CN206127771U - Sleeper replacement 's automated machine - Google Patents

Abstract

The utility model discloses a sleeper replacement's automated machine is that install and remove device, rail lifting device, swivel block and push -and -pull sleeper device, generator, hydraulic system and control system case and the railcar is formed in step by four nuts of sleeper, and the railcar is equipped with four truckles and two longerons, and device, rail lifting device, swivel block and push -and -pull sleeper device, generator and hydraulic system are installed and removed in step to four nuts of sleeper and the control system case sets up on two longerons of railcar, and 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 pretightening force of the screw nut 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

The automated machine of sleeper replacement

Technical field

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

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.

The content of the invention

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

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 blind end and two monaural rings；

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 is by the first square tube shape fixed arm, the double rod hydraulic jacks and two of dual Piston Individual first square tube shape telescopic arm composition, the double rod cylinder body of hydraulic oil cylinder of dual Piston are provided with square flange, piston rod free end It is provided with ring flange；

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；

Two the first square tube shape telescopic arms are arranged thereon from the double rod hydraulic jack two ends of dual Piston respectively, the is made One square tube shape telescopic arm is connected with the double rod hydraulic cylinder piston rod ring flanges of dual Piston, and the first square tube shape fixed arm is sheathed on On two the first square tube shape telescopic arms, the double rod cylinder body of hydraulic oil cylinder square flanges of dual Piston are made symmetrically to be fixed on first party Tubular fixed arm endoporus upper surface, constitutes the first lifting drive；

By one end of two forks respectively with the first square tube shape telescopic arm chain connection, the other end of two forks respectively with 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 be by sill component, the second lifting drive, two symmetrically arranged second Parallelogram lindage 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, second party Tubular fixed arm is provided with symmetrical two long slot bore, and the second square tube shape telescopic arm is provided with blind end and two ears rings；

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, opposite crank, two companies Bar, two I-shaped tubular travelling arms, I-shaped tubular fixed arm and two carry cylinder of rail composition, and suspension rod is provided with first flange disk and the Two ring flanges, the second spiral rotary actuator output shaft free end are provided with ring flange, and opposite crank is provided with two monaural rings, even Bar is provided with monaural ring and ears ring, and I-shaped tubular travelling arm is provided with semicylindrical opening and ears ring, and I-shaped tubular fixed arm is provided with two Individual symmetrical semicylindrical opening, carries cylinder of rail cylinder body and is provided with gusset, piston rod free end and be provided with fagging；

Cylinder of rail will be carried to be fixed in I-shaped tubular travelling arm semicylindrical opening, opposite crank is defeated with spiral rotary actuator Shaft ring flange is coaxially connected, and the second spiral rotary actuator is symmetrically fixed on below suspension bracket, and suspension bracket is symmetrically fixed on I-shaped Above tubular fixed arm, two I-shaped tubular travelling arms are arranged thereon from I-shaped tubular fixed arm two ends, I-shaped tubular is slided Swing arm ears ring coaxially penetrates pin hinge with connecting rod monaural ring and is connected, and connecting rod ears ring is coaxially penetrated with opposite crank monaural ring Pin hinge connects, and makes two to carry cylinder of rail and is symmetrical arranged, and two suspension rod second flange disks are symmetrically fixed on above suspension bracket, composition Rail assembly is carried, two suspension rod first flange disks are symmetrically fixed on entablature side, and cmos image sensor is fixed on the second square tube Below shape fixed arm, rail-lifting equipment is constituted；

Described swivel block and push-and-pull sleeper device are by telescopic component, retractable driving device, tumbler, two connecting plates With crawl and swivel block device composition；

Described telescopic component is sensed by third party's tubular fixed arm, third party's tubular telescopic arm and the 3rd laser displacement Device is constituted, and third party's tubular fixed arm is provided with blind end, and third party's tubular telescopic arm is provided with dividing plate；

Described retractable driving device is stretched by third party's tubular fixed arm, two-way ram oil cylinder and third party's tubular Arm is constituted, and two-way ram cylinder block is provided with square slider and ring flange, piston rod are provided with ring flange；

Third party's tubular telescopic arm is sheathed on two-way ram oil cylinder, two-way ram cylinder piston rod ring flange with Third party's tubular telescopic arm dividing plate is connected, then third party's tubular fixed arm is sheathed on third party's tubular telescopic arm, makes double cropping It is connected with third party's tubular fixed arm blind end with piston oil-cylinder ring flange, constitutes retractable driving device, two-way ram oil cylinder Moving sets are formed with third party's tubular telescopic arm, the 3rd laser displacement sensor is symmetrically fixed on third party's tubular fixed arm Face；

Described tumbler is by third party's tubular telescopic arm, the 3rd spiral rotary actuator, the hollow ladder of cantilever Axle, the first thrust bearing, the first casing, the second thrust bearing, the first hex nut, circular connecting plate, the second hex nut, end Lid and equi intensity cantilever composition, the 3rd spiral rotary actuator output shaft are provided with thread segment and six prism shaft parts, and cantilever is empty Heart multidiameter is provided with thread segment, the first axle journal, the second axle journal, the 3rd axle journal and connecting plate, and connecting plate is provided with spacing arc groove, the One casing is provided with spacer pin and cantilever ladder axle sleeve, and cantilever multidiameter is arranged with the first axle sleeve, the second axle sleeve and the 3rd axle sleeve, end Bearing pin is covered with, circular connecting plate is provided with six prism axis holes, and equi intensity cantilever is provided with pin shaft hole and ring flange；

3rd spiral rotary actuator is fixed on third party's tubular telescopic arm plate front end base plate, hollow cantilever rank Terraced axle sleeve makes the hollow multidiameter connecting plate of cantilever be fixed on third party's tubular telescopic arm on the 3rd spiral rotary actuator End face, the first thrust bearing are sheathed on hollow the 3rd axle journal of multidiameter of cantilever, and the first casing cantilever ladder axle sleeve is sheathed on sky On heart cantilever multidiameter, the first thrust bearing is made to insert the 3rd axle sleeve section of the first casing cantilever ladder axle sleeve, cantilever ladder axle sleeve Second axle sleeve section is sheathed on the second axle journal of hollow multidiameter, and the second thrust bearing is sheathed on hollow the first axle journal of multidiameter of cantilever On, cantilever ladder axle sleeve first axle set section is inserted, the first hex nut screws in the hollow multidiameter thread segment pretension of cantilever, makes first Casing and the hollow multidiameter chain connection of cantilever, circular connecting plate are sheathed on six prism of the 3rd spiral rotary actuator output shaft Shaft part, makes circular connecting plate be fixed on casing cantilever ladder axle sleeve free end, and the second hex nut screws in the 3rd spiral and swings liquid Pressure motor output shaft thread segment pretension, makes the 3rd spiral rotary actuator output shaft and the first casing be connected, and end cap is fixed on On first casing, equi intensity cantilever pin-and-hole is sheathed on end cap bearing pin, and equi intensity cantilever ring flange is fixed on third party's cylinder Above shape telescopic arm, tumbler is constituted；

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 first 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 first fork sets There are monaural ring, pin-and-hole and ears ring；

Described gripper is made up of ladder U-bracket, four the second forks, two helical springs and pressing plates, the Two 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 hydraulic jack so as to insert the 3rd circular hole portion section of the second casing, Piston rod passes through ladder U-bracket axis hole, piston shaft hole sleeve to be located at piston rod axle journal, and piston is put by the 3rd hex nut pretension Enter in hydraulic jack 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 first case Piston rod ears ring, second connecting rod ears ring and first connecting rod monaural ring are coaxially penetrated bearing pin hinge by body axle sleeve section chain connection Chain connects, and the second fork ears ring coaxially penetrates pin hinge with roller and be connected, the second fork pin-and-hole and ladder U-bracket pin-and-hole Pin hinge connection is penetrated coaxially, first connecting rod ears ring and second connecting rod ears ring are same with two the first fork monaural rings respectively Axle penetrates pin hinge connection；

The ears ring of four the second 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 second 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 first 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；

First casing is fixed with one by two connecting plates with the second casing, constitutes 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 exploded perspective schematic diagram.

Fig. 8 is that the swivel block of this utility model and push-and-pull sleeper device side wall cut working condition schematic perspective view open.

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

Figure 10 is the tumbler exploded perspective schematic diagram of this utility model.

Figure 11 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. 1 and Fig. 3, 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 blind end 7121 and two monaural rings 7122；

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 double rod hydraulic oil of the first square tube shape fixed arm 711, dual Piston Cylinder 7211 and two the first square tube shape telescopic arms 712 are constituted, and double 7211 cylinder bodies of rod hydraulic jack of dual Piston are provided with square method Blue disk 72111, piston rod free end is provided with ring flange 72112；

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；

Two the first square tube shape telescopic arms 712 are sheathed on into which from double 7211 two ends of rod hydraulic jack of dual Piston respectively On, make the first square tube shape telescopic arm 712 connected with the double rod hydraulic cylinder piston rod ring flanges 72112 of dual Piston, first party Tubular fixed arm 711 is sheathed on two the first square tube shape telescopic arms 712, makes the double rod cylinder body of hydraulic oil cylinder of dual Piston square Ring flange 72111 is symmetrically fixed on 711 endoporus upper surface of the first square tube shape fixed arm, constitutes the first lifting drive 721；

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；

Refer to shown in Fig. 5, described nut assembling and disassembling device 73 is to swing hydraulic pressure horse by two suspension rods 731, the first spiral Up to 732, upper lid 733, circular connecting plate 734, the second hex nut 735, the gear of power transmission shaft 737, two of internal gear 736, two 738th, 739, two the first thrust bearings of housing, 740, two the second thrust bearings 741, the 3rd hex nut 742, two are elastic Shaft coupling 743 and two interior wide-mouth magnetic coupling boxs 744 are constituted, and the first spiral rotary actuator 732 is provided with ring flange 7321st, its output shaft is provided with circular shaft section 7321 and six prism shaft parts 7322, and upper lid 733 is provided with axis hole 7331, circular connecting plate 734 Six prism holes 7341 are provided with, 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 sets There is axle journal 7441；

Upper lid 733 is sheathed on into the first spiral rotary actuator output shaft circular shaft section 7321, 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 7322 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 symmetrically set by sill component 821, the second lifting drive 822, two The second parallelogram lindage 823 put and second laser displacement transducer 825 are constituted；

Described sill component 821 is by the second square tube shape fixed arm 8211 and two the second square tube shape telescopic arms 8212 Composition, the second square tube shape fixed arm 8211 are provided with symmetrical two long slot bore 82111, and the second square tube shape telescopic arm 8212 is provided with envelope Closed end 82121 and two ears rings 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 834, two, crank, 835, two, connecting rod I-shaped tubular travelling arm 836, I-shaped tubular fixed arm 837 and two carry cylinder of rail 838 Composition, suspension rod 831 are provided with first flange disk 8311 and second flange disk 8312,833 output shaft of the second spiral rotary actuator Free end is provided with ring flange 8331, and opposite crank 834 is provided with two monaural rings 8341, and connecting rod 835 is provided with monaural ring 8351 and double Earrings 8352, I-shaped tubular travelling arm 836 are provided with semicylindrical opening 8361 and ears ring 8362, and I-shaped tubular fixed arm 837 is provided with Two symmetrical semicylindrical openings 8371, carry 838 cylinder body of cylinder of rail and are provided with gusset 8381, piston rod free end and be provided with fagging 8382；

Cylinder of rail 838 will be carried to be fixed in I-shaped tubular travelling arm semicylindrical opening 8361, opposite crank 834 is swung with spiral Hydraulic motor output shaft ring flange 8331 is coaxial to be connected, and the second spiral rotary actuator 833 is symmetrically fixed under suspension bracket 832 Face, suspension bracket 832 are symmetrically fixed on above I-shaped tubular fixed arm 837, and two I-shaped tubular travelling arms 836 are solid from I-shaped tubular Determine 837 two ends of arm to be arranged thereon, I-shaped tubular travelling arm ears ring 8362 coaxially penetrates bearing pin hinge with connecting rod monaural ring 8351 Chain connects, and connecting rod ears ring 8352 coaxially penetrates pin hinge with opposite crank monaural ring 8341 and is connected, and makes two to carry cylinder of rail 838 are symmetrical arranged, and two 831 second flange disks 8312 of suspension rod are symmetrically fixed on above suspension bracket 832, constitute and carry rail assembly 83, and two 831 first flange disk 8311 of individual suspension rod is symmetrically fixed on 82 side of entablature, and cmos image sensor 80 is fixed on the second square tube Below shape fixed arm 8211, rail-lifting equipment 8 is constituted；

Refer to shown in Fig. 8 to Figure 11, described swivel block and push-and-pull sleeper device 9 are by telescopic component 90, telescopic drive Device 91,92, two connecting plates 93 of tumbler and crawl and swivel block device 94 are constituted；

Described telescopic component 90 is by third party's tubular fixed arm 901, third party's tubular telescopic arm 902 and the 3rd laser Displacement transducer 903 is constituted, and third party's tubular fixed arm 901 is provided with blind end 9011, third party's tubular telescopic arm 902 be provided with every Plate 9021；

Described retractable driving device 91 is by third party's tubular fixed arm 901, two-way ram oil cylinder 911 and third party Tubular telescopic arm 902 is constituted, and 911 cylinder body of two-way ram oil cylinder is provided with square slider 9111 and ring flange 9112, piston rod sets There is ring flange 9113；

Third party's tubular telescopic arm 902 is sheathed on two-way ram oil cylinder 911, two-way ram cylinder piston rod method Blue disk 9113 is connected with third party's tubular telescopic arm dividing plate 9021, then third party's tubular fixed arm 901 is sheathed on third party's cylinder On shape telescopic arm 902, two-way ram cylinder flange disk 9112 is made to be connected with third party's tubular fixed arm blind end 9011, composition Retractable driving device 91, two-way ram oil cylinder 911 form moving sets, the 3rd laser displacement with third party's tubular telescopic arm 902 Sensor 903 is symmetrically fixed on above third party's tubular fixed arm 901；

Described tumbler 92 is by third party's tubular telescopic arm 902, the 3rd spiral rotary actuator 921, cantilever Hollow multidiameter 922, the first thrust bearing 923, the first casing 924, the second thrust bearing 925, the first hex nut 926, circle Shape connecting plate 927, the second hex nut 928, end cap 929 and equi intensity cantilever 930 are constituted, the 3rd spiral rotary actuator 921 output shafts are provided with thread segment 9211 and six prism shaft parts 9212, and the hollow multidiameter of cantilever 922 is provided with thread segment 9221, first Axle journal 9222, the second axle journal 9223, the 3rd axle journal 9224 and connecting plate 9225, connecting plate 9225 are provided with spacing arc groove 92251, First casing 924 is provided with spacer pin 9241 and cantilever ladder axle sleeve 9242, and cantilever ladder axle sleeve 9242 is provided with the first axle sleeve 92421st, the second axle sleeve 92422 and the 3rd axle sleeve 92423, end cap 929 are provided with bearing pin 9291, and circular connecting plate 927 is provided with six ribs Axis of a cylinder hole 9271, equi intensity cantilever 930 are provided with pin shaft hole 9301 and ring flange 9302；

3rd spiral rotary actuator 921 is fixed on 9021 front end base plate of third party's tubular telescopic arm dividing plate, it is empty Heart cantilever multidiameter 922 is sheathed on the 3rd spiral rotary actuator 921, makes the hollow multidiameter connecting plate 9225 of cantilever be connected In 902 end face of third party's tubular telescopic arm, the first thrust bearing 923 is sheathed on hollow the 3rd axle journal 9224 of multidiameter of cantilever, First casing cantilever ladder axle sleeve 9242 is sheathed on hollow cantilever multidiameter 922, makes the first thrust bearing 923 insert the first case The 3rd axle sleeve section 92423 of body cantilever ladder axle sleeve, cantilever ladder the second axle sleeve of axle sleeve section 92422 are sheathed on hollow multidiameter second On axle journal 9223, the second thrust bearing 925 is sheathed on hollow the first axle journal of multidiameter of cantilever 9222, inserts cantilever ladder axle sleeve First axle sleeve section 92421, the first hex nut 926 screw in hollow 9221 pretension of multidiameter thread segment of cantilever, make the first casing 924 With hollow 922 chain connection of multidiameter of cantilever, circular connecting plate 927 is sheathed on six rib of the 3rd spiral rotary actuator output shaft Axis of a cylinder section 9212, makes circular connecting plate 927 be fixed on 9242 free end of casing cantilever ladder axle sleeve, and the second hex nut 928 revolves Enter 9211 pretension of the 3rd spiral rotary actuator output shaft thread segment, make 921 output shaft of the 3rd spiral rotary actuator with First casing 924 is connected, and end cap 929 is fixed on the first casing 924, and equi intensity cantilever pin-and-hole 9301 is sheathed on end cap bearing pin On 9291, equi intensity cantilever ring flange 9302 is fixed on above third party's tubular telescopic arm 902, constitutes tumbler 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 first 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 first 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 second forks, 9551, two helical springs 9552 Constitute with pressing plate 9553, the second 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 hydraulic jack so as to insert the 3rd circle of the second casing 9416 sections of hole section, piston rod 948 pass through ladder U-bracket axis hole 9492, and piston axis hole 9471 is sheathed on piston rod axle journal 9481, 3rd hex nut, 946 pretension, piston 947 is inserted in 943 cylinder barrel of hydraulic jack, ladder U-bracket flange 9491 is penetrated 943 cylinder barrel of hydraulic jack is connected, and makes 9415 chain connection of oil cylinder the second axle journal 9433 and the first housing bushing section, 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 with roller 953 and is connected, the second fork pin-and-hole 9522 and ladder U-bracket pin-and-hole 9494 Coaxially penetrate pin hinge connection, first connecting rod ears ring 9501 and second connecting rod ears ring 9511 respectively with two the first forks Monaural ring 9521 coaxially penetrates pin hinge connection；

The ears ring 95511 of four the second 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 second 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 first 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；

First casing 924 is fixed with one by two connecting plates 93 with the second casing 941, constitutes swivel block and push-and-pull sleeper device 9。

The working process and principle of the present embodiment 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 the double rod hydraulic cylinder piston rods of dual Piston to start to stretch out, respectively Promote two first square tube shape telescopic arms connected with which synchronously to stretch out, make symmetrically arranged two the first parallelogram lindages Two pairs of forks are entrusted two nut assembling and disassembling devices and are declined relative to sill synchronization backswing, the first lowering or hoisting gear, by the One laser displacement sensor measures its displacement signal with sill, controls the first lifting and drives the double rod hydraulic pressure of dual Piston Oil cylinder 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, First lifting drives the double rod hydraulic cylinder piston rods of dual Piston to stop stretching out, and hydraulic oil makes two the first spirals swing hydraulic pressure Motor starts reverse sync rotation, drives two circular connecting plates to entrust two internal gears respectively and rotates, and each internal gear is simultaneously Engage with two gears, drive two drive axis, rotate four interior wide-mouth magnetic coupling box reverse syncs, in four Wide-mouth magnetic coupling box synchronously screws off four nuts, and it is interior wide that the magnetic of interior wide-mouth magnetic coupling box stays in the nut for screwing off In mouth magnetic coupling box, two the first spiral rotary actuators stop rotating backward, and it is double that hydraulic oil drives the first lifting The double rod hydraulic cylinder piston rods of piston type start to retract, and pull the two first square tube shape telescopic arms connected with which synchronous respectively Retract, two pairs of forks of symmetrically arranged two the first parallelogram lindages are made relative to the opposite synchronous hunting of sill, 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 the double rod hydraulic pressure of dual Piston Cylinder piston rod stops retracting, 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, hydraulic oil make two-way ram cylinder piston rod start to stretch out, and promote third party's tubular telescopic arm to stretch out, and third party's tubular is stretched Contracting fupport arm band tumbler and crawl and swivel block device are moved out, and measure itself and equal strength by the 3rd laser displacement sensor The displacement signal of cantilever beam, controls two-way ram oil cylinder, the 3rd spiral rotary actuator and the 4th spiral and swings hydraulic pressure Motor operations, tumbler and crawl and swivel block device are moved out to correct position, and two-way ram cylinder piston rod stops Stretch out, its piston rod starts to retract, pull third party's tubular telescopic arm to retract, third party's tubular telescopic arm entrust tumbler and Crawl and swivel block device are inwardly moved, while hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, drive first Casing is rotated forward, and the first casing is entrusted second casing connected with which and rotated forward, and the second casing entrusts crawl and swivel block dress Put and rotate forward, when the first casing is rotated forward to its spacer pin and spacing one termination of arc groove of the hollow multidiameter connecting plate of cantilever When tactile, the second casing entrusts crawl and swivel block device rotates forward 90 °, and the 3rd spiral rotary actuator stops rotating forward, 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 During the appropriate location of both sides, two-way ram cylinder piston rod stops retracting, and hydraulic oil stretches out hydraulic cylinder piston rod, promotes the One connecting rod and second connecting rod motion, make two symmetrically arranged 3rd forks swing in opposite directions, are articulated with the 3rd fork ears ring Roller pushes down pressing plate, and roller is rolled makes pressing plate overcome the pulling force of two cylindrically coiled springs to make translation, two four bars of in-parallel Mechanism is positive to be swung, 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 the double rod hydraulic cylinder piston rods of dual Piston to start to stretch out, and promotes respectively and which Two connected the second square tube shape telescopic arms synchronously stretch out, and make two pairs of forks of symmetrically arranged two the second parallelogram lindages Relative to entablature dorsad synchronous hunting, the second lowering or hoisting gear entrusts rail-lifting equipment decline, by second laser displacement transducer Its displacement signal with entablature is measured, the second lifting is controlled and is driven the double rod hydraulic jacks of dual Piston and carry rail assembly pair The double rod hydraulic jack work of piston type, carry cylinder of rail cylinder body gusset upper surface and rail lower surface when rail-lifting equipment drops to When coplanar, the second lifting drives the double rod hydraulic cylinder piston rods of dual Piston to stop stretching out, and hydraulic oil swings the second spiral Hydraulic motor starts to rotate forward, and drives opposite crank to rotate forward, makes two link motions, promotes I-shaped tubular to slide respectively Arm synchronously stretches out, and I-shaped tubular travelling arm is entrusted two respectively and carries cylinder of rail and moves out, when carrying under cylinder of rail cylinder body and rail During the contacts side surfaces of the edge of a wing, carry cylinder of rail cylinder body gusset upper surface and contact with below rail, the second spiral rotary actuator stops Only rotate forward, hydraulic oil makes to carry cylinder of rail piston rod and stretches out, when being fixed on the fagging contact railway roadbed stone that carries cylinder of rail piston rod After being cut and being compacted into, with constantly stretching out for cylinder of rail piston rod is carried, the cylinder body for carrying cylinder of rail is entrusted gusset and is moved upwards, Rail jack-up, the middle position of solenoid directional control valve is made to make 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 two-way ram cylinder piston rod start to stretch out, and gripper pulls bad sleeper to outward transport It is dynamic, when bad sleeper is moved out to end face thereafter and above rail lower flange trailing flank is coplanar, two-way ram oil cylinder piston Bar stops stretching out, and hydraulic oil makes the 4th spiral rotary actuator start to rotate backward, and makes hydraulic jack entrust gripper reverse Rotate, gripper rotates backward sleeper, when the 4th 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 Fig. 5, the Four spiral rotary actuators stop rotating backward；

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

Hydraulic oil makes two-way ram cylinder piston rod start to stretch out, and third party's tubular telescopic arm is entrusted tumbler and grabbed Take and swivel block device is moved out to appropriate location, two-way ram cylinder piston rod stops stretching out；Hydraulic oil makes the 3rd spiral Rotary actuator starts to rotate backward, and drives the first casing to rotate backward, and the first casing entrusts second casing connected with which Rotate backward, the second casing entrusts crawl and swivel block device is rotated backward, when the first casing rotate backward to its spacer pin with it is outstanding During another end in contact of the spacing arc groove of the hollow multidiameter connecting plate of arm, the second casing entrusts crawl and swivel block device is rotated backward 90 °, the 3rd spiral rotary actuator stops rotating backward, and the middle position of solenoid directional control valve protects the 3rd spiral rotary actuator Pressure, two-way ram cylinder piston rod start to retract, and third party's tubular telescopic arm entrusts tumbler and crawl and swivel block device Position shown in Fig. 1 is moved to inwardly, two-way ram cylinder piston rod stops retracting；

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 so as to which upper surface is parallel with two rail lower surfaces, is carried cylinder of rail piston rod and is retracted to stop, high Force feed makes the second spiral rotary actuator start to rotate backward, and drives opposite crank to rotate backward, makes two link motions, point Not La Dong I-shaped tubular travelling arm synchronously retract, I-shaped tubular travelling arm is entrusted two respectively and carries cylinder of rail and inwardly moves, when carrying Cylinder of rail cylinder body is disengaged with rail lower flange side when contacting, and the second spiral rotary actuator stops rotating backward；

Hydraulic oil makes the second lifting drive the double rod hydraulic cylinder piston rods of dual Piston to start to retract, and pulls respectively and which Two connected the second square tube shape telescopic arms synchronously stretch out, and make two pairs of forks of symmetrically arranged two the second parallelogram lindages Relative to the opposite synchronous hunting of entablature, the second lowering or hoisting gear entrusts rail-lifting equipment rising, when rail-lifting equipment is risen to shown in Fig. 1 Position, the second lifting drive the double rod hydraulic cylinder piston rods of dual Piston to stop retracting, and oil pump quits work, and pulls out bad sleeper End-of-job, engineering truck traction track car are removed, and are adopted and are manually or mechanically removed bad sleeper；

3. advanced sleeper to work：After manually or mechanically set good sleeper, engineering truck traction track car run to When near good sleeper, the image information of cmos image sensor collection, by pattern recognition system automatic identification, stops engineering truck In the cmos image sensor position coaxial with machine oil labelling bolt, swivel block and push-and-pull sleeper device are located above good sleeper, are carried Directly over rail device is located on the right side of good sleeper between sleeper, oil pump is started working, and hydraulic oil opens two-way ram cylinder piston rod Beginning stretches out, and moves out tumbler and crawl and swivel block device, when third party's tubular telescopic arm extend out to stop, double cropping Stop stretching out with piston oil-cylinder piston rod；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, and makes the second casing entrust crawl and swivel block device 90 ° are rotated forward, the 3rd spiral rotary actuator stops rotating forward, the middle position of solenoid directional control valve makes the 3rd spiral swing liquid Pressure motor pressurize, hydraulic oil make two-way ram cylinder piston rod start retract, make tumbler and crawl and swivel block device to Interior motion, when two presser motion most intimate friend's sleeper both sides appropriate locations of gripper, position shown in Fig. 5, two-way ram oil Cylinder piston rod stops retracting, and hydraulic oil stretches out hydraulic cylinder piston rod, when two platen clamp sleepers, solenoid directional control valve Middle position makes hydraulic jack pressurize；

Hydraulic oil makes the second lifting drive the double rod hydraulic cylinder piston rods of dual Piston to start to stretch out, the second lowering or hoisting gear Rail-lifting equipment decline is entrusted, when rail-lifting equipment drops to carries cylinder of rail cylinder body gusset upper surface and coplanar rail lower surface, Second lifting drives the double rod hydraulic cylinder piston rods of dual Piston to stop stretching out, and hydraulic oil makes the second spiral rotary actuator Start to rotate forward, when cylinder of rail cylinder body and rail lower flange contacts side surfaces are put forward, carry cylinder of rail cylinder body gusset upper surface with Contact below rail, the second spiral rotary actuator stops rotating forward, and 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 make 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 two-way ram cylinder piston rod start to retract, and makes gripper Sleeper has been promoted inwardly to move, when having made sleeper inwardly move to position shown in Fig. 1, two-way ram cylinder piston rod stops contracting Return, hydraulic oil makes the 4th spiral rotary actuator start to rotate backward, and gripper makes sleeper rotate backward 90 °, the 4th spiral Rotary actuator stops rotating 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 two-way ram cylinder piston rod start to stretch out, and third party's tubular telescopic arm is entrusted tumbler and grabbed Take and swivel block device is moved out to appropriate location, two-way ram cylinder piston rod stops stretching out；Hydraulic oil makes the 3rd spiral Rotary actuator starts to rotate backward, make the second casing entrust crawl and swivel block device rotate backward 90 °, the 3rd spiral swing Hydraulic motor stops rotating backward, and the middle position of solenoid directional control valve makes the 3rd spiral rotary actuator pressurize, two-way ram oil Cylinder piston rod starts to retract, and third party's tubular telescopic arm entrusts tumbler and crawl and swivel block device inwardly moves to Fig. 1 institutes Show position, two-way ram cylinder piston rod stops retracting；

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, when carry cylinder of rail inwardly move to its gusset with When rail disengages contact, the second spiral rotary actuator stops rotating backward；

Hydraulic oil makes the second lifting drive the double rod hydraulic cylinder piston rods of dual Piston to start to retract, when the second lifting dress Put and entrust rail-lifting equipment and rise to position shown in Fig. 1, the second lifting drives the double rod hydraulic cylinder piston rods of dual Piston to stop Retract, advanced sleeper end-of-job；

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, hydraulic oil makes the first lifting drive the double rod hydraulic cylinder piston rods of dual Piston Start to stretch out, the first lowering or hoisting gear is entrusted two nut assembling and disassembling devices and declined, when which is dropped in interior wide-mouth magnetic coupling box Nut with switch tracks pillow threaded bolt contacts, position shown in Fig. 2, the first lifting drive the double rod hydraulic cylinder piston rods of dual Piston Stopping is stretched out, and hydraulic oil makes two the first spiral rotary actuator forward direction synchronous axial systems, drives two circular connecting plate difference Entrust two internal gears to rotate forward, each internal gear is engaged with two gears simultaneously, drive two drive axis, make four Interior wide-mouth magnetic coupling box forward direction synchronous axial system, the nut in four interior wide-mouth magnetic coupling boxs synchronously screw in sleeper four Bolt pretension, two the first spiral rotary actuators start stopping and rotate forward, and hydraulic oil makes the first lifting drive dual-active The double rod hydraulic cylinder piston rods of plug start to retract, and the first lowering or hoisting gear is entrusted two nut assembling and disassembling devices and rises to Fig. 1 institutes Show position, the first lifting drives the double rod hydraulic cylinder piston rods of dual Piston to stop retracting, and oil pump quits work, and installs nut Work is completed, and engineering truck traction track car leaves.

First lowering or hoisting gear and symmetrically arranged two the first parallelogram lindages of the second lowering or hoisting gear so as to which square tube shape is stretched Contracting arm is parallel all the time with sill, to adapt to straight line and the sleeper nut assembly and disassembly work of curved rail length section；Yielding coupling and interior Wide-mouth nut can effectively adapt to sleeper bolt position deviation, make interior wide-mouth nut easily screw on sleeper bolt.

Claims (1)

1. the automated machine of sleeper replacement, it is characterised in that：It is by four nut of sleeper synchronization assembling and disassembling device, rail-lifting equipment, turns Pillow and push-and-pull sleeper device, electromotor, Hydraulic system and control System cabine and railcar composition, railcar be provided with four castors and 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 system And control system case is arranged on two longerons of railcar, railcar is drawn by engineering truck, and electromotor is oil pump and control system 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 blind end and two monaural rings；

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, the double rod hydraulic jack of dual Piston and two the One square tube shape telescopic arm is constituted, and the double rod cylinder body of hydraulic oil cylinder of dual Piston are provided with square flange, piston rod free end and are provided with Ring flange；

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；

Two the first square tube shape telescopic arms are arranged thereon from the double rod hydraulic jack two ends of dual Piston respectively, first party is made Tubular telescopic arm is connected with the double rod hydraulic cylinder piston rod ring flanges of dual Piston, and the first square tube shape fixed arm is sheathed on two On first square tube shape telescopic arm, the double rod cylinder body of hydraulic oil cylinder square flanges of dual Piston are made symmetrically to be fixed on the first square tube shape Fixed arm endoporus upper surface, constitutes the first lifting drive；

By one end of two forks respectively with the first square tube shape telescopic arm chain connection, the other end of two forks respectively with 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 be by sill component, the second lifting drive, two it is symmetrically arranged second parallel 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 blind end and two ears rings；

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；

It is described carry rail assembly be by two suspension rods, suspension bracket, the second spiral rotary actuator, opposite crank, two connecting rods, two Individual I-shaped tubular travelling arm, I-shaped tubular fixed arm and two carry cylinder of rail composition, and suspension rod is provided with first flange disk and the second method Blue disk, the second spiral rotary actuator output shaft free end are provided with ring flange, and opposite crank is provided with two monaural rings, and connecting rod sets Have monaural ring and an ears ring, I-shaped tubular travelling arm is provided with semicylindrical opening and ears ring, I-shaped tubular fixed arm be provided with two it is right The semicylindrical opening of title, carries cylinder of rail cylinder body and is provided with gusset, piston rod free end and be provided with fagging；

Cylinder of rail will be carried to be fixed in I-shaped tubular travelling arm semicylindrical opening, opposite crank and spiral rotary actuator output shaft Ring flange is coaxially connected, and the second spiral rotary actuator is symmetrically fixed on below suspension bracket, and suspension bracket is symmetrically fixed on I-shaped tubular Above fixed arm, two I-shaped tubular travelling arms are arranged thereon from I-shaped tubular fixed arm two ends, I-shaped tubular travelling arm Ears ring coaxially penetrates pin hinge with connecting rod monaural ring and is connected, and connecting rod ears ring coaxially penetrates bearing pin with opposite crank monaural ring Chain connection, makes two to carry cylinder of rail and is symmetrical arranged, and two suspension rod second flange disks are symmetrically fixed on above suspension bracket, and composition carries rail Component, two suspension rod first flange disks are symmetrically fixed on entablature side, and it is solid that cmos image sensor is fixed on the second square tube shape Determine below arm, constitute rail-lifting equipment；

Described swivel block and push-and-pull sleeper device are by telescopic component, retractable driving device, tumbler, two connecting plates and grab Take and swivel block device composition；

Described telescopic component is by third party's tubular fixed arm, third party's tubular telescopic arm and the 3rd laser displacement sensor group Into third party's tubular fixed arm is provided with blind end, and third party's tubular telescopic arm is provided with dividing plate；

Described retractable driving device is by third party's tubular fixed arm, two-way ram oil cylinder and third party's tubular telescopic arm group Into two-way ram cylinder block is provided with square slider and ring flange, piston rod are provided with ring flange；

Third party's tubular telescopic arm is sheathed on two-way ram oil cylinder, two-way ram cylinder piston rod ring flange and the 3rd Square tube shape telescopic arm dividing plate is connected, then third party's tubular fixed arm is sheathed on third party's tubular telescopic arm, makes double acting live Plug cylinder flange disk and third party's tubular fixed arm blind end are connected, and constitute retractable driving device, two-way ram oil cylinder and the Three square tube shape telescopic arms form moving sets, and the 3rd laser displacement sensor is symmetrically fixed on above third party's tubular fixed arm；

Described tumbler be by third party's tubular telescopic arm, the 3rd spiral rotary actuator, the hollow multidiameter of cantilever, One thrust bearing, the first casing, the second thrust bearing, the first hex nut, circular connecting plate, the second hex nut, end cap and Equi intensity cantilever is constituted, and the 3rd spiral rotary actuator output shaft is provided with thread segment and six prism shaft parts, the hollow rank of cantilever Terraced axle is provided with thread segment, the first axle journal, the second axle journal, the 3rd axle journal and connecting plate, and connecting plate is provided with spacing arc groove, the first case Body is provided with spacer pin and cantilever ladder axle sleeve, and cantilever multidiameter is arranged with the first axle sleeve, the second axle sleeve and the 3rd axle sleeve, and end cap sets There is bearing pin, circular connecting plate is provided with six prism axis holes, and equi intensity cantilever is provided with pin shaft hole and ring flange；

3rd spiral rotary actuator is fixed on third party's tubular telescopic arm plate front end base plate, hollow cantilever multidiameter It is sheathed on the 3rd spiral rotary actuator, makes the hollow multidiameter connecting plate of cantilever be fixed on third party's tubular telescopic arm end Face, the first thrust bearing are sheathed on hollow the 3rd axle journal of multidiameter of cantilever, and the first casing cantilever ladder axle sleeve is sheathed on hollow On cantilever multidiameter, the first thrust bearing is made to insert the 3rd axle sleeve section of the first casing cantilever ladder axle sleeve, cantilever ladder axle sleeve Two axle sleeve sections are sheathed on the second axle journal of hollow multidiameter, and the second thrust bearing is sheathed on hollow the first axle journal of multidiameter of cantilever On, cantilever ladder axle sleeve first axle set section is inserted, the first hex nut screws in the hollow multidiameter thread segment pretension of cantilever, makes first Casing and the hollow multidiameter chain connection of cantilever, circular connecting plate are sheathed on six prism of the 3rd spiral rotary actuator output shaft Shaft part, makes circular connecting plate be fixed on casing cantilever ladder axle sleeve free end, and the second hex nut screws in the 3rd spiral and swings liquid Pressure motor output shaft thread segment pretension, makes the 3rd spiral rotary actuator output shaft and the first casing be connected, and end cap is fixed on On first casing, equi intensity cantilever pin-and-hole is sheathed on end cap bearing pin, and equi intensity cantilever ring flange is fixed on third party's cylinder Above shape telescopic arm, tumbler is constituted；

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 One fork, 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 first fork is provided with list Earrings, pin-and-hole and ears ring；

Described gripper is made up of ladder U-bracket, four the second forks, two helical springs and pressing plates, the second 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 hydraulic jack 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 first 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 are coaxially worn with two the first fork monaural rings respectively Enter pin hinge connection；

The ears ring of four the second 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 second forks coaxially penetrates pin hinge with four the second monaural rings of pressing plate respectively and is connected, two Individual helical spring one end is connected with two the first monaural rings of ladder U-bracket respectively, 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 first 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；

First casing is fixed with one by two connecting plates with the second casing, constitutes swivel block and push-and-pull sleeper device.