle sleeve section and the 3rd circular hole portion, the 4th spiral rotary actuator output shaft are solid Connect ring flange, ring flange is provided with spacing fan-shaped boss, and fan-shaped hole section is provided with the first confined planes and the second confined planes, and hydraulic jack sets There are ring flange, the first axle journal, the second axle journal and the 3rd axle journal, ring flange is provided with spacing fan-shaped boss, and piston is provided with axis hole, piston Bar is provided with axle journal and ears ring, and ladder U-bracket is provided with flange, axis hole, two slotted eyes, two pin-and-holes, four the first monaural rings With eight the second monaural rings, first connecting rod is provided with ears ring and monaural ring, and second connecting rod is provided with two ears rings, and the second fork sets There are monaural ring, pin-and-hole and ears ring；

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

By the 4th spiral rotary actuator output shaft ring flange spacing fan-shaped boss and the spacing fan of hydraulic jack ring flange Shape boss aligns connected, and the first thrust bearing is sheathed on the first axle journal of hydraulic jack, and hydraulic jack is penetrated the second casing rank In terraced hole, the 4th spiral rotary actuator output shaft ring flange and hydraulic jack ring flange is made to insert second the first circular hole of casing Section, spacing fan-shaped boss left surface are contacted with fan-shaped the first confined planes of hole section, and the first thrust bearing is inserted the second casing second and justified Hole section, makes the 4th spiral rotary actuator be fixed on the second box bottom, makes end cap and the second casing be connected；

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

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

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

First casing is fixed on into third party's tubular telescopic arm blind end, composition swivel block and push-and-pull sleeper device.

The beneficial effects of the utility model are：

1. can be by equipment automatic alignment work position；

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

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

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

Description of the drawings

Fig. 1 is the off working state schematic perspective view of this utility model.

Fig. 2 is four nut of the sleeper synchronization assembling and disassembling device working condition schematic perspective view of this utility model.

Fig. 3 is the first lifting drive exploded perspective schematic diagram of this utility model.

Fig. 4 is the nut assembling and disassembling device exploded perspective schematic diagram of this utility model.

Fig. 5 is the rail-lifting equipment and swivel block of this utility model and push-and-pull sleeper working state of device schematic perspective view.

Fig. 6 is the second lifting drive exploded perspective schematic diagram of this utility model.

Fig. 7 is that this utility model carries rail assembly schematic perspective view.

Fig. 8 is the retractable driving device exploded perspective schematic diagram of this utility model.

Fig. 9 is the pendulous device exploded perspective schematic diagram of this utility model.

Figure 10 is the crawl of this utility model and swivel block device exploded perspective schematic diagram.

Specific embodiment

Refer to shown in Fig. 1, this utility model be by four nut of sleeper synchronization assembling and disassembling device 7, rail-lifting equipment 8, swivel block and Push-and-pull sleeper device 9, electromotor 18, Hydraulic system and control System cabine 19 and railcar 20 are constituted, and railcar 20 is provided with four Castor 201 and two longerons 202, four nut of sleeper synchronization assembling and disassembling device 7, rail-lifting equipment 8, swivel block and push-and-pull sleeper device 9, send out Motor 18 and Hydraulic system and control System cabine 19 are arranged on two longerons 202 of railcar, and railcar 20 is led by engineering truck Draw, electromotor 18 is that oil pump and control system provide power, is provided with fuel tank, oil pump, liquid in Hydraulic system and control System cabine 19 Pressure control system and automatic control system；

Refer to shown in Fig. 2 to Fig. 4, described four nut of sleeper synchronization assembling and disassembling device 7 is by entablature component 71, first Lowering or hoisting gear 72 and two nut assembling and disassembling devices 73 are constituted；

Described entablature component 71 is by 712 groups of the first square tube shape fixed arm 711 and two the first square tube shape telescopic arms Into the first square tube shape fixed arm 711 is provided with symmetrical two long slot bore 7111, and the first square tube shape telescopic arm 712 is provided with two lists Earrings 7121 and two symmetrical grooves 7122, groove 7122 are provided with bolt hole 71221；

The first described lowering or hoisting gear 72 be by the first lifting drive 721, symmetrically arranged two first parallel four Linkage 722 and first laser displacement transducer 723 are constituted；

The first described lifting drive 721 is by the first square tube shape fixed arm 711, double output shaft hydraulic motor 7211st, 7212, two monaural ring bearings 7213, left-handed screw 7214, left-handed square nuts 7215, dextrorotation of two yielding couplings Screw rod 7216,7217, two bolts of square slider 7218, four of the first square tube shape telescopic arm 712, two of dextrorotation square nut 7219 and two the first hex nuts 7220 constitute, right handed screw 7216 is provided with the first axle journal 72161,72162 and of the second axle journal 3rd axle journal 72163, as 7216 version of right handed screw, dextrorotation square nut 7217 is provided with two to left-handed screw 7214 Coaxial threaded blind hole 72171, left-handed square nut 7215 as 7217 version of dextrorotation square nut, square slider 7218 It is provided with axis hole 72181；

The first described parallelogram lindage 722 is stretched by 7221, two forks 7222 of sill and the first square tube shape Arm 712 is constituted, and sill 7221 is provided with four ears rings 72211 and two symmetrical long slot bores 72212；

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

By one end of two forks 7222 respectively with 712 chain connection of the first square tube shape telescopic arm, two forks 7222 The other end respectively with 7221 chain connection of sill, constitute the first parallelogram lindage 722, be symmetrical in sill 7221 and first The vertical plane of symmetry of square tube shape fixed arm 711 assembles another the first parallelogram lindage 722, by first laser displacement transducer 723 are symmetrically fixed on above the first square tube shape fixed arm 711, constitute the first 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 second hex nut 735, the gear 738 of power transmission shaft 737, two of internal gear 736, two, housing 739, two 740, two the second thrust bearings 741 of individual first thrust bearing, 742, two yielding couplings 743 of the 3rd hex nut and two Interior wide-mouth magnetic coupling box 744 is constituted, and the first spiral rotary actuator 732 is provided with ring flange 7321, its output shaft and is provided with Circular shaft section 7322 and six prism shaft parts 7323, upper lid 733 are provided with axis hole 7331, and circular connecting plate 734 is provided with six prism holes 7341, Power transmission shaft 737 is provided with the first axle journal 7371, the second axle journal 7372, the 3rd axle journal 7373, the 4th axle journal 7374 and thread segment 7375, Housing 739 is provided with ring flange 7391 and two axis holes 7392, and interior wide-mouth magnetic coupling box 744 is provided with axle journal 7441；

Upper lid 733 is sheathed on into the first spiral rotary actuator output shaft circular shaft section 7322, lid 733 and the first spiral shell is made Rotation rotary actuator ring flange 7321 is contacted and is connected, then circular connecting plate 734 is sheathed on the first spiral rotary actuator Six prism shaft part 7323 of output shaft, 735 pretension of the second hex nut, internal gear 736 coaxial with circular connecting plate 734 connected Body, gear 738 are sheathed on the first axle journal of power transmission shaft 7371 and are connected, and the first thrust bearing 740 is sheathed on the second axle journal of power transmission shaft On 7372, power transmission shaft 737 makes the first thrust bearing 740 contact with housing 739 through housing axis hole 7392, the second thrust bearing 741 are sheathed on the 3rd axle journal 7373 of power transmission shaft, and the 3rd hex nut 742 screws on 7375 pretension of power transmission shaft thread segment, elasticity connection Axle device 743 makes the 4th axle journal 7374 of power transmission shaft coaxially be fixed with one with interior wide-mouth magnetic coupling box axle journal 7441, internal gear 736 Insert in housing 739, the gear teeth flank of tooth of two gears 738 gear teeth face respectively with internal gear 736, upper lid 733 and shell Body ring flange 7391 is fixed with one, and one end of two suspension rods 731 is symmetrically fixed on 739 both sides of housing, constitutes nut assembling and disassembling device 73, the other end of two suspension rods 731 is symmetrically fixed on 711 2 sides of the first square tube shape fixed arm, and sill 7221 is fixed on On two 202 medial surface of longeron of railcar, composition sleeper four nuts synchronization assembling and disassembling device 7；

Refer to shown in Fig. 5 to Fig. 7, described rail-lifting equipment 8 is by cmos image sensor 80, entablature 81, second Lowering or hoisting gear 82, carry rail assembly 83 and constitute；

The second described lowering or hoisting gear 82 is symmetrical arranged by sill component 821, the second lifting drive 822, two The second parallelogram lindage 823 and second laser displacement transducer 825 constitute；

Described sill component 821 is by 8212 groups of the second square tube shape fixed arm 8211 and two the second square tube shape telescopic arms Into the second square tube shape fixed arm 8211 is provided with symmetrical two long slot bore 82111, and the second square tube shape telescopic arm 8212 is provided with symmetrically Two grooves 82121, groove 82121 is provided with bolt hole 82122；

As the second described lifting drive 822 is constituted with the first lifting drive 721, except aforesaid second party Tubular fixed arm 8211 and 180 ° of 711 interferometry difference of the first square tube shape fixed arm, the second square tube shape telescopic arm 8212 and first party 180 ° of 712 interferometry difference of tubular telescopic arm is outer, and remaining all component structural form is the same；

Carry out and 721 identical assembly operation of the first lifting drive, constitute the second lifting drive 822；

The second described parallelogram lindage 823 is by the second square tube shape telescopic arm 8212, two forks 8231 and entablatures 81 compositions；

By one end of two forks 8231 respectively with 8212 chain connection of the second square tube shape telescopic arm, two forks 8231 The other end respectively with 81 chain connection of entablature, constitute the second parallelogram lindage 823, be symmetrical in entablature 81 and the second square tube The vertical plane of symmetry of shape fixed arm 8211 assembles another the second parallelogram lindage 823, by second laser displacement transducer 825 Symmetrically it is fixed on above the second square tube shape fixed arm 8211, constitutes the second lowering or hoisting gear 82；

The described rail assembly 83 that carries is by two suspension rods 831, suspension bracket 832, the second spiral rotary actuator 833, opposed The cylindrical screw extension spring 836 of slide assemblies 835, two of 834, two, cam, I-shaped tubular fixed arm 837 and two carry cylinder of rail 838 compositions, suspension rod 831 are provided with first flange disk 8311 and second flange disk 8312, and the second spiral rotary actuator 833 is exported Axle free end is provided with ring flange 8331；

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

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

Refer to shown in Fig. 8 to Figure 10, described swivel block and push-and-pull sleeper device 9 are by telescopic component 90, telescopic drive Device 91,92, four the first forks 93 of pendulous device, crawl and the first hex nut of 94, four, swivel block device 96 and four the One bolt 97 is constituted, and the first fork 93 is provided with six prism hole monaural rings 931 and monaural ring 932；

Described telescopic component 90 is by third party's tubular fixed arm 901, third party's tubular telescopic arm 902, the 3rd laser Displacement transducer 903 and the 3rd range finding reference plate 904 are constituted, and third party's tubular telescopic arm 902 is provided with blind end 9021 and two Symmetrical grooves 9022, groove 9022 are provided with bolt hole 90221；

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

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

Described pendulous device 92 is by the first casing 921, the 3rd spiral rotary actuator 922, partial gear 923rd, two sector gears, 924, two multidiameters 925 and embedded cover plate 926 are constituted, and the first casing 921 is provided with two axis holes 9211st, the first positive stop lug boss 9212 and the second positive stop lug boss 9213, multidiameter 925 are 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 are 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, 925 second axle journal 9252 of multidiameter is formed with the first casing axis hole 9211 Rotate secondary, partial gear 923 is arranged and is fixed on 922 output shaft of the 3rd spiral rotary actuator, be placed into the first case In body 921, the gear teeth of partial gear 923 are made to contact along the facewidth with the gear teeth of two sector gears 924 respectively, the 3rd spiral pendulum Hydrodynamic pressure motor 922 is fixed on 921 base plate of the first casing, and two axis holes 9261 of embedded cover plate 926 are sheathed on two respectively On the 3rd axle journal 9253 of individual multidiameter, make embedded cover plate 926 and the first casing 921 be connected, constitute pendulous device 92；

Described crawl and swivel block device 94 are by the second casing 941, the 4th spiral rotary actuator 942, hydraulic oil Cylinder 943, the first thrust bearing 944, the second thrust bearing 945, the 3rd hex nut 946, piston 947, piston rod 948, ladder U Shape support 949, first connecting rod 950, second connecting rod 951, two the second forks, 952, two rollers 953, end cap 954 and two machines 955 device of machinery claw is constituted, and the second casing 941 is provided with symmetrical four screwed hole 9411, the first circular hole portion 9412, fan-shaped hole section 9413rd, the second circular hole portion 9414, axle sleeve section 9415 and the 3rd circular hole portion 9416,942 output shaft of the 4th spiral rotary actuator Connected ring flange 9421, ring flange 9421 are provided with spacing fan-shaped boss 94211, and fan-shaped hole section 9413 is provided with the first confined planes 94131 and second confined planes 94132, hydraulic jack 943 is provided with ring flange 9431, the first axle journal 9432,9433 and of the second axle journal 3rd axle journal 9434, ring flange 9431 are provided with spacing fan-shaped boss 94311, and piston 947 is provided with axis hole 9471, and piston rod 948 sets There are axle journal 9481 and ears ring 9482, ladder U-bracket 949 is provided with flange 9491, the slotted eye 9493, two of axis hole 9492, two 9494, four the first monaural rings 9495 of pin-and-hole and eight the second monaural rings 9496, first connecting rod 950 are provided with ears ring 9501 and list Earrings 9502, second connecting rod 951 are provided with two ears rings 9511, and the second fork 952 is provided with monaural ring 9521, pin-and-hole 9522 and double Earrings 9523；

Described gripper 955 is by ladder U-bracket 949, four the 3rd forks, 9551, two helical springs 9552 Constitute with pressing plate 9553, the 3rd fork 9551 is provided with two ears rings 95511, pressing plate 9553 is provided with two the first monaural rings 95531 and four the second monaural rings 95532；

4th spiral rotary actuator output shaft ring flange spacing fan-shaped boss 94211 is limited with hydraulic jack ring flange The fan-shaped boss 94311 in position aligns connected, and the first thrust bearing 944 is sheathed on the first axle journal of hydraulic jack 9432, by hydraulic oil Cylinder is penetrated in 941 shoulder hole of the second casing, makes the 4th spiral rotary actuator output shaft ring flange 9421 and hydraulic jack method Blue disk 9431 inserts second the first circular hole portion of casing 9413, and spacing 94211 left surface of fan-shaped boss is spacing with fan-shaped hole section first Face 94131 contacts, and the first thrust bearing 944 inserts second the second circular hole portion of casing 9414, makes the 4th spiral rotary actuator 942 are fixed on 941 base plate of the second casing, make end cap 954 and the second casing 941 be connected；

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

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

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

First casing 921 is fixed on into third party's tubular telescopic arm blind end 9021, composition swivel block and push-and-pull sleeper device 9。

Working process and principle of the present utility model are as follows：

1. nut work is dismantled：Using manually or mechanically having cleared up ballast between the sleeper of bad sleeper both sides, on the right side of bad sleeper Bolt machine oil labelling on the outside of second sleeper, when engineering truck traction track car is run to bad sleeper, cmos image sensor The image information of collection, by pattern recognition system automatic identification, makes engineering truck be parked in cmos image sensor and machine oil labelling The coaxial position of bolt, four interior wide-mouth magnetic coupling boxs are respectively fixedly connected with four bolts on sleeper coaxially, position shown in Fig. 1 Put, oil pump is started working, hydraulic oil makes the first lifting drive double output shaft hydraulic motor to start to rotate forward, and drives left-handed screw With right handed screw forward direction synchronous axial system, left-handed square nut and dextrorotation square nut is made to promote two connected with which first respectively Square tube shape telescopic arm synchronously stretches out, and square slider is in the first square tube shape telescopic arm endoporus upper surface slide, it is to avoid left-handed screw and Right handed screw bears moment of flexure, two pairs of forks of symmetrically arranged two the first parallelogram lindages is synchronously carried on the back relative to sill To swing, the first lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is declined, by first laser displacement sensor its with The displacement signal of crossbeam, controls the first lifting and drives double output shaft hydraulic motor and the work of the first spiral rotary actuator, When interior wide-mouth magnetic coupling box is sheathed on nut, position shown in Fig. 2, the first lifting drive double output shaft hydraulic motor to stop Rotate forward, hydraulic oil makes two the first spiral rotary actuators start reverse sync rotation, drive two circular connecting plates Two internal gears are entrusted respectively to rotate, each internal gear is engaged with two gears simultaneously, drive two drive axis, make four Interior wide-mouth magnetic coupling box reverse sync is rotated, and four interior wide-mouth magnetic coupling boxs synchronously screw off four nuts, interior wide-mouth The magnetic of magnetic coupling box makes the nut for screwing off stay in interior wide-mouth magnetic coupling box, and two the first spirals swing hydraulic pressure horse Up to stopping rotating backward, hydraulic oil makes the first lifting drive double output shaft hydraulic motor to start to rotate backward, and drives left-handed screw Rotate with right handed screw reverse sync, make left-handed square nut and dextrorotation square nut pull two connected with which first respectively Square tube shape telescopic arm is synchronously retracted, and makes two pairs of forks of symmetrically arranged two the first parallelogram lindages relative to sill phase To synchronous hunting, the first lowering or hoisting gear is entrusted two nut assembling and disassembling devices and rises to position shown in Fig. 1, and the first lifting drives lose-lose Shaft hydraulic motor stops rotating backward, and completes to dismantle nut work；

2. the work of bad sleeper is pulled out：Engineering truck traction track car is moved to left, by pattern recognition system automatic identification sleeper bar The number of rail outer bolt image, makes railcar move to left a sleeper pitch, and swivel block and push-and-pull sleeper device are just gone up positioned at bad sleeper Side, position shown in Fig. 3, hydraulic oil make hydraulic motor start to rotate forward, and drive screw is rotated forward, and makes square nut promote the Three square tube shape telescopic arms stretch out, and third party's tubular telescopic arm entrusts pendulous device and crawl and swivel block device is moved out, and passes through 3rd laser displacement sensor measures its displacement signal with the 3rd range finding reference plate, controls hydraulic motor, the 3rd spiral pendulum Hydrodynamic pressure motor and the work of the 4th spiral rotary actuator, pendulous device and crawl and swivel block device are moved out to suitable position Put, hydraulic motor stops rotating forward, and which starts to rotate backward, and drive screw is rotated backward, make square nut pull third party Tubular telescopic arm is retracted, and third party's tubular telescopic arm entrusts pendulous device and crawl and swivel block device is inwardly moved, while the 3rd Spiral rotary actuator is rotated forward, partial gear and two sector gear engaged transmissions, and two multidiameters drive four First fork is positive to be swung, and the second casing entrusts crawl and swivel block device does translation, when two the first forks and the first limit convex When platform is contacted, the 3rd spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes the 3rd spiral rotary actuator Pressurize, when two pressing plates of gripper inwardly move to bad sleeper both sides appropriate location, hydraulic motor stops rotating backward, high Force feed stretches out hydraulic cylinder piston rod, promotes first connecting rod and second connecting rod motion, makes two symmetrically arranged 3rd forks Opposite to swing, the roller for being articulated with the 3rd fork ears ring pushes down pressing plate, and roller is rolled makes pressing plate overcome two cylindrical screw bullets The pulling force of spring makees translation, and two in-parallel four-bar mechanism forward directions swing, when two platen clamp sleepers, solenoid directional control valve Middle position makes hydraulic jack pressurize；

Hydraulic oil makes the second lifting drive double output shaft hydraulic motor to start to rotate forward, and drives left-handed screw and dextrorotation spiral shell Bar forward direction synchronous axial system, makes left-handed nut and right-handed nut promote the two second square tube shape telescopic arms connected with which synchronous respectively Stretch out, square slider is in the second square tube shape telescopic arm endoporus upper surface slide, it is to avoid left-handed screw and right handed screw bear moment of flexure, Two pairs of forks of symmetrically arranged two the second parallelogram lindages are made relative to entablature dorsad synchronous hunting, the second lifting dress Put and entrust rail-lifting equipment decline, by its displacement signal with entablature of second laser displacement sensor, control second Lifting drives double output shaft hydraulic motor and the work of the second spiral rotary actuator, carries cylinder of rail cylinder when rail-lifting equipment drops to When body gusset upper surface is coplanar with rail lower surface, the second lifting drives double output shaft hydraulic motor to stop rotating forward, high Force feed makes the second spiral rotary actuator start to rotate forward, and drives opposed cam to rotate forward, the outline of opposed cam Curved surface promotes tappet to make the outside translation of two I-shaped tubular travelling arms by two rollers, respectively, makes two I-shaped tubulars slide Arm is entrusted two respectively and carries cylinder of rail and moves out, and when cylinder of rail cylinder body is carried with rail lower flange contacts side surfaces, carries cylinder of rail Cylinder body gusset upper surface is contacted with below rail, and the second spiral rotary actuator stops rotating forward, and hydraulic oil makes to carry rail Cylinder piston rod stretches out, when being fixed on the fagging contact railway roadbed ballast that carries cylinder of rail piston rod and after be compacted into, with carrying rail Cylinder piston rod constantly stretches out, and the cylinder body for carrying cylinder of rail is entrusted gusset and moved upwards, makes rail jack-up, solenoid directional control valve Middle position makes to propose cylinder of rail pressurize；

Hydraulic oil makes the 4th 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 4th 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 4th spiral swings hydraulic pressure Motor stops rotating forward, and hydraulic oil makes hydraulic motor start to rotate forward, and gripper pulls bad sleeper to move out, when bad rail When pillow is moved out to end face thereafter and above rail lower flange trailing flank is coplanar, hydraulic motor stops rotating forward, hydraulic oil Make the 4th spiral rotary actuator start to rotate backward, make hydraulic jack entrust gripper and rotate backward, gripper makes sleeper Rotate backward, when the 4th spiral rotary actuator ring flange and the spacing fan-shaped boss of hydraulic jack ring flange and the second casing fan When the first confined planes of shape hole are contacted, gripper makes sleeper rotate backward 90 °, position shown in Fig. 5, the 4th spiral rotary actuator Stopping is rotated backward；

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

Hydraulic oil rotates backward the 3rd 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 does translation, when two When first fork is contacted with the second positive stop lug boss, the 3rd spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes 3rd spiral rotary actuator pressurize；

Hydraulic oil makes hydraulic motor start to rotate backward, and third party's tubular telescopic arm entrusts pendulous device and crawl and swivel block Device inwardly moves to position shown in Fig. 1, and hydraulic motor stops rotating backward；

Hydraulic oil makes to carry cylinder of rail piston rod and starts to retract, and its piston rod hauls fagging and moves upwards, drops down onto original under rail Position, bad sleeper is pushed down makes its upper surface parallel with two rail lower surfaces, carries cylinder of rail piston rod and is retracted to stop, high pressure Oil makes the second spiral rotary actuator start to rotate backward, and drives opposed cam to rotate backward, two cylindrical screw extension springs Pulling force makes the pulling force of outline curved face contact of two rollers all the time with opposed cam, two cylindrical screw extension springs pull two works The inside translation of word tubular travelling arm, makes two I-shaped tubular travelling arms entrust two respectively and carry cylinder of rail and inwardly moves, when carrying rail Oil cylinder gusset is disengaged with rail when contacting, and the second spiral rotary actuator stops rotating backward；

Hydraulic oil makes the second lifting drive double output shaft hydraulic motor to start to rotate backward, and drives left-handed screw and dextrorotation spiral shell Bar reverse sync is rotated, and makes left-handed nut and right-handed nut pull the two second square tube shape telescopic arms connected with which synchronous respectively Stretch out, two pairs of forks of symmetrically arranged two the second parallelogram lindages are made relative to the opposite synchronous hunting of entablature, second Lowering or hoisting gear is entrusted rail-lifting equipment and rises to position shown in Fig. 1, and the second lifting drives double output shaft hydraulic motor to stop reversely turning Dynamic, oil pump quits work, and pulls out bad sleeper end-of-job, and tractor traction track car is moved to left, using manually or mechanically by bad rail Pillow is removed；

3. advanced sleeper to work：After manually or mechanically set good sleeper, the operation of engineering truck traction track car is bad When near sleeper, the image information of cmos image sensor collection, by pattern recognition system automatic identification, is parked in engineering truck The cmos image sensor position coaxial with machine oil labelling bolt, engineering truck traction track car is moved to left, by pattern recognition system The number of automatic identification sleeper rail outer bolt image, makes railcar move to left a sleeper pitch, swivel block and push-and-pull sleeper device Above good sleeper, rail-lifting equipment is located on the right side of good sleeper surface between sleeper, and position shown in Fig. 1, oil pump are started working, high Force feed makes hydraulic motor start to rotate forward, and moves out pendulous device and crawl and swivel block device, when third party's tubular is stretched When contracting arm extend out to stop, hydraulic motor stops rotating forward；

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

Hydraulic oil makes hydraulic motor start to rotate backward, and pendulous device and crawl and swivel block device is inwardly moved, works as machine During two presser motion most intimate friend's sleeper both sides appropriate locations of machinery claw, position shown in Fig. 5, hydraulic motor stop rotating backward, high Force feed stretches out hydraulic cylinder piston rod, and when two platen clamp sleepers, the middle position of solenoid directional control valve makes hydraulic jack pressurize；

Hydraulic oil makes the second lifting drive double output shaft hydraulic motor to start to rotate forward, and the second lowering or hoisting gear is entrusted and carries rail Device declines, when rail-lifting equipment drops to carries cylinder of rail cylinder body gusset upper surface and coplanar rail lower surface, the second lifting Double output shaft hydraulic motor is driven to stop rotating forward, hydraulic oil makes the second spiral rotary actuator start to rotate forward, when 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 contact with below rail, the Two spiral rotary actuators stop rotating forward, and hydraulic oil makes to carry cylinder of rail piston rod and stretches out, and makes rail jack-up, electromagnetic switch The middle position of valve makes to propose cylinder of rail pressurize；

Hydraulic oil makes the 4th spiral rotary actuator start to rotate forward, when gripper makes sleeper rotate forward 90 °, the Four spiral rotary actuators stop rotating forward, and hydraulic oil makes hydraulic motor start to rotate backward, and makes gripper promote rail Pillow is inwardly moved, and when having made sleeper inwardly move to position shown in Fig. 1, hydraulic motor stops rotating backward, and hydraulic oil makes the 4th Spiral rotary actuator starts to rotate backward, and gripper makes sleeper rotate backward 90 °, and the 4th spiral rotary actuator stops Rotate backward；

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

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, when two the first forks and the second positive stop lug boss During contact, the 3rd spiral rotary actuator stops rotating backward, and the middle position of solenoid directional control valve makes the 3rd spiral swing hydraulic pressure horse Up to pressurize；

Hydraulic oil makes to carry cylinder of rail piston rod and starts to retract, and drops down onto original position, carry cylinder of rail piston rod and be retracted under rail Stop, hydraulic oil make the second spiral rotary actuator start to rotate backward, and disengage with rail when cylinder of rail cylinder body gusset is carried During contact, the second spiral rotary actuator stops rotating backward；

Hydraulic oil makes the second lifting drive double output shaft hydraulic motor to start to rotate backward, and the second lowering or hoisting gear is entrusted and carries rail Device rises to position shown in Fig. 1, and the second lifting drives double output shaft hydraulic motor to stop rotating backward, advanced sleeper to work Terminate；

4. nut work is installed：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 four are left wide-mouth magnetic coupling box difference in nut Coaxial with four bolts being fixed on sleeper, position shown in Fig. 1, oil pump are started working, and it is double that hydraulic oil drives the first lifting Output shaft hydraulic motor starts to rotate forward, and the first lowering or hoisting gear is entrusted two nut assembling and disassembling devices and declined, in which drops to Nut in wide-mouth magnetic coupling box and the pillow threaded bolt contacts that switch tracks, position shown in Fig. 2, the first lifting drive double output shaft liquid Pressure motor stops rotating forward, and hydraulic oil makes two the first spiral rotary actuators start positive synchronous axial system, drives two Circular connecting plate is entrusted two internal gears respectively and is rotated forward, and each internal gear is engaged with two gears simultaneously, drives two biographies Moving axis is rotated, and makes four interior wide-mouth magnetic coupling box forward direction synchronous axial systems, the nut in four interior wide-mouth magnetic coupling boxs Synchronous to screw in four bolts of sleeper pretension, two the first spiral rotary actuators start stopping and rotate forward,

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 two Nut assembling and disassembling device rises to position shown in Fig. 1, installs nut work and completes, and engineering truck traction track car leaves.

Symmetrically arranged two the first parallelogram lindages of first lowering or hoisting gear, make the first square tube shape telescopic arm and sill All the time it is parallel, to adapt to straight line and the sleeper nut assembly and disassembly work of curved rail length section；Second lowering or hoisting gear is symmetrically arranged two Second parallelogram lindage, makes the second square tube shape telescopic arm parallel all the time with entablature, to adapt to straight line and curved rail length section Propose rail work；Yielding coupling and interior wide-mouth nut can effectively adapt to sleeper bolt position deviation, interior wide-mouth nut is easily revolved Upper sleeper bolt.

Claims (1)

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

Described four nut of sleeper synchronization assembling and disassembling device is by entablature component, the first lowering or hoisting gear and two nut assembling and disassembling devices Composition；

Described entablature component is made up of the first square tube shape fixed arm and two the first square tube shape telescopic arms, the first square tube shape Fixed arm is provided with symmetrical two long slot bore, and the first square tube shape telescopic arm is provided with two monaural rings and two symmetrical grooves, recessed Groove is provided with bolt hole；

The first described lowering or hoisting gear is by the first lifting drive, symmetrically arranged two the first parallelogram lindages and One laser displacement sensor is constituted；

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

The first described parallelogram lindage is made up of sill, two forks and the first square tube shape telescopic arm, and sill sets There are four ears rings and two symmetrical long slot bores；

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

By one end of two forks respectively with the first square tube shape telescopic arm chain connection, the other end of two forks respectively with lower horizontal stroke Beam chain connection, constitutes the first parallelogram lindage, is symmetrical in the vertical plane of symmetry group of sill and the first square tube shape fixed arm Another the first parallelogram lindage is filled, first laser displacement transducer is symmetrically fixed on above the first square tube shape fixed arm, Constitute the first 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, second Hex nut, internal gear, two power transmission shafts, two gears, housing, two the first thrust bearings, two the second thrust bearings, Three hex nuts, two yielding couplings and two interior wide-mouth magnetic coupling box compositions, the first spiral rotary actuator set There are ring flange, its output shaft to be provided with circular shaft section and six prism shaft parts, be above covered with axis hole, circular connecting plate is provided with six prism holes, Power transmission shaft is provided with the first axle journal, the second axle journal, the 3rd axle journal, the 4th axle journal and thread segment, and housing is provided with ring flange and two axles Hole, interior wide-mouth magnetic coupling box are 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 contact is connected, then circular connecting plate is sheathed on six prism shaft part of the first spiral rotary actuator output shaft, and second Hex nut pretension, internal gear are coaxially fixed with one with circular connecting plate, and geared sleeve is connected located at the first axle journal of power transmission shaft, and first Thrust bearing is sheathed on the second axle journal of power transmission shaft, and power transmission shaft makes the first thrust bearing contact with housing through housing axis hole, the Two thrust bearings are sheathed on the 3rd axle journal of power transmission shaft, and the 3rd hex nut screws on power transmission shaft thread segment pretension, yielding coupling The 4th axle journal of power transmission shaft is made coaxially to be fixed with one with interior wide-mouth magnetic coupling box axle journal, internal gear is inserted in housing, two teeth The gear teeth flank of tooth of wheel gear teeth face respectively with internal gear, upper lid are fixed with one with shell flange disk, and the one of two suspension rods End is symmetrically fixed on housing both sides, constitutes nut assembling and disassembling device, and the other end of two suspension rods is symmetrically fixed on the first square tube shape admittedly Determine two sides of arm, sill is fixed on two side rail inner faces of railcar, composition sleeper four nuts synchronization assembling and disassembling device；

Described rail-lifting equipment by cmos image sensor, entablature, the second lowering or hoisting gear, carry rail assembly and constitute；

The second described lowering or hoisting gear by sill component, the second lifting drive, two symmetrically arranged second parallel four Linkage and second laser displacement transducer composition；

Described sill component is made up of the second square tube shape fixed arm and two the second square tube shape telescopic arms, and the second square tube shape is solid Determine arm and be provided with symmetrical two long slot bore, the second square tube shape telescopic arm is provided with symmetrical two groove, and groove is provided with bolt hole；

The second described lifting drive and the first lifting drive composition, except aforesaid second square tube shape fixed arm Outside the first square tube shape fixed arm interferometry difference, the second square tube shape telescopic arm and the first square tube shape telescopic arm interferometry difference, remaining All component structural forms are the same；

Carry out and the first lifting drive identical assembly operation, constitute the second lifting drive；

The second described parallelogram lindage is made up of the second square tube shape telescopic arm, two forks and entablature；

By one end of two forks respectively with the second square tube shape telescopic arm chain connection, the other end of two forks respectively with upper horizontal stroke Beam chain connection, constitutes the second parallelogram lindage, is symmetrical in the vertical plane of symmetry group of entablature and the second square tube shape fixed arm Another the second parallelogram lindage is filled, second laser displacement transducer is symmetrically fixed on above the second square tube shape fixed arm, Constitute the second lowering or hoisting gear；

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

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

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

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

Described telescopic component be by third party's tubular fixed arm, third party's tubular telescopic arm, the 3rd laser displacement sensor and 3rd range finding reference plate composition, third party's tubular telescopic arm are provided with blind end and two symmetrical grooves, and groove is provided with bolt hole；

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

Monaural ring bearing is sheathed on the second axle journal of screw rod, square nut screws on screw rod appropriate location, square slider is sheathed on On the 3rd axle journal of screw rod, the second hex nut pretension, yielding coupling make hydraulic motor output shaft coaxial with the first axle journal of screw rod Be fixed with one, third party's tubular telescopic arm is arranged thereon from screw rod left end, make third party's tubular telescopic arm groove bolt hole with Square nut tapped blind hole is coaxial, and two the second bolts screw in pretension respectively, and third party's tubular fixed arm is arranged from screw rod right-hand member Thereon, hydraulic motor is made to be fixed on third party's tubular fixed arm endoporus upper surface, monaural ring bearing is fixed on third party's tubular Fixed arm endoporus upper surface, constitutes the second retractable driving device, and square slider forms moving sets with third party's tubular telescopic arm, the Three laser displacement sensors are symmetrically fixed on above third party's tubular fixed arm, and the 3rd range finding reference plate is fixed on third party's tubular Above telescopic arm；

Described pendulous device be by the first casing, the 3rd spiral rotary actuator, partial gear, two sector gears, Two multidiameters and embedded cover plate composition, the first casing are provided with two axis holes, the first positive stop lug boss and the second positive stop lug boss, rank Terraced axle is provided with the first axle journal, the second axle journal, the 3rd axle journal, the one or six prism shaft part and the two or six prism shaft part, embedded cover plate It is provided with two axis holes, the first positive stop lug boss and the second positive stop lug boss；

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 second axle journal of multidiameter and the first casing axis hole and rotate secondary, partial gear is arranged and is fixed on On 3rd spiral rotary actuator output shaft, it is placed into making in the first casing the gear teeth of partial gear to fan with two respectively The gear teeth of shape gear are contacted along the facewidth, and the 3rd spiral rotary actuator is fixed on the first box bottom, embedded cover plate Two axis holes are sheathed on two the 3rd axle journals of multidiameter respectively, make embedded cover plate and the first casing be connected, and composition swings dress Put；

Described crawl and swivel block device are by the second casing, the 4th spiral rotary actuator, hydraulic jack, the first thrust axis Hold, the second thrust bearing, the 3rd hex nut, piston, piston rod, ladder U-bracket, first connecting rod, second connecting rod, two Two forks, two rollers, end cap and two mechanical gripper device compositions, the second casing are provided with symmetrical four screwed hole, the first circle Hole section, fan-shaped hole section, the second circular hole portion, axle sleeve section and the 3rd circular hole portion, the 4th spiral rotary actuator output shaft fixed connection method Blue disk, ring flange are provided with spacing fan-shaped boss, and fan-shaped hole section is provided with the first confined planes and the second confined planes, and hydraulic jack is provided with method Blue disk, the first axle journal, the second axle journal and the 3rd axle journal, ring flange are provided with spacing fan-shaped boss, and piston is provided with axis hole, and piston rod sets There are axle journal and ears ring, ladder U-bracket is provided with flange, axis hole, two slotted eyes, two pin-and-holes, four the first monaural rings and eight Individual second monaural ring, first connecting rod are provided with ears ring and monaural ring, and second connecting rod is provided with two ears rings, and the second fork is provided with list Earrings, pin-and-hole and ears ring；

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

Will be sector the 4th spiral rotary actuator output shaft ring flange spacing fan-shaped boss spacing with hydraulic jack ring flange convex Platform aligns connected, and the first thrust bearing is sheathed on the first axle journal of hydraulic jack, and hydraulic jack is penetrated the second casing shoulder hole It is interior, make the 4th spiral rotary actuator output shaft ring flange and hydraulic jack ring flange insert second the first circular hole portion of casing, Spacing fan-shaped boss left surface is contacted with fan-shaped the first confined planes of hole section, and the first thrust bearing inserts second the second circular hole of casing Section, makes the 4th spiral rotary actuator be fixed on the second box bottom, makes end cap and the second casing be connected；

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

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

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

First casing is fixed on into third party's tubular telescopic arm blind end, composition swivel block and push-and-pull sleeper device.