CN206189203U - Sleeper overhead hoist who has reciprocating motion device - Google Patents

Abstract

The utility model discloses a sleeper overhead hoist who has reciprocating motion device, by sleeper overhead hoist, the generator, hydraulic system and control system case and railcar are constituteed, the railcar is equipped with four truckles and two longerons, sleeper overhead hoist, generator and hydraulic system and control system case set up on two longerons of railcar, the railcar is pull by the machineshop car, the generator provides power for oil pump and control system, hydraulic system and control system incasement are equipped with the oil tank, the oil pump, an electric generator, the utility model discloses can be fast with equipment automatic alignment operating position, straight line and the highway section handling of curve rail can be adapted to and sleeper work is put, can automatic control, convenient operation, handling and to put sleeper work efficiency high.

Description

Sleeper handling apparatus with reciprocator

Technical field

The utility model is related to a kind of railway maintenance machinery, the sleeper handling dress more particularly to reciprocator Put.

Background technology

During prolonged use, due to natural subsidence and vibration, indivedual sleepers are damaged railroad sleeper, are needed To change in time, during sleeper replacement, moved away from using the bad sleeper manually having been pulled out, good sleeper accurately swing to change On position, waste time and energy, inefficiency, it is impossible to (be commonly called as in effective train passage gap：Skylight) interior completion work.

Utility model content

The purpose of this utility model is to provide the sleeper handling apparatus with reciprocator.

The utility model is made up of sleeper handling apparatus, generator, Hydraulic system and control System cabine and railcar, rail Road car is provided with four castors and two longerons, and sleeper handling apparatus, generator and Hydraulic system and control System cabine set in-orbit On two longerons of road car, railcar is drawn by engineering truck, and generator provides power for oil pump and control system, hydraulic system and Fuel tank, oil pump, hydraulic control system and automatic control system are provided with control system case；

Described sleeper handling apparatus are by rail-lifting equipment, move back and forth storage sleeper device, rigid hanger hoisting apparatus Constituted with cmos image sensor；

Described rail-lifting equipment be by telescopic component, retractable driving device, four connecting plates, two tumblers, two Box connector and two carry cylinder of rail composition, and box connector is provided with semicylindrical opening, carries cylinder of rail cylinder body and be provided with gusset, work Stopper rod free end is provided with fagging；

Described rail-lifting equipment be by telescopic component, retractable driving device, four connecting plates, two tumblers, two Box connector and two carry cylinder of rail composition, and box connector is provided with semicylindrical opening, carries cylinder of rail cylinder body and be provided with gusset, work Stopper rod free end is provided with fagging；

Described telescopic component is by the first square tube shape fixed arm, two the first square tube shape telescopic arms, first laser displacements Sensor and the first range finding reference plate composition, the first square tube shape telescopic arm are provided with dividing plate；

Described retractable driving device is by the first square tube shape fixed arm, the double rod hydraulic jacks 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；

Two the first square tube shape telescopic arms are arranged thereon from the double rod hydraulic jack two ends of dual Piston respectively, make the One square tube shape telescopic arm dividing plate is connected with the double rod hydraulic cylinder piston rod ring flanges of dual Piston, the first square tube shape fixed arm set On two the first square tube shape telescopic arms, the double rod hydraulic jack square flanges of dual Piston are made symmetrically to be fixed on first party Tubular fixed arm endoporus upper surface, constitutes retractable driving device, and first laser displacement transducer is symmetrically fixed on the first square tube shape Fixed arm side, the first range finding reference plate is fixed on the first square tube shape telescopic arm side；

Described tumbler is by the first square tube shape telescopic arm, the first spiral rotary actuator, the hollow ladder of cantilever Axle, the first thrust bearing, the first casing, the second thrust bearing, the second hex nut, circular connecting plate, the 3rd hex nut, end Lid and equi intensity cantilever composition, the first spiral rotary actuator output shaft are provided with thread segment and six prism shaft parts, and cantilever is empty Heart multi-diameter shaft 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 multi-diameter shaft 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；

First spiral rotary actuator is fixed on the first square tube shape telescopic arm plate front end base plate, hollow cantilever rank Terraced axle sleeve makes the hollow multi-diameter shaft connecting plate of cantilever be fixed on the first square tube shape on the first spiral rotary actuator output shaft Telescopic arm end face, the first thrust bearing is sheathed on the hollow axle journal of multi-diameter shaft the 3rd of cantilever, the first casing cantilever ladder axle sleeve set On the first spiral rotary actuator output shaft, the first thrust bearing is set to insert the axle sleeve of casing cantilever ladder axle sleeve the 3rd Section, the second axle sleeve of cantilever ladder axle sleeve section is sheathed on the axle journal of hollow multi-diameter shaft second, and it is empty that the second thrust bearing is sheathed on cantilever On the axle journal of heart multi-diameter shaft first, cantilever ladder axle sleeve first axle set is inserted, the second hex nut screws on the hollow multi-diameter shaft spiral shell of cantilever Line section pretension, makes the first casing and the hollow multi-diameter shaft chain connection of cantilever, circular connecting plate be sheathed on the first spiral and swing hydraulic pressure The prism shaft part of motor output shaft six, makes circular connecting plate and the first casing cantilever ladder axle sleeve free end be connected, the 3rd hexagonal spiral shell Mother screws in the first spiral rotary actuator output shaft thread segment pretension, makes the first spiral rotary actuator output shaft and first Casing is connected, and end cap is fixed on the first casing, and equi intensity cantilever pin-and-hole is sheathed on end cap bearing pin, equi intensity cantilever method Blue disk is fixed on above the first square tube shape telescopic arm, constitutes tumbler, and two the first connecting plates connect the first casing and box Fitting is fixed with one, and carrying cylinder of rail cylinder body by two is respectively fixedly connected with two box connector semicylindrical openings, and composition carries rail dress Put, the first square tube shape fixed arm is symmetrically fixed on two longerons of railcar；

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

Described reciprocator is by base plate, two series connection parallelogram lindages, reciprocating movement driving devices and the Dual-laser displacement transducer is constituted；

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

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

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

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

Described rigid hanger hoisting apparatus is by two cantilever beams, telescoping crossbeam device, jack up unit, two pick-and-place rails Pillow device and the 3rd laser displacement sensor composition；

Described telescoping crossbeam device is by ladder square tube shape fixed arm, the first ladder square tube shape telescopic arm, the second ladder Square tube shape telescopic arm, multi-stage expansion shell type oil cylinder, end cap and push pedal composition, ladder square tube shape fixed arm are provided with ring flange, cylinder shoulder And long slot bore, the first ladder square tube shape telescopic arm is provided with first shoulder, second shoulder and long slot bore, and the second ladder square tube shape is stretched Arm is provided with a shoulder and two monaural rings, and multi-stage expansion shell type oil cylinder is provided with first flange disk, first order extension sleeve, the second level and stretches Contracting sleeve and second flange disk；

End cap is symmetrically fixed on multi-stage expansion shell type oil cylinder first flange disk, and the second ladder square tube shape telescopic arm is sheathed on many On the flexible shell type oil cylinder of level, make multi-stage expansion shell type oil cylinder second flange disk and the second ladder square tube shape telescopic arm blind end solid Even, the first ladder square tube shape telescopic arm is sheathed on the second ladder square tube shape telescopic arm, then ladder square tube shape fixed arm is arranged In on the first ladder square tube shape telescopic arm, making end cap be connected with ladder square tube shape fixed arm ring flange, push pedal is fixed on second-order Terraced square tube shape telescopic arm blind end, ladder square tube shape fixed arm side is symmetrically fixed on by the 3rd laser displacement sensor, composition Telescoping crossbeam device；

Described jack up unit is by entablature component, raising drive device, two symmetrically arranged parallelogram lindages Constituted with the 4th laser displacement sensor；

Described entablature 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 bores and two ears rings, and the second square tube shape telescopic arm is provided with two monaural rings and closing End；

Described raising drive device as the composition of retractable driving device, except foregoing second square tube shape fixed arm and One square tube shape fixed arm structure type is different, the second square tube shape telescopic arm and the first square tube shape telescopic arm structure form differ Sample, remaining all component structural form are the same；

Described parallelogram lindage is made up of the second square tube telescopic arm, two the 3rd swing rods and sill, and sill sets There are two circular holes；

Carry out and retractable driving device identical assembly operation, composition raising drive device, by two the one of the 3rd swing rod End respectively with the second square tube shape telescopic arm chain connection, two other ends of the 3rd swing rod respectively with sill chain connection, group Into parallelogram lindage, foregoing assembly operation is repeated, be symmetrical in the vertical plane of symmetry group of the second square tube shape fixed arm and sill Another parallelogram lindage is filled, the 4th laser displacement sensor is symmetrically fixed on below the second square tube shape fixed arm, constituted Jack up unit；

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

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

Two cantilever beams are symmetrically fixed on two longerons of railcar, telescoping crossbeam device ladder square tube shape fixed arm is consolidated Be connected in below two cantilever girder cantilevers, two ears rings of the second square tube shape fixed arm respectively with the second ladder square tube shape telescopic arm Two monaural ring coaxial bolts connection, cmos image sensor be fixed on railcar longeron outside, constitute sleeper handling apparatus.

The beneficial effects of the utility model are：

1. can quickly by the automatic alignment work position of equipment；

2. can adapt to straight line and the handling of curved rail length section and put sleeper work；

3. can automatically control, it is easy to operate, handling and put sleeper high working efficiency.

Brief description of the drawings

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

Fig. 2 is the rail-lifting equipment working condition schematic perspective view of the utility model.

Fig. 3 is that the rail-lifting equipment side wall of the utility model cuts off working state schematic perspective view open.

Fig. 4 is the retractable driving device exploded perspective schematic diagram of the utility model.

Fig. 5 is the tumbler exploded perspective schematic diagram of the utility model.

Fig. 6 is two connecting plates of the utility model, box connector and carries rail hydraulic jack exploded perspective schematic diagram.

Fig. 7 is the reciprocator schematic perspective view of the utility model.

Fig. 8 is the storage sleeper case schematic perspective view of the utility model.

Fig. 9 is the working condition schematic perspective view of the utility model.

Figure 10 is the telescoping crossbeam device exploded perspective schematic diagram of the utility model.

Figure 11 is the raising drive device exploded perspective schematic diagram of the utility model.

Figure 12 is the left view of Fig. 1.

Figure 13 is close-up schematic view at D in Figure 12.

Specific embodiment

Refer to shown in Fig. 1, the utility model is by sleeper handling apparatus 15, generator 18, Hydraulic system and control system System case 19 and railcar 20 are constituted, and railcar 20 is provided with four castors 201 and two longerons 202, sleeper handling apparatus 15, generating Machine 18 and Hydraulic system and control System cabine 19 are arranged on two longerons 202 of railcar, and railcar 20 is drawn by engineering truck, Generator 18 is provided with fuel tank, oil pump, hydraulic pressure control for oil pump and control system are provided in power, Hydraulic system and control System cabine 19 System processed and automatic control system；

Described sleeper handling apparatus 15 are by rail-lifting equipment 150, move back and forth storage sleeper device 160, rigid hanger Hoisting apparatus 168 and cmos image sensor 175 are constituted；

Refer to shown in Fig. 2 to Fig. 6, described rail-lifting equipment 150 be by telescopic component 151, retractable driving device 152, Four box connectors 155 of tumbler 154, two of connecting plate 153, two and two carry cylinder of rail 156 and constitute, box connection Part 155 is provided with semicylindrical opening 1551, carries the cylinder body of cylinder of rail 156 and is provided with gusset 1561, piston rod free end and is provided with fagging 1562；

Described rail-lifting equipment 150 is turned by telescopic component 151, the connecting plate 153, two of retractable driving device 152, four Move 154, two box connectors 155 of device and two carry cylinder of rail 156 and constitute, box connector 155 is provided with semicylindrical opening 1551, carry the cylinder body of cylinder of rail 156 and be provided with gusset 1561, piston rod free end and be provided with fagging 1562；

Described telescopic component 151 is by 1511, two the first square tube shape telescopic arms 1512 of the first square tube shape fixed arm, One laser displacement sensor 1513 and the first range finding reference plate 1514 are constituted, and the first square tube shape telescopic arm 1512 is provided with dividing plate 15121；

Described retractable driving device 152 is by the double rod hydraulic jacks of the first square tube shape fixed arm 1511, dual Piston 1521 and two the first square tube shape telescopic arms 1512 constitute, the double cylinder bodies of rod hydraulic jack 1521 of dual Piston are provided with square flange Disk 15211, piston rod free end is provided with ring flange 15212；

Two the first square tube shape telescopic arms 1512 are sheathed on from the double two ends of rod hydraulic jack 1521 of dual Piston respectively Thereon, the first square tube shape telescopic arm dividing plate 15121 is made to consolidate with the double rod hydraulic cylinder piston rod ring flanges 15212 of dual Piston Even, the first square tube shape fixed arm 1511 is sheathed on two the first square tube shape telescopic arms 1512, makes the double rod hydraulic pressure of dual Piston Oil cylinder square flange 15211 is symmetrically fixed on the endoporus upper surface of the first square tube shape fixed arm 1511, constitutes retractable driving device 82, first laser displacement transducer 903 is symmetrically fixed on the side of the first square tube shape fixed arm 1511, the first range finding reference plate 1514 It is fixed on the side of the first square tube shape telescopic arm 1512；

Described tumbler 154 is by the first square tube shape telescopic arm 1512, the first spiral rotary actuator 1541, hangs The hollow multi-diameter shaft 1542 of arm, the first thrust bearing 1543, the first casing 1544, the second thrust bearing 1545, the second hex nut 1546th, circular connecting plate 1547, the 3rd hex nut 1548, end cap 1549 and equi intensity cantilever 1550 are constituted, the first spiral The output shaft of rotary actuator 1541 is provided with the prism shaft part 15412 of thread segment 15411 and six, and the hollow multi-diameter shaft 1542 of cantilever is provided with Thread segment 15421, the first axle journal 15422, the second axle journal 15423, the 3rd axle journal 15424 and connecting plate 15425, connecting plate 15425 are provided with spacing arc groove 15426, and the first casing 1544 is provided with spacer pin 15441 and cantilever ladder axle sleeve 15442, cantilever Ladder axle sleeve 15442 is provided with the first axle sleeve 15443, the second axle sleeve 15444 and the 3rd axle sleeve 15445, and end cap 1549 is provided with bearing pin 15491, circular connecting plate 1547 is provided with six prism axis holes 15471, and equi intensity cantilever 1550 is provided with pin shaft hole 15501 and flange Disk 15502；

First spiral rotary actuator 1541 is fixed on the front end base plate of the first square tube shape telescopic arm dividing plate 15121, Hollow cantilever multi-diameter shaft 1542 is sheathed on the first spiral rotary actuator output shaft 1541, connects the hollow multi-diameter shaft of cantilever Plate 15425 is fixed on the end face of the first square tube shape telescopic arm 1512, and the first thrust bearing 1543 is sheathed on the hollow multi-diameter shaft of cantilever On three axle journals 15424, the first casing cantilever ladder axle sleeve 15442 is sheathed on the output shaft of the first spiral rotary actuator 1541 On, the first thrust bearing 1543 is inserted the axle sleeve of casing cantilever ladder axle sleeve the 3rd section 15445, cantilever ladder the second axle sleeve of axle sleeve Section 15444 is sheathed on the second axle journal of hollow multi-diameter shaft 15423, and the second thrust bearing 1545 is sheathed on the hollow multi-diameter shaft of cantilever the On one axle journal 15422, cantilever ladder axle sleeve first axle set 15443 is inserted, the second hex nut 1546 screws on the hollow ladder of cantilever Axle thread 15421 pretensions of section, make the first casing 1544 and the hollow chain connection of multi-diameter shaft 1542 of cantilever, 1547 sets of circular connecting plate Located at the prism shaft part 15412 of the first spiral rotary actuator output shaft six, make the casing cantilever of circular connecting plate 1547 and first The free end of ladder axle sleeve 15442 is connected, and the 3rd hex nut 1548 screws in the first spiral rotary actuator output shaft thread segment 15411 pretensions, make the output shaft of the first spiral rotary actuator 1541 and the first casing 1544 be connected, and end cap 1549 is fixed on the On one casing 1544, equi intensity cantilever pin-and-hole 15501 is sheathed on end cap bearing pin 15491, equi intensity cantilever ring flange 15502 are fixed on above the first square tube shape telescopic arm 1512, constitute tumbler 154, and two the first connecting plates 153 are by the first case Body 1544 is fixed with one with box connector 155, and carrying the cylinder body of cylinder of rail 156 by two is respectively fixedly connected with two box connectors half In cylindrical hole 1551, rail-lifting equipment 150 is constituted, by symmetrical two longerons for being fixed on railcar of the first square tube shape fixed arm 1511 On 202；

Refer to shown in Fig. 7 and Fig. 8, described reciprocating motion storage sleeper device 160 is by the He of reciprocator 161 Storage sleeper case 167 is constituted, and storage sleeper case 167 is provided with two rollers 1671 and several sleeper storehouses 1672, wherein left side half Sleeper storehouse is used to store sleeper, and right side half sleeper storehouse is used to store bad sleeper.

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

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

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

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

Base plate 162 is fixed on the crossbeam of railcar 20 and the first square tube shape fixed arm 1511, storage sleeper case 167 is connected In on moving beam 1635, making two rollers 1671 of storage sleeper case be contacted over base plate 162, composition moves back and forth storage Sleeper device 160；

Refer to shown in Fig. 9 to Figure 13, described rigid hanger hoisting apparatus 168 is by two cantilever beams 169, flexible horizontal stroke Boom device 170,171, two pick-and-place sleeper devices 172 of jack up unit and the 3rd laser displacement sensor 173 are constituted；

Described telescoping crossbeam device 170 is by ladder square tube shape fixed arm 1701, the first ladder square tube shape telescopic arm 1702nd, the second ladder square tube shape telescopic arm 1703, multi-stage expansion shell type oil cylinder 1704, end cap 1705 and push pedal 1706 is constituted, rank Terraced square tube shape fixed arm 1701 is provided with ring flange 17011, cylinder shoulder 17012 and long slot bore 17013, the first ladder square tube shape telescopic arm 1702 are provided with first shoulder, 17021, second shoulder 17022 and long slot bore 17023, and the second ladder square tube shape telescopic arm 1703 is provided with Cylinder shoulder 17031 and two monaural rings 17032, multi-stage expansion shell type oil cylinder 1704 are provided with the first flange disk 17041, first order and stretch Sleeve 17042, second level extension sleeve 17043 and second flange disk 17044；

End cap 1705 is symmetrically fixed on multi-stage expansion shell type oil cylinder first flange disk 17041, and the second ladder square tube shape is stretched Arm 1703 is sheathed on multi-stage expansion shell type oil cylinder 1704, makes multi-stage expansion shell type oil cylinder second flange disk 17044 and second-order The terraced blind end of square tube shape telescopic arm 1703 is connected, and the first ladder square tube shape telescopic arm 1702 is sheathed on the second ladder square tube shape and stretches On arm 1703, then ladder square tube shape fixed arm 1701 is sheathed on the first ladder square tube shape telescopic arm 1702, makes end cap 1705 It is connected with ladder square tube shape fixed arm ring flange 17011, push pedal 1706 is fixed on the second ladder square tube shape telescopic arm 1703 and closes End, the side of ladder square tube shape fixed arm 1701 is symmetrically fixed on by the 3rd laser displacement sensor 173, constitutes telescoping crossbeam device 170；

Described jack up unit 171 is symmetrically arranged flat by entablature component 1711, raising drive device 1712, two The laser displacement sensor 1714 of row four-bar mechanism 1713 and the 4th is constituted；

Described entablature component 1711 is by the second square tube shape fixed arm 17111 and two the second square tube shape telescopic arms 17114 compositions, the second square tube shape fixed arm 17111 is provided with symmetrical two long slot bores 17112 and two ears rings 17113, the Two square tube shape telescopic arms 17114 are provided with two monaural rings 17115 and blind end 17116；

Described raising drive device 1712 as the composition of retractable driving device 152, except foregoing second square tube shape is solid Determine different arm 17111 and first square tube shape fixed arm, 1511 structure types, the second square tube shape telescopic arm 17114 and the first square tube The structure type of shape telescopic arm 1512 is different, and remaining all component structural form is the same；

Described parallelogram lindage 1713 is by the second square tube telescopic arm 17114, two the 3rd swing rods 17131 and sills 17132 compositions, sill 17132 is provided with two circular holes 17133；

Carry out and the identical assembly operation of retractable driving device 1522, composition raising drive device 1712, by two the 3rd One end of swing rod 17131 respectively with the chain connection of the second square tube shape telescopic arm 17114, two other ends of the 3rd swing rod 17131 Respectively with the chain connection of sill 17132, parallelogram lindage 1713 is constituted, repeat foregoing assembly operation, be symmetrical in second party The vertical plane of symmetry of tubular fixed arm 17111 and sill 17132 assembles another parallelogram lindage 1713, by the 4th laser Displacement transducer 1714 is symmetrically fixed on below the second square tube shape fixed arm 17111, constitutes jack up unit 171；

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

Second spiral rotary actuator 1721 is penetrated in sill circular hole 17133, the second spiral rotary actuator flange Disk 17211 is fixed on above sill 17132, yielding coupling 1722 make the second spiral rotary actuator output shaft 17212 with it is interior Wide-mouth nut axle journal 17231 is connected, composition pick-and-place sleeper device 172；

Two cantilever beams 169 are symmetrically fixed on two longerons 202 of railcar, telescoping crossbeam device ladder square tube shape is consolidated Determine arm 1701 to be fixed on below two cantilevers of cantilever beam 169, two ears rings 17113 of the second square tube shape fixed arm are respectively with Two coaxial bolts of monaural ring 17032 connection of two ladder square tube shape telescopic arms, cmos image sensor 175 is fixed on railcar The outside of longeron 202, composition sleeper handling apparatus 15.

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

1. handling bad sleeper work：Between bad sleeper manually or mechanically is pulled out into rail, the adjacent sleeper in bad sleeper left side Bolt machine oil is marked on the outside of rail, and engineering truck traction track car is run during to sleeper to be changed, cmos image sensor The image information of collection, by pattern recognition system automatic identification, makes engineering truck be parked in cmos image sensor and is marked with machine oil The coaxial position of bolt, rail-lifting equipment is located at surface between the adjacent sleeper in bad sleeper right side, and position shown in Fig. 1, oil pump starts work Make, hydraulic oil makes the double rod hydraulic cylinder piston rods of dual Piston start to stretch out, and two first party connected with it are promoted respectively Tubular telescopic arm synchronously stretches out, and by its displacement signal with the first range finding reference plate of first laser displacement sensor, comes The double rod hydraulic jacks of control dual Piston and the work of the first spiral rotary actuator, two the first square tube shape telescopic arm difference Entrust two tumblers and carry cylinder of rail and move out to appropriate location, the double rod hydraulic cylinder piston rods of dual Piston stop Stretch out, its piston rod starts to retract, the pulling two first square tube shape telescopic arms connected with its are synchronous respectively retracts, two first Square tube shape telescopic arm entrusts two tumblers and carries cylinder of rail and inwardly moves respectively, while hydraulic oil makes the first spiral swing liquid Pressure motor starts to rotate forward, and drives the first casing to rotate forward, and the first casing is entrusted the put forward cylinder of rail forward direction connected with it and turned It is dynamic, when the first casing rotates forward arc groove end thereof contacts spacing to its spacer pin and the hollow multi-diameter shaft connecting plate of cantilever, carry Cylinder of rail rotates forward 90 °, and the first spiral rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes the first spiral Rotary actuator pressurize, when carrying cylinder of rail and inwardly moving to its cylinder body and rail lower flange contacts side surfaces, on its gusset Surface contacts with below rail, and the double rod hydraulic cylinder piston rods of dual Piston stop retracting；

Hydraulic oil makes hydraulic motor start to rotate forward, and sliding tooth wheel and rack engagement, hydraulic motor pulls moving beam To left movement, moving beam entrusts storage sleeper case to left movement, and tooth bar is passed through from moving beam square hole, by second laser It controls hydraulic motor to work to displacement sensor with the displacement signal of fixed cross beam, when storage sleeper case is to left movement When bad sleeper position in storehouse is stored immediately below pick-and-place sleeper device, hydraulic motor stops rotating forward；

Hydraulic oil makes multi-stage expansion shell type oil cylinder second level extension sleeve start to stretch out with first order extension sleeve, promotes the Two ladder square tube shape telescopic arms stretch out, and the second ladder square tube shape telescopic arm is entrusted lowering or hoisting gear and moved out, when the second ladder side When tubular telescopic arm extend out to its shoulder and first second shoulder grafting of ladder square tube shape telescopic arm and touches, multi-stage expansion shell type oil cylinder the Two grades of extension sleeves start to stretch out, and promote the second ladder square tube shape telescopic arm to stretch out, and the second ladder square tube shape telescopic arm pulls the One ladder square tube shape telescopic arm stretches out, and it is more to control with the displacement signal of push pedal to measure it by the 3rd laser displacement sensor The flexible shell type cylinder efficient of level, inner side above the bad sleeper when two interior wide-mouth nuts of pick-and-place sleeper device and between having been pulled out sleeper When two bolts are coaxial, multi-stage expansion shell type oil cylinder second level extension sleeve stops stretching out；

Hydraulic oil makes raising drive the double rod hydraulic cylinder piston rods of dual Piston to start to retract, and pulls be connected with it respectively Two the second square tube shape telescopic arms synchronously retract, make two pairs of swing rods of symmetrically arranged two parallelogram lindages relative under The opposite synchronous hunting of crossbeam, jack up unit entrust pick-and-place sleeper device decline, by the 4th laser displacement sensor measure its with The displacement signal of sill drives the double rod hydraulic jacks of dual Piston and two the second spirals to swing hydraulic pressure horses controlling raising Up to work, when two bolts in inner side are close above two interior wide-mouth nuts and sleeper, hydraulic oil swings two the second spirals Hydraulic motor starts to rotate forward, and two interior wide-mouth nut forward synchronous axial systems are made respectively, when two interior wide-mouth nuts screw on rail Two bolts in inner side on pillow, two the second spiral rotary actuators are rotated forward to hard-over, position shown in Fig. 9, two Second spiral rotary actuator stops rotating forward, and raising drives the double rod hydraulic cylinder piston rods of dual Piston to stop contracting Return；

Hydraulic oil makes to carry cylinder of rail piston rod and starts to stretch out, and railway roadbed stone is contacted when the fagging that carries cylinder of rail piston rod is fixed on 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, Make rail jack-up, carry cylinder of rail piston rod and stop stretching out, the middle position of solenoid directional control valve makes to propose cylinder of rail pressurize, carries cylinder of rail piston Bar stops stretching out；

Hydraulic oil makes multi-stage expansion shell type oil cylinder second level extension sleeve start to stretch out again, promotes the second ladder square tube shape to stretch Contracting arm stretches out, and the second ladder square tube shape telescopic arm pulls the first ladder square tube shape telescopic arm to stretch out, and the second ladder square tube shape is stretched Fupport arm band jack up unit is moved out, when jack up unit extracts bad sleeper out under rail, multi-stage expansion shell type oil cylinder second Level extension sleeve stops stretching out；

Hydraulic oil makes raising drive the double rod hydraulic cylinder piston rods of dual Piston to start to stretch out, and promotes being connected respectively with it Two the second square tube shape telescopic arm synchronism outputs, make two pairs of swing rods of symmetrically arranged two parallelogram lindages relative under Crossbeam dorsad synchronous hunting, jack up unit entrusts bad sleeper and rises to appropriate height, and raising drives the double rod hydraulic pressure of dual Piston Cylinder piston rod stops stretching out, and hydraulic oil makes multi-stage expansion shell type oil cylinder second level extension sleeve start to retract, and pulls second-order Terraced square tube shape telescopic arm is retracted, and when push pedal and the first ladder square tube shape stretch arm contact, second level extension sleeve is with the first order Extension sleeve is retracted, and the second ladder square tube shape telescopic arm draws push pedal to retract, and push pedal promotes the first ladder square tube shape telescopic arm to retract, Second ladder square tube shape telescopic arm is entrusted jack up unit and is inwardly moved, when jack up unit entrust bad sleeper inwardly move to storage it is bad When directly over sleeper storehouse, multi-stage expansion shell type oil cylinder first order extension sleeve stops retracting, and hydraulic oil makes raising drive double-piston The double rod hydraulic cylinder piston rods of formula start to retract, and jack up unit entrusts the decline of bad sleeper, when bad sleeper declines close to sleeper storehouse Bottom or previously be put into bad sleeper when, hydraulic oil makes two the second spiral rotary actuators start to rotate backward, and two are made respectively Individual interior wide-mouth nut reverse sync is rotated, and when bad sleeper is discharged into storehouse, two the second spiral rotary actuators stop instead To rotation, raising drives the double rod hydraulic cylinder piston rods of dual Piston to stop retracting, and its piston rod starts to stretch out, jack up unit Position shown in Fig. 1 is risen to, raising drives the double rod hydraulic cylinder piston rods of dual Piston to stop stretching out, the work of handling bad sleeper Terminate；

2. handling is well placed sleeper work：Hydraulic oil makes hydraulic motor start to rotate backward, the engagement of sliding tooth wheel and rack, Hydraulic motor promotes moving beam to move right, and moving beam is entrusted storage sleeper case and moved right, and tooth bar is from moving beam side Worn back in hole, moved right when sleeper position in storehouse has been stored immediately below pick-and-place sleeper device when sleeper case is stored, hydraulic motor Stopping is rotated backward；

Hydraulic oil makes raising drive the double rod hydraulic cylinder piston rods of dual Piston to start to retract, and jack up unit entrusts pick-and-place Sleeper device declines, and when two bolts in inner side are close above two interior wide-mouth nuts with good sleeper, hydraulic oil makes two second Spiral rotary actuator starts to rotate forward, when two interior wide-mouth nuts have screwed on two bolts in inner side, two above sleeper Second spiral rotary actuator is rotated forward to hard-over, and two the second spiral rotary actuators stop rotating forward, Raising drives the double rod hydraulic cylinder piston rods of dual Piston to stop retracting, and its piston rod starts to stretch out, and jack up unit is entrusted Sleeper rises to appropriate height, and raising drives the double rod hydraulic cylinder piston rods of dual Piston to stop stretching out；

Hydraulic oil makes the extension sleeve of multi-stage expansion shell type oil cylinder stretch out step by step, entrusts the second ladder square tube shape telescopic arm Jack up unit is moved out, and having entrusted sleeper when jack up unit moves out to appropriate location, and hydraulic oil makes raising drive dual-active The double rod hydraulic cylinder piston rods of plug start to retract, and when raising falling unit has entrusted sleeper and drops to it and contacted with railway roadbed, rise Rise and drive the double rod hydraulic cylinder piston rods of dual Piston to stop retracting；

Hydraulic oil makes multi-stage expansion shell type oil cylinder second level extension sleeve start to retract, and the second ladder square tube shape is stretched fupport arm Band jack up unit is inwardly moved, and sleeper is penetrated under rail, has made sleeper rear end face coplanar with above rail lower flange trailing flank When, position shown in Fig. 9, multi-stage expansion shell type oil cylinder second level extension sleeve 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, and original is dropped down onto under rail Position, good sleeper is pushed down, and makes its upper surface parallel with two rail lower surfaces, is carried cylinder of rail piston rod and is retracted to stop, high Force feed makes the double rod hydraulic cylinder piston rods of dual Piston start to stretch out, and two the first square tube shape telescopic arms is entrusted tumbler And carry cylinder of rail and move out to appropriate location, the double rod hydraulic cylinder piston rods of dual Piston stop stretching out, and hydraulic oil makes the One spiral rotary actuator starts to rotate backward, and drives the first casing to rotate backward, and two the first casings are entrusted and it respectively Connected two carry cylinder of rail and rotate backward, when the first casing is rotated backward to its spacer pin and the hollow multi-diameter shaft connecting plate of cantilever During another end in contact of spacing arc groove, carry cylinder of rail and rotate backward 90 °, the first spiral rotary actuator stops rotating backward, The middle position of solenoid directional control valve makes the first spiral rotary actuator pressurize；The double rod hydraulic cylinder piston rods of dual Piston start contracting Return, make two tumblers and carry cylinder of rail inwardly to move to position shown in Fig. 1, the double rod hydraulic cylinder piston rods of dual Piston Stop retracting；

Hydraulic oil makes the second spiral rotary actuator start to rotate backward, when the second spiral rotary actuator reversely turns Move during to hard-over, discharged sleeper, the second spiral rotary actuator stops rotating backward, and raising drives dual Piston double Rod hydraulic cylinder piston rod starts to stretch out, and jack up unit entrusts pick-and-place sleeper device and rises to appropriate height, and hydraulic oil makes many The extension sleeve of the flexible shell type oil cylinder of level is retracted step by step, the second ladder square tube shape telescopic arm is entrusted jack up unit and is inwardly moved, Jack up unit moves to position shown in Fig. 1, and raising drives the double rod hydraulic cylinder piston rods of dual Piston to stop stretching out, and multistage is stretched The first order extension sleeve of contracting shell type oil cylinder stops retracting, and handling is well placed sleeper work and completes；

The symmetrically arranged two series connection parallelogram lindage of reciprocator, makes to begin in moving beam reciprocating movement It is parallel with fixed cross beam eventually；Yielding coupling and interior wide-mouth nut can effectively adapt to sleeper bolt position deviation, make interior wide-mouth spiral shell Mother easily screws on sleeper bolt；Symmetrically arranged two parallelogram lindages of jack up unit, make the second square tube shape telescopic arm with Crossbeam is parallel all the time, is worked with adapting to straight line and curved rail length section pick-and-place sleeper；Symmetrically arranged two of jack up unit is parallel Four-bar mechanism constitutes rigid hanger, it is to avoid the swing of sleeper in handling, improves handling sleeper speed.

Claims (1)

1. there are the sleeper handling apparatus of reciprocator, it is characterised in that：It is by sleeper handling apparatus, generator, hydraulic pressure System and control system case and railcar composition, railcar are provided with four castors and two longerons, sleeper handling apparatus, generator It is arranged on two longerons of railcar with Hydraulic system and control System cabine, railcar is drawn by engineering truck, generator is oil Pump and control system provide power, and fuel tank, oil pump, hydraulic control system and automatic control are provided with Hydraulic system and control System cabine System processed；

Described sleeper handling apparatus be by rail-lifting equipment, move back and forth storage sleeper device, rigid hanger hoisting apparatus and Cmos image sensor is constituted；

Described rail-lifting equipment is by telescopic component, retractable driving device, four connecting plates, two tumblers, two boxes Connector and two carry cylinder of rail composition, and box connector is provided with semicylindrical opening, carries cylinder of rail cylinder body and be provided with gusset, piston rod Free end is provided with fagging；

Described rail-lifting equipment is by telescopic component, retractable driving device, four connecting plates, two tumblers, two boxes Connector and two carry cylinder of rail composition, and box connector is provided with semicylindrical opening, carries cylinder of rail cylinder body and be provided with gusset, piston rod Free end is provided with fagging；

Described telescopic component is by the first square tube shape fixed arm, two the first square tube shape telescopic arms, first laser displacement sensings Device and the first range finding reference plate composition, the first square tube shape telescopic arm are provided with dividing plate；

Described retractable driving device is by the first square tube shape fixed arm, the double rod hydraulic jacks of dual Piston and two first party Tubular 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 flange Disk；

Two the first square tube shape telescopic arms are arranged thereon from the double rod hydraulic jack two ends of dual Piston respectively, make first party Tubular telescopic arm dividing plate 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 hydraulic jack square flanges of dual Piston are made symmetrically to be fixed on the first square tube shape Fixed arm endoporus upper surface, constitutes retractable driving device, and first laser displacement transducer is symmetrically fixed on the first square tube shape and fixes Arm side, the first range finding reference plate is fixed on the first square tube shape telescopic arm side；

Described tumbler is by the first square tube shape telescopic arm, the first spiral rotary actuator, the hollow multi-diameter shaft of cantilever, One thrust bearing, the first casing, the second thrust bearing, the second hex nut, circular connecting plate, the 3rd hex nut, end cap and Equi intensity cantilever is constituted, and the first 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 multi-diameter shaft 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；

First spiral rotary actuator is fixed on the first square tube shape telescopic arm plate front end base plate, hollow cantilever multi-diameter shaft It is sheathed on the first spiral rotary actuator output shaft, the hollow multi-diameter shaft connecting plate of cantilever is fixed on the first square tube shape and stretch Arm end face, the first thrust bearing is sheathed on the hollow axle journal of multi-diameter shaft the 3rd of cantilever, and the first casing cantilever ladder axle sleeve is sheathed on On first spiral rotary actuator output shaft, the first thrust bearing is inserted the axle sleeve of casing cantilever ladder axle sleeve the 3rd section, hang The second axle sleeve of arm ladder axle sleeve section is sheathed on the axle journal of hollow multi-diameter shaft second, and the second thrust bearing is sheathed on the hollow ladder of cantilever On the axle journal of axle first, cantilever ladder axle sleeve first axle set is inserted, it is pre- that the second hex nut screws on the hollow multi-diameter shaft thread segment of cantilever Tightly, the first casing and the hollow multi-diameter shaft chain connection of cantilever are made, it is defeated that circular connecting plate is sheathed on the first spiral rotary actuator The prism shaft part of shaft six, makes circular connecting plate and the first casing cantilever ladder axle sleeve free end be connected, and the 3rd hex nut is screwed in First spiral rotary actuator output shaft thread segment pretension, makes the first spiral rotary actuator output shaft and the first casing solid Even, end cap is fixed on the first casing, and equi intensity cantilever pin-and-hole is sheathed on end cap bearing pin, and equi intensity cantilever ring flange is consolidated It is connected in above the first square tube shape telescopic arm, constitutes tumbler, two the first connecting plates consolidates the first casing with box connector Even one, carries two cylinder of rail cylinder body and is respectively fixedly connected with two box connector semicylindrical openings, constitutes rail-lifting equipment, by the One square tube shape fixed arm is symmetrically fixed on two longerons of railcar；

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

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

Described series connection parallelogram lindage is by fixed cross beam, two the first swing rods, connecting rod, two the second swing rods and mobile horizontal strokes Beam is constituted, and connecting rod is provided with monaural ring and ears ring, and moving beam is provided with two rollers and square hole；

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

By two the first swing rods respectively with fixed cross beam chain connection, the first swing rod ears ring, the second swing rod ears ring and connecting rod Monaural ring coaxially penetrates pin hinge connection, and another the first swing rod ears ring, another the second swing rod ears ring and connecting rod are double Earrings coaxially penetrates pin hinge connection, two the second swing rods respectively with moving beam chain connection, composition series connection parallel four-bar Mechanism, the vertical plane of symmetry for being symmetrical in fixed cross beam and moving beam assembles another parallelogram lindage, and base plate is fixed on Determine crossbeam lower surface, two rollers of moving beam is contacted with plate upper surface, tooth bar is symmetrical in two series connection parallel four-bars Mechanism is fixed on base plate, and gear is arranged and is fixed on hydraulic motor output shaft, and hydraulic motor is fixed on moving beam side, makes tooth Wheel and rack is engaged, and hydraulic motor is symmetrically fixed on fixed cross beam side, and second laser displacement transducer is fixed on moving beam Side, assembles reciprocating movement driving device；

Base plate is fixed in track car crossbeam and the first square tube shape fixed arm, storage sleeper case is fixed on moving beam, is made Two rollers for storing sleeper case are contacted with substrate, and composition moves back and forth storage sleeper device；

Described rigid hanger hoisting apparatus is filled by two cantilever beams, telescoping crossbeam device, jack up unit, two pick-and-place sleepers Put and constituted with the 3rd laser displacement sensor；

Described telescoping crossbeam device is by ladder square tube shape fixed arm, the first ladder square tube shape telescopic arm, the second ladder square tube Shape telescopic arm, multi-stage expansion shell type oil cylinder, end cap and push pedal composition, ladder square tube shape fixed arm are provided with ring flange, cylinder shoulder and length Slotted eye, the first ladder square tube shape telescopic arm is provided with first shoulder, second shoulder and long slot bore, and the second ladder square tube shape telescopic arm sets There are a shoulder and two monaural rings, multi-stage expansion shell type oil cylinder is provided with first flange disk, first order extension sleeve, second level telescopic Cylinder and second flange disk；

End cap is symmetrically fixed on multi-stage expansion shell type oil cylinder first flange disk, and the second ladder square tube shape telescopic arm is sheathed on multistage and stretches On contracting shell type oil cylinder, multi-stage expansion shell type oil cylinder second flange disk and the second ladder square tube shape telescopic arm blind end is set to be connected, the One ladder square tube shape telescopic arm is sheathed on the second ladder square tube shape telescopic arm, then ladder square tube shape fixed arm is sheathed on into first On ladder square tube shape telescopic arm, end cap is set to be connected with ladder square tube shape fixed arm ring flange, push pedal is fixed on the second ladder square tube Shape telescopic arm blind end, ladder square tube shape fixed arm side, the flexible horizontal stroke of composition are symmetrically fixed on by the 3rd laser displacement sensor Boom device；

Described jack up unit is by entablature component, raising drive device, two symmetrically arranged parallelogram lindages and Four laser displacement sensors are constituted；

Described entablature 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 consolidated Determine arm and be provided with symmetrical two long slot bores and two ears rings, the second square tube shape telescopic arm is provided with two monaural rings and blind end；

Described raising drive device as the composition of retractable driving device, except foregoing second square tube shape fixed arm and first party Tubular fixed arm structure type is different, the second square tube shape telescopic arm and the first square tube shape telescopic arm structure form are different, its Remaining all component structural forms are the same；

Described parallelogram lindage is made up of the second square tube telescopic arm, two the 3rd swing rods and sill, and sill is provided with two Individual circular hole；

Carry out and retractable driving device identical assembly operation, composition raising drive device, by two one end of the 3rd swing rod point Not with the second square tube shape telescopic arm chain connection, two other ends of the 3rd swing rod respectively with sill chain connection, composition is flat Row four-bar mechanism, repeats foregoing assembly operation, and the vertical plane of symmetry assembling for being symmetrical in the second square tube shape fixed arm and sill is another One parallelogram lindage, the 4th laser displacement sensor is symmetrically fixed on below the second square tube shape fixed arm, constitutes raising Device；

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

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

Two cantilever beams are symmetrically fixed on two longerons of railcar, telescoping crossbeam device ladder square tube shape fixed arm is fixed on Below two cantilever girder cantilevers, two ears rings of the second square tube shape fixed arm are respectively with the two of the second ladder square tube shape telescopic arm Individual monaural ring coaxial bolts connection, cmos image sensor is fixed on railcar longeron outside, constitutes sleeper handling apparatus.