CN210262532U

CN210262532U - Pretightening force adjustable nut assembling and disassembling intelligent device

Info

Publication number: CN210262532U
Application number: CN201920788490.4U
Authority: CN
Inventors: 于向军; 段维华; 孙中朝; 王德武; 孙豪
Original assignee: Kunming University
Current assignee: Kunming University
Priority date: 2019-05-29
Filing date: 2019-05-29
Publication date: 2020-04-07
Anticipated expiration: 2029-05-29

Abstract

The utility model discloses an intelligent device for assembling and disassembling nuts with adjustable pretightening force, which consists of a self-propelled rail car, a four-nut multifunctional device for assembling and disassembling, a rechargeable battery pack and an inverter, a hydraulic system and a control system box, wherein the rechargeable battery pack and the inverter provide power for an oil pump and the control system, and the hydraulic system and the control system box are internally provided with an oil tank, the oil pump, the hydraulic control system and an automatic control system; the four-nut assembling and disassembling multifunctional device is carried by the rail car to rapidly reciprocate on a sleeper replacing site, and automatically and rapidly aligns to a working position; the four nuts have consistent pretightening force and can adapt to the installation of nuts with different pretightening force requirements; the rapid replacement of the new sleeper can be guaranteed; the rail car can automatically move to and fro the railway track so as to avoid influencing the passing of the train, and the gravity center of the rail car does not rise and jolt when the rail car goes up and down; the operation is convenient, the intelligent control is easy to realize, and the working efficiency of assembling and disassembling the nut and blocking the ballast collapse at the pillow end is high.

Description

Pretightening force adjustable nut assembling and disassembling intelligent device

Technical Field

The utility model relates to a railway maintenance machinery, in particular to intelligent device is installed and removed to nut that pretightning force is adjustable.

Background

Railway sleeper is in long-time use, because the reason of natural settling and vibration, local sleeper of railway sinks, the individual sleeper damages, need in time change, at the in-process that the sleeper was changed, in the in-process of carrying out the sleeper and changing, need pull off the nut that links firmly on four bolts of bad sleeper, pull out bad sleeper and should avoid its pillow end ballast to slump, adorn four bolts pretension on it respectively with four nuts after changing good sleeper, adopt the operation of artifical single nut of rotating, it is time consuming and energy consuming, work efficiency is low, hardly realize four nut pretightning forces unanimously.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an intelligent device is installed and removed to nut that pretightning force is adjustable.

The utility model consists of a self-propelled rail car, a four-nut assembly and disassembly multifunctional device, a rechargeable battery pack and an inverter, a hydraulic system and a control system box, wherein the rechargeable battery pack and the inverter provide power for an oil pump and the control system;

the self-propelled rail car consists of a first driving device, a driven wheel component, a reciprocating rail device, a frame, four first equal-strength cantilever beams and two second equal-strength cantilever beams, wherein the frame is provided with a first cross beam, a second cross beam and two longitudinal beams, the second equal-strength cantilever beams are provided with single lug rings, and a rechargeable battery pack, an inverter, a hydraulic system and a control system box are arranged on the two longitudinal beams of the rail car;

the first driving device consists of a braking and decelerating double-output-shaft hydraulic motor, two couplers, two first stepped shafts, two first bearings, two second bearings, two third bearings, two rail wheels, two first split bearing supports, two second split bearing supports and two third split bearing supports, the braking and decelerating double-output-shaft hydraulic motor is provided with a first output shaft, a second output shaft and a square flange plate, the first stepped shaft is provided with a first journal, a second journal, a third journal, a fourth journal and a fifth journal, the rail wheels are provided with shaft holes, the first split bearing support consists of a bearing seat and a bearing cover, the second split bearing support consists of a bearing seat and a bearing cover, and the third split bearing support consists of a bearing seat and a bearing cover;

the first bearing is sleeved on a second journal of the first stepped shaft to be fixedly connected, the second bearing is sleeved on a third journal of the first stepped shaft to be fixedly connected, a fourth journal of the first stepped shaft is penetrated in a wheel shaft hole to be fixedly connected, a third bearing is sleeved on a fifth journal of the first stepped shaft to be fixedly connected, square flange plates of the braking and decelerating dual-output shaft hydraulic motor are symmetrically and fixedly connected below a first cross beam of the frame, a first split type supporting bearing seat, a second split type supporting bearing seat and a third split type supporting bearing seat are respectively and fixedly connected below the first cross beam of the frame, a coupler is respectively sleeved on a first output shaft of the braking and decelerating dual-output shaft hydraulic motor and the first journal of the first stepped shaft to be fixedly connected, so that a first bearing, a second bearing and a third bearing which are arranged on the first stepped shaft are respectively arranged in the first split type supporting bearing seat, the second split type supporting bearing seat and the third split type supporting bearing seat, then, the first split type supporting bearing cover, the second split type supporting bearing cover and the third split type supporting bearing cover are respectively aligned and fixedly connected with the first split type supporting bearing seat, the second split type supporting bearing seat and the third split type supporting bearing seat, and the same operation in the section is repeated to form a first driving device;

the driven wheel device consists of a second stepped shaft, two fourth split bearing supports, two fourth bearings, two fifth split bearing supports, two rail wheels and two fifth bearings, wherein the second stepped shaft is provided with two first journals, two second journals and two third journals which are symmetrical, the fourth split bearing supports consist of bearing seats and bearing covers, the fifth split bearing supports consist of the bearing seats and the bearing covers, and the rail wheels are provided with shaft holes;

two fifth bearings are respectively sleeved on the second stepped shaft and fixedly connected with two third journals, two wheel axle holes are respectively sleeved on the second stepped shaft and fixedly connected with two second journals, two fourth bearings are respectively sleeved on the second stepped shaft and fixedly connected with two first journals, two fourth split type supporting bearing seats and two fifth split type supporting bearing seats are respectively fixedly connected with proper positions below the second cross beam, so that the two fourth bearings and the two fifth bearings which are arranged on the second stepped shaft are respectively arranged in the two fourth split type supporting bearing seats and the two fifth split type supporting bearing seats, and then the two fourth split type supporting bearing covers and the two fifth split type supporting bearing covers are respectively aligned and fixedly connected with the two fourth split type supporting bearing seats and the two fifth split type supporting bearing seats to form a driven wheel device;

the reciprocating track device consists of two annular caterpillar track plate driving wheels, two deceleration hydraulic motors, four first lifting devices, six L-shaped pin shafts, two driven wheels, two second lifting devices, two second laser displacement sensors and two distance measurement reference plates, wherein the annular caterpillar track plate driving wheels are provided with longitudinal beams, the longitudinal beams are provided with first shaft holes and two second shaft holes, the deceleration hydraulic motors are provided with output shafts and flange plates, the L-shaped pin shafts are provided with double-lug rings, square flange plates and shaft necks, and the driven wheels are provided with shaft holes;

the first lifting device comprises a first hydraulic oil cylinder, a first square-cylinder-shaped fixed arm and a first square-cylinder-shaped telescopic arm, wherein a piston rod of the first hydraulic oil cylinder is provided with a single-lug ring, the first square-cylinder-shaped fixed arm is provided with a closed end, and the first square-cylinder-shaped telescopic arm is provided with a square flange;

the second lifting device consists of a second hydraulic cylinder, a second square-cylindrical fixed arm, a second square-cylindrical telescopic arm and a connecting plate, wherein a cylinder body of the second hydraulic cylinder is provided with a single-lug ring, a piston rod is provided with a single-lug ring, the second square-cylindrical fixed arm is provided with a square flange plate, the second square-cylindrical telescopic arm is provided with a square flange plate, and the connecting plate is provided with a first double-lug ring and a second double-lug ring;

respectively and symmetrically fixedly connecting four first equal-strength cantilever beams to proper positions on the upper surfaces of the first cross beam and the second cross beam, and symmetrically and fixedly connecting two second equal-strength cantilever beams to proper positions on the upper surfaces of the first cross beam and the second cross beam;

a first hydraulic oil cylinder is arranged in the first square cylindrical fixed arm in a penetrating manner, so that a cylinder body of the first hydraulic oil cylinder is fixedly connected with the closed end of the first square cylindrical fixed arm, a first square cylindrical telescopic arm is arranged in the first square cylindrical fixed arm in a penetrating manner, a single lug ring of a piston rod of the first hydraulic oil cylinder and a double lug ring of the L-shaped pin shaft are coaxially connected to form a hinge, the piston rod of the first hydraulic oil cylinder is prevented from bearing bending moment, and a square flange plate of the first square cylindrical fixed arm is fixedly connected with a square flange plate of the;

a single lug ring of a cylinder body of the second hydraulic cylinder is coaxially connected with a double lug ring of an L-shaped pin shaft to form a hinge joint, so that a piston rod of the second hydraulic cylinder is prevented from bearing bending moment, a second square-cylindrical telescopic arm is sleeved on the second hydraulic cylinder, a flange plate of the second square-cylindrical telescopic arm is aligned and fixedly connected with a flange plate of the L-shaped pin shaft, a second square-cylindrical fixed arm is sleeved on the second square-cylindrical telescopic arm, the single lug ring of the piston rod of the second hydraulic cylinder is coaxially connected with a second double lug ring of a connecting plate to form a hinge joint, and the flange plate of the second square-cylindrical fixed arm is aligned and fixedly;

coaxially penetrating an output shaft of a speed reduction hydraulic motor and a first axial hole of a longitudinal beam of an annular track plate driving wheel, fixedly connecting the output shaft of the speed reduction hydraulic motor and a chain wheel of the annular track plate driving wheel, fixedly connecting a flange plate of the speed reduction hydraulic motor and the longitudinal beam, coaxially penetrating two L-shaped pin shaft necks of two first lifting devices and two L-shaped pin shaft necks of two second lifting devices and two second axial holes of the longitudinal beam of the annular track plate driving wheel respectively to form a hinge connection, fixedly connecting two first square fixed arms on two first equal-strength cantilever beams respectively, and coaxially forming a hinge connection between a first double-lug ring of a connecting plate of the two second lifting devices and a single-lug ring of a second equal-strength cantilever beam;

the L-shaped pin shaft necks of the two first lifting devices are coaxially penetrated with the driven wheel shaft holes respectively to form hinge connection, the two first square cylindrical fixed arms are fixedly connected to the two first equal-strength cantilever beams respectively, the two second laser displacement sensors are fixedly connected to the first square cylindrical fixed arms and the second square cylindrical fixed arms respectively, and the two distance measuring reference plates are fixedly connected to the first square cylindrical telescopic arm flange discs and the second square cylindrical telescopic arm flange discs respectively to form the self-propelled railcar;

the multifunctional device for assembling and disassembling the four nuts comprises a third lifting device, an upper beam, a second driving device, a dynamic torque sensor, four magnetic wide-mouth inner hexagonal sleeves, a laser displacement sensor, a CMOS image sensor and a device for preventing ballast from collapsing at the pillow end, wherein the upper beam is provided with a flange plate, four symmetrical first shaft holes and two symmetrical second shaft holes, the dynamic torque sensor is provided with two flange plates, and the wide-mouth inner hexagonal sleeve is provided with a flange plate;

the third lifting device consists of a lower beam, two third hydraulic oil cylinders, two third cylindrical fixed arms and two third cylindrical telescopic arms, wherein the lower beam is provided with two symmetrical slotted holes, a piston rod of each third hydraulic oil cylinder is provided with a flange plate, each third cylindrical fixed arm is provided with a flange plate, and each third cylindrical telescopic arm is provided with a flange plate;

two third hydraulic oil cylinder bodies are symmetrically and fixedly connected to the upper surface of the lower beam, two third-party cylindrical fixed arms are respectively sleeved on the two third hydraulic oil cylinders, two third-party cylindrical fixed arm flange plates are respectively and symmetrically and fixedly connected to the upper surface of the lower beam, two third-party cylindrical telescopic arms are respectively arranged in the two third-party cylindrical fixed arms in a penetrating manner, and the third-party cylindrical telescopic arms and the third-party cylindrical fixed arms form a moving pair to bear bending moment possibly generated when the third lifting device works, so that a third lifting device is formed;

the second driving device consists of a low-speed high-torque hydraulic motor, a box-shaped chain box, double-row chain wheels, two annular chains, two chain wheels, two first gears, two stepped shafts, two first thrust bearings, four second gears, three first transmission shafts, a second transmission shaft, four second thrust bearings, four third thrust bearings, four hexagon nuts and a side cover;

the two first thrust bearings are fixedly sleeved on the third shaft necks of the two stepped shafts respectively, the two first gears are fixedly sleeved on the second shaft necks of the two stepped shafts respectively, the two chain wheels are fixedly sleeved on the first shaft necks of the two stepped shafts respectively, and the fourth shaft necks of the two stepped shafts are fixedly sleeved on the two second shaft holes of the upper beam respectively;

the second gear sleeve is fixedly connected to the first shaft neck of the first transmission shaft, the second thrust bearing sleeve is fixedly connected to the second shaft neck of the first transmission shaft, the third shaft neck of the first transmission shaft is arranged in the first shaft hole of the upper cross beam in a penetrating manner, the second gear is meshed with the first gear, the third thrust bearing sleeve is fixedly connected to the fourth shaft neck of the first transmission shaft, the hexagon nut is sleeved on the first transmission shaft, the hexagon nut is in contact and pre-tightening with the third thrust bearing, the same operation in the section is repeated, the remaining two first transmission shafts, the two second gears, the two second thrust bearings, the upper cross beam, the two third thrust bearings and the two hexagon nuts are assembled, and the three wide-mouth inner hexagon sleeve flange plates are respectively aligned and fixedly connected with the three first transmission shaft flange plates;

a second gear sleeve is fixedly connected to a first shaft neck of a second transmission shaft, a second thrust bearing sleeve is fixedly connected to a second shaft neck of the second transmission shaft, a third shaft neck of the second transmission shaft is arranged in a first shaft hole of an upper cross beam in a penetrating manner, a second gear is meshed with the first gear, a third thrust bearing sleeve is fixedly connected to a fourth shaft neck of the second transmission shaft, a hexagon nut is sleeved on the second transmission shaft, the hexagon nut is in contact and pretightening, a flange plate at one end of a dynamic torque sensor is aligned and fixedly connected with a flange plate of the second transmission shaft, a flange plate at the other end of the dynamic torque sensor is aligned and fixedly connected with a flange plate at the other end of the dynamic torque sensor, the dynamic torque sensor and a low-speed large-torque hydraulic motor form closed-loop control, and the synchronous sleeper four-nut mounting and dismounting device;

sleeving two annular chains on the two chain wheels respectively, enabling an output shaft of the low-speed high-torque hydraulic motor to penetrate through a round hole of the box-shaped chain box, enabling a flange plate of the low-speed high-torque hydraulic motor to be fixedly connected with the upper surface of the box body, sleeving and fixedly connecting the double-row chain wheels on the output shaft of the low-speed high-torque hydraulic motor, sleeving the two annular chains on the two chain wheels of the double-row chain wheels respectively, enabling the box-shaped chain box to be fixedly connected onto the upper cross beam, and fixedly connecting the side cover on the box-shaped chain box to form a second driving;

the device for preventing the ballast from collapsing at the pillow end consists of a telescopic device, a grabbing and releasing device and a baffle plate, wherein the baffle plate is provided with two symmetrical upright posts, a T-shaped chuck and a plurality of fork teeth, the square upright post is provided with a wide-mouth positioning round hole, and the T-shaped chuck is provided with two symmetrical bottom planes and two symmetrical inclined planes;

the telescopic device consists of a fourth cylindrical fixed arm, a fourth hydraulic oil cylinder and a fourth cylindrical telescopic arm, wherein the fourth cylindrical fixed arm is provided with a closed end, a cylinder body of the fourth hydraulic oil cylinder is provided with a flange plate, a piston rod is provided with a flange plate, and the fourth cylindrical telescopic arm is provided with a flange plate;

a fourth hydraulic oil cylinder is arranged in the fourth cylindrical fixed arm in a penetrating manner, so that a flange plate of a cylinder body of the fourth hydraulic oil cylinder is symmetrically and fixedly connected to the closed end of the fourth cylindrical fixed arm, a fourth cylindrical telescopic arm is arranged in the fourth cylindrical fixed arm in a penetrating manner, and a flange plate of a piston rod of the fourth hydraulic oil cylinder is symmetrically and fixedly connected to the flange plate of the fourth cylindrical telescopic arm, so that a telescopic device is formed;

the grabbing and releasing device comprises a hanger, two double-lug-ring supports, a fifth hydraulic oil cylinder, a spiral pressure spring, two sector gears, a first claw and a second claw, wherein the hanger is provided with a square flange plate, two pin shaft holes, two groove square grooves and two conical-head cylindrical pins;

inserting two conical cylindrical pins of a hanger into two wide-mouth positioning circular holes of a baffle respectively, placing a sector gear into a first claw arc surface groove for fixedly connecting, placing another sector gear into a second claw arc surface groove for fixedly connecting, hinging a second pin shaft hole of a first claw with a hanger pin shaft hole, hinging a second pin shaft hole of a second claw with another pin shaft hole of the hanger to enable the two sector gears to be meshed, hinging a double-lug ring of a double-lug ring support with a first pin shaft hole of the first claw, hinging another double-lug ring support double-lug ring with a first pin shaft hole of the second claw, sleeving a spiral pressure spring on a fifth hydraulic oil cylinder, symmetrically fixedly connecting cylinder body flange plates of the fifth hydraulic oil cylinder on the double-lug ring support, placing one end of the spiral pressure spring into a cylindrical groove of the double-lug ring support, symmetrically fixedly connecting piston rod flange plates of the fifth hydraulic oil cylinder on another double-lug ring support, the piston rod is in a proper extending state, the other end of the spiral pressure spring is arranged in the cylindrical groove of the other double-lug-ring support, and the spiral pressure spring is in a proper compression state to form a grabbing and releasing device;

the fourth cylindrical telescopic arm flange plate is symmetrically and fixedly connected to the hanger square flange plate to form a device for preventing ballast from collapsing at the pillow end;

a fourth cylindrical fixed arm is fixedly connected to a flange plate of an upper cross beam, two flange plates of piston rods of a third hydraulic oil cylinder are symmetrically and fixedly connected to the lower surface of the upper cross beam, two flange plates of a third cylindrical telescopic arm are symmetrically and fixedly connected to the lower surface of the upper cross beam, a lower cross beam is symmetrically and fixedly connected to two longitudinal beams of a self-propelled rail car, a laser displacement sensor is symmetrically and fixedly connected to the upper surface of the lower cross beam, a CMOS image sensor is fixedly connected to the outer side of the longitudinal beam of the rail car, and an intelligent nut assembling and disassembling device.

The utility model has the advantages that:

1. the four-nut assembling and disassembling multifunctional device is carried by the rail car to come and go to a sleeper replacement site, and automatically and quickly aligns to a working position;

2. the four nuts have consistent pretightening force and can adapt to the installation of nuts with different pretightening force requirements;

3. the rapid replacement of the new sleeper can be guaranteed;

4. the rail car can leave the railway track by self so as to avoid the influence of the work of nut assembly and disassembly and the like on train passing; the rail car can automatically return to a railway track, leave a sleeper replacement site after the work of assembling and disassembling nuts and the like is finished, and the gravity center of the rail car does not rise and jolt when the rail car goes up and down.

5. The operation is convenient, the intelligent control is easy to realize, and the working efficiency of assembling and disassembling the nut and blocking the ballast collapse at the pillow end is high.

Drawings

Fig. 1 is a perspective view illustrating the non-working state of the present invention.

Fig. 2 is a perspective view illustrating the working state of the present invention.

Fig. 3 is a perspective view of the railcar of the present invention.

Fig. 4 is a right side view of fig. 3.

Fig. 5 is an exploded perspective view of the driving device of the present invention.

Fig. 6 is an exploded perspective view of the driven wheel assembly of the present invention.

Fig. 7 is an exploded perspective view of the main components of the reciprocating rail device of the present invention.

Fig. 8 is a perspective view illustrating the working state of the upper and lower rails according to the present invention.

Fig. 9 is a right side view of fig. 8.

Fig. 10 is a schematic perspective view of the upper and lower rails of the present invention in working condition.

Fig. 11 is a right side view of fig. 10.

Fig. 12 is a three-dimensional schematic view of the upper and lower rails of the present invention in working condition.

Fig. 13 is a right side view of fig. 12.

Fig. 14 is an exploded perspective view of the lifting device of the present invention.

Fig. 15 is a perspective view of the second driving device of the present invention with the side cover removed.

Fig. 16 is a front view of fig. 15.

Fig. 17 is an exploded perspective view of the second driving device of the present invention.

Fig. 18 is a perspective view of the device for preventing ballast from collapsing at the pillow end of the present invention.

Fig. 19 is a partially enlarged view of a portion a in fig. 18.

Fig. 20 is an exploded perspective view of the device for preventing ballast from collapsing at the pillow end of the present invention.

Detailed Description

Referring to fig. 1, the utility model is composed of a self-propelled rail car 1, a four-nut assembly and disassembly multifunctional device 6, a rechargeable battery pack and an inverter 18, a hydraulic system and a control system box 19, wherein the rechargeable battery pack and the inverter 18 provide power for an oil pump and the control system, and an oil tank, the oil pump, a hydraulic control system and an automatic control system are arranged in the hydraulic system and the control system box 19;

referring to fig. 3, 4, 8 and 9, the self-propelled rail car 1 is composed of a first driving device 10, a driven wheel assembly 11, a reciprocating rail device 12, a frame 13, four first equal-strength cantilever beams 16 and two second equal-strength cantilever beams 17, wherein the frame 13 is provided with a first cross beam 131, a second cross beam 132 and two longitudinal beams 133, the second equal-strength cantilever beams 17 are provided with single lug rings 171, and a rechargeable battery pack and inverter 18 and a hydraulic system and control system box 19 are arranged on the two longitudinal beams 133 of the rail car;

referring to fig. 4 and 5, the first driving device 10 comprises a braking and decelerating dual output shaft hydraulic motor 100, two couplers 101, two first stepped shafts 102, two first bearings 103, two second bearings 104, two third bearings 105, two rail wheels 106, two first split bearing supports 107, two second split bearing supports 108, and two third split bearing supports 109, the braking and decelerating dual output shaft hydraulic motor 100 is provided with a first output shaft 1001, a second output shaft 1002, and a square flange plate 1003, the first stepped shaft 102 is provided with a first journal 1021, a second journal 1022, a third journal 1023, a fourth journal 1024, and a fifth journal 1025, the rail wheels 106 are provided with a shaft hole 1061, the first split bearing support 107 is composed of a bearing seat 1071 and a bearing cap 1072, the second split bearing support 108 is composed of a bearing seat 1081 and a bearing cap 1082, the third split bearing support 109 is composed of a bearing seat 1091 and a bearing cover 1092;

sleeving a first bearing 103 on a first stepped shaft second journal 1022 for fixedly connecting, sleeving a second bearing 104 on a first stepped shaft third journal 1023 for fixedly connecting, penetrating a first stepped shaft fourth journal 1024 into a wheel shaft hole 1061 for fixedly connecting, sleeving a third bearing 105 on the first stepped shaft fifth journal 1025 for fixedly connecting, symmetrically and fixedly connecting a braking and decelerating dual-output shaft hydraulic motor square flange 1003 below a first cross beam 131 of the frame, respectively fixedly connecting a first split type supporting bearing seat 1071, a second split type supporting bearing seat 1081 and a third split type supporting bearing seat 1091 below the first cross beam 131 of the frame, respectively sleeving a coupling 101 on a first output shaft 1001 of the braking and decelerating dual-output shaft hydraulic motor and a first stepped shaft first journal 1021 for fixedly connecting, so that the first bearing 103, the second bearing 104 and the third bearing 105 which are installed on the first stepped shaft 102 are respectively arranged on the first split type supporting bearing seat 1071, the first split type supporting bearing seat, the second bearing seat and the third bearing 105, A first driving device 10 is formed by aligning and fixedly connecting a first split supporting bearing cover 1072, a second split supporting bearing cover 1082 and a third split supporting bearing cover 1092 with a first split supporting bearing seat 1071, a second split supporting bearing seat 1081 and a third split supporting bearing seat 1091 respectively in the second split supporting bearing seat 1081 and the third split supporting bearing seat 1091, and repeating the same operation in the section;

referring to fig. 3 and 6, the driven wheel device 11 is composed of a second stepped shaft 110, two fourth split bearing supports 111, two fourth bearings 112, two fifth split bearing supports 113, two rail wheels 114 and two fifth bearings 115, the second stepped shaft 110 is provided with two symmetrical first journals 1101, two second journals 1102 and two third journals 1103, the fourth split bearing support 111 is composed of a bearing seat and a bearing cover 1112, the fifth split bearing support 113 is composed of a bearing seat 1131 and a bearing cover 1132, the rail wheels 114 are provided with shaft holes 1141;

two fifth bearings 115 are respectively sleeved on the second stepped shaft and fixedly connected with two third journals 1103, two wheel shaft holes 1061 are respectively sleeved on the second stepped shaft and fixedly connected with two second journals 1102, two fourth bearings 112 are respectively sleeved on the second stepped shaft and fixedly connected with two first journals 1101, two fourth split support bearing seats 1111 and two fifth split support bearing seats 1131 are respectively fixedly connected with proper positions under the second cross beam 132, so that the two fourth bearings 112 and the two fifth bearings 115 which are installed on the second stepped shaft 110 are respectively arranged in the two fourth split support bearing seats 1111 and the two fifth split support bearing seats 1131, and then the two fourth split support bearing covers 1112 and the two fifth split support bearing covers 1132 are respectively aligned and fixedly connected with the two fourth split support bearing seats 1111 and the two fifth split support bearing seats 1132, so as to form the driven wheel device 11;

referring to fig. 4 and 7, the reciprocating rail device 12 is composed of two circular caterpillar plate driving wheels 121, two deceleration hydraulic motors 122, four first lifting devices 123, six L-shaped pins 124, two driven wheels 125, two second lifting devices 126, two second laser displacement sensors 127 and two distance measurement reference plates 128, the circular caterpillar plate driving wheels 121 are provided with longitudinal beams 1211, the longitudinal beams 1211 are provided with a first shaft hole 12111 and two second shaft holes 12112, the deceleration hydraulic motors 122 are provided with output shafts 1221 and flange disks 1222, the L-shaped pins 124 are provided with a double-lug ring 1241, a square flange 1242 and a shaft neck 1243, and the driven wheels 125 are provided with shaft holes 1251;

referring to fig. 7, the first lifting device 123 comprises a first hydraulic cylinder 1231, a first square cylindrical fixed arm 1232 and a first square cylindrical telescopic arm 1233, wherein a piston rod of the first hydraulic cylinder 1231 is provided with a single ear loop 12311, the first square cylindrical fixed arm 1232 is provided with a closed end 12321, and the first square cylindrical telescopic arm 1233 is provided with a square flange 12331;

referring to fig. 7, the second lifting device 126 is composed of a second hydraulic cylinder 1261, a second square-cylindrical fixed arm 1262, a second square-cylindrical telescopic arm 1263 and a connecting plate 1264, wherein the cylinder body of the second hydraulic cylinder 1261 is provided with a single-lug ring 12611, the piston rod is provided with a single-lug ring 12612, the second square-cylindrical fixed arm 1262 is provided with a square flange 12621, the second square-cylindrical telescopic arm 1263 is provided with a square flange 12631, and the connecting plate 1264 is provided with a first double-lug ring 12641 and a second double-lug ring 12642;

respectively and symmetrically fixedly connecting four first equal-strength cantilever beams 16 at proper positions on the upper surfaces of the first cross beam 131 and the second cross beam 13, and symmetrically and fixedly connecting two second equal-strength cantilever beams 17 at proper positions on the upper surfaces of the first cross beam 131 and the second cross beam 132;

a first hydraulic oil cylinder 1231 is arranged in the first square cylindrical fixed arm 1232 in a penetrating manner, so that a cylinder body of the first hydraulic oil cylinder 1231 is fixedly connected with a closed end 12321 of the first square cylindrical fixed arm, a first square cylindrical telescopic arm 1233 is arranged in the first square cylindrical fixed arm 1232 in a penetrating manner, a single lug ring 12311 of a piston rod of the first hydraulic oil cylinder and a double lug ring 1241 of an L-shaped pin shaft are coaxially connected to form a hinge, the piston rod of the first hydraulic oil cylinder is prevented from bearing bending moment, and a square flange 12321 of the first square cylindrical fixed arm is fixedly connected with a square flange 1242 of the L-shaped;

a second hydraulic cylinder body single lug ring 12611 and an L-shaped pin shaft double lug ring 1241 are coaxially hinged to avoid the piston rod of the second hydraulic cylinder 1261 bearing bending moment, a second square cylindrical telescopic arm 1263 is sleeved on the second hydraulic cylinder 1261 to enable a second square cylindrical telescopic arm flange 12631 and an L-shaped pin shaft flange 1242 to be aligned and fixedly connected, a second square cylindrical fixed arm 1262 is sleeved on the second square cylindrical telescopic arm 1263, a second hydraulic cylinder piston rod single lug ring 12612 and a connecting plate second double lug ring 12642 are coaxially hinged to form, and a second square cylindrical fixed arm flange 12621 and a connecting plate 1264 are aligned and fixedly connected to form a second lifting device 126;

coaxially penetrating a speed-reducing hydraulic motor output shaft 1221 and a longitudinal beam first shaft hole 12111 of an annular track plate driving wheel 121, fixedly connecting the speed-reducing hydraulic motor output shaft 1221 and a chain wheel of the annular track plate driving wheel 121, fixedly connecting a speed-reducing hydraulic motor flange 1222 and a longitudinal beam 1211, coaxially penetrating two L-shaped pin shaft journals 1243 of two first lifting devices and two second shaft holes 12112 of the longitudinal beam of the annular track plate driving wheel to form a hinge connection, respectively fixedly connecting two first square tubular fixing arms 1232 on two first equal-strength cantilever beams 16, and respectively coaxially forming a hinge connection between a connecting plate first double-lug ring 12641 of the two second lifting devices and a second equal-strength cantilever beam single-lug ring 171;

the L-shaped pin shaft journals 1243 of the two first lifting devices are respectively coaxially penetrated with the driven wheel shaft holes 1251 to form a hinge connection, the two first square cylindrical fixed arms 1232 are respectively fixedly connected to the two first equal-strength cantilever beams 16, the two second laser displacement sensors 127 are respectively fixedly connected to the first square cylindrical fixed arms 1232 and the second square cylindrical fixed arms 1262, and the two distance measuring reference plates 128 are respectively fixedly connected to the first square cylindrical telescopic arm flange 12331 and the second square cylindrical telescopic arm flange 12631 to form the self-propelled railway vehicle 1;

referring to fig. 2 and 17, the multifunctional four-nut mounting and dismounting device 6 is composed of a third lifting device 60, an upper beam 61, a second driving device 62, a dynamic torque sensor 65, four magnetic wide-mouth hexagonal sleeves 66, a laser displacement sensor 67, a CMOS image sensor 68 and a device 69 for preventing collapse of ballast at the end of a pillow, wherein the upper beam 61 is provided with a flange 611, four symmetrical first shaft holes 612 and two symmetrical second shaft holes 613, the dynamic torque sensor 65 is provided with two flanges 651, and the wide-mouth hexagonal sleeve 66 is provided with a flange 661;

referring to fig. 14, the third lifting device 60 is composed of a lower beam 600, two third hydraulic cylinders 601, two third cylindrical fixed arms 602 and two third cylindrical telescopic arms 603, the lower beam 600 is provided with two symmetrical long slots 6001, the piston rod of the third hydraulic cylinder 601 is provided with a flange 6011, the third cylindrical fixed arms 602 are provided with a flange 6021, and the third cylindrical telescopic arms 603 are provided with a flange 6031;

two third hydraulic oil cylinder 601 cylinders are symmetrically and fixedly connected to the upper surface of the lower cross beam 600, two third cylindrical fixed arms 602 are respectively sleeved on the two third hydraulic oil cylinders 601, two third cylindrical fixed arm flanges 6021 are respectively and symmetrically and fixedly connected to the upper surface of the lower cross beam 600, two third cylindrical telescopic arms 603 are respectively arranged in the two third cylindrical fixed arms 602 in a penetrating manner, the third cylindrical telescopic arms 603 and the third cylindrical fixed arms 602 form a moving pair to bear bending moment possibly generated when the third lifting device 60 works, and the third lifting device 60 is formed;

referring to fig. 17, the second driving device 62 is composed of a low-speed high-torque hydraulic motor 621, a box-shaped chain box 622, a double-row sprocket 623, two endless chains 624, two sprockets 625, two first gears 626, two stepped shafts 627, two first thrust bearings 628, four second gears 629, three first transmission shafts 630, a second transmission shaft 631, four second thrust bearings 632, four third thrust bearings 633, four hexagon nuts 634 and a side cover 635, the low-speed high-torque hydraulic motor 621 is provided with a flange 6211 and an output shaft 6212, the box-shaped chain box 622 is provided with a circular hole 6221, the stepped shafts 627 are provided with a first journal 6271, a second journal 6272, a third journal 6273 and a fourth journal 6274, the first transmission shaft 630 is provided with a first journal 6301, a second journal 6302, a third journal 6303, a fourth journal 6304 and a flange 6305, the second transmission shaft 631 is provided with a first journal 6311, a second journal 6312 and a fourth journal 6274, A third journal 6313, a fourth journal 6314, and a flange 6315;

two first thrust bearings 628 are respectively sleeved and fixedly connected on two stepped shaft third journal 6273, two first gears 626 are respectively sleeved and fixedly connected on two stepped shaft second journals 6272, two chain wheels 625 are respectively sleeved and fixedly connected on two stepped shaft first journal 627, and two stepped shaft fourth journals 6274 are respectively penetrated and fixedly connected on two second shaft holes 613 of the upper beam;

sleeving and fixedly connecting a second gear 629 on a first transmission shaft first shaft neck 6301, sleeving and fixedly connecting a second thrust bearing 632 on a first transmission shaft second shaft neck 6302, penetrating a first transmission shaft third shaft neck 6303 into an upper beam first shaft hole 612, meshing the second gear 629 with a first gear 626, sleeving and fixedly connecting a third thrust bearing 633 on a first transmission shaft fourth shaft neck 6304, sleeving a hexagon nut 634 on the first transmission shaft, contacting and pre-tightening the hexagon nut 634 and the third thrust bearing 633, repeating the same operation in the section, completing the assembly of the remaining two first transmission shafts 630, the two second gears 629, the two second thrust bearings 632, the upper beam 61, the two third thrust bearings 633 and the two hexagon nuts 634, and respectively aligning and fixedly connecting three wide-mouth inner hexagon sleeve flange plates with three first transmission shaft flange plates 6305;

sleeving and fixedly connecting a second gear 629 on a second transmission shaft first shaft neck 6311, sleeving and fixedly connecting a second thrust bearing 632 on a second transmission shaft second shaft neck 6312, penetrating a second transmission shaft third shaft neck 6313 into an upper beam first shaft hole 612, meshing a second gear 629 with a first gear 626, sleeving and fixedly connecting a third thrust bearing 633 on a second transmission shaft fourth shaft neck 14, sleeving a hexagon nut 634 on the second transmission shaft, enabling the hexagon nut 634 to be in contact with the third thrust bearing 633 for pre-tightening, aligning and fixedly connecting a flange 651 at one end of a dynamic torque sensor with a flange 6315 of the second transmission shaft, aligning and fixedly connecting a flange 63661 at the other end of the dynamic torque sensor with a flange 651 at the other end of the dynamic torque sensor, and forming closed-loop control on the dynamic torque sensor and a low-speed high-torque hydraulic motor, so that the four-nut synchronous assembling and disassembling device of the sleeper can be suitable for nut installation with different pre-tightening force requirements;

sleeving the two annular chains 624 on the two chain wheels 625 respectively, penetrating the output shaft 6212 of the low-speed large-torque hydraulic motor through the round hole 6221 of the box-shaped chain box, fixedly connecting the flange 6211 of the low-speed large-torque hydraulic motor with the upper surface of the box body, sleeving and fixedly connecting the double-row chain wheel 623 on the output shaft 6212 of the low-speed large-torque hydraulic motor, respectively sleeving the two annular chains 624 on the two chain wheels of the double-row chain wheel 623, fixedly connecting the box-shaped chain box 622 on the upper beam 61, and fixedly connecting the side cover 635 on the box-shaped chain box 622 to form a second driving device 62;

referring to fig. 18 to 20, the device 69 for preventing the pillow end from collapsing is composed of a telescopic device 690, a gripping and releasing device 691 and a baffle 692, wherein the baffle 692 is provided with two symmetrical upright posts 6920, a T-shaped clamp 6921 and a plurality of fork teeth 6922, the square upright post 6920 is provided with a wide-mouth positioning round hole 69201, and the T-shaped clamp 6921 is provided with two symmetrical bottom planes 69211 and two symmetrical inclined planes 69212;

referring to fig. 20, the telescopic device 690 comprises a fourth cylindrical fixed arm 6901, a fourth hydraulic cylinder 6902 and a fourth cylindrical telescopic arm 6903, the fourth cylindrical fixed arm 6901 has a closed end 69011, the cylinder body of the fourth hydraulic cylinder 6902 has a flange 69021, the piston rod has a flange 69022, and the fourth cylindrical telescopic arm 6903 has a flange 69031;

a fourth hydraulic oil cylinder 6902 is arranged in the fourth cylindrical fixed arm 6901 in a penetrating manner, so that a cylinder body flange 69021 of the fourth hydraulic oil cylinder is symmetrically and fixedly connected to the closed end 69011 of the fourth cylindrical fixed arm, a fourth cylindrical telescopic arm 6903 is arranged in the fourth cylindrical fixed arm 6901 in a penetrating manner, and a piston rod flange 69022 of the fourth hydraulic oil cylinder is symmetrically and fixedly connected to a fourth cylindrical telescopic arm flange 69031 to form a telescopic device 690;

referring to fig. 18 and fig. 19, the grabbing and releasing device 691 is composed of a hanger 6910, two binaural ring supports 6911, a fifth hydraulic cylinder 6912, a helical compression spring 6913, two sector gears 6914, a first claw 6915 and a second claw 6916, the hanger 6910 is provided with a square flange 69101, two pin hole 69102, two groove square grooves 69103 and two cone cylindrical pins 69104, the binaural ring support 6911 is provided with a binaural ring 69111 and a cylindrical groove 69112, the cylinder body of the fifth hydraulic cylinder 6912 is provided with a flange 69121, the piston rod is provided with a flange 69122, the first claw 6915 is provided with a first pin hole 69151, a second pin 69152, an arc groove 69153, an upper plane 69154 and an inclined plane 69155, the second claw 6916 is provided with a first pin hole 69161, a second pin hole 69162, an arc groove 69163, an upper plane 69164 and an inclined plane 69165;

inserting two conical cylindrical pins 69104 of the hanger into two wide-mouth positioning round holes 69201 of the baffle respectively, placing a sector gear 6914 into a first claw arc groove 69153 for fixed connection, placing another sector gear 6914 into a second claw arc groove 69163 for fixed connection, a second pin shaft hole 69152 of the first claw is hinged with a hanger pin shaft hole 69102, a second pin shaft hole 69162 of the second claw is hinged with another pin shaft hole 69102 of the hanger, so that the two sector gears 6914 are engaged, a double-lug ring support double-lug ring 69111 is hinged with a first pin shaft hole 69151 of the first claw, another double-lug ring support double-lug ring 69111 is hinged with a first pin shaft hole 69161 of the second claw, sleeving a spiral pressure spring 6913 on a fifth hydraulic oil cylinder 6912, so that a cylinder body flange 21 of a fifth cylinder body is symmetrically fixed on a double-lug ring support 6911, one end of the spiral pressure spring 69111 is placed in a double-lug ring support cylindrical groove 12, and a piston rod flange 69122 of the fifth hydraulic oil cylinder is symmetrically fixed on the other double-lug ring support 6911, the piston rod is in a proper extending state, the other end of the spiral pressure spring 6913 is arranged in the cylindrical groove 69112 of the other double-lug ring support, and the spiral pressure spring 6913 is in a proper compression state to form a catching and releasing device 691;

the fourth cylindrical telescopic arm flange 69031 is symmetrically and fixedly connected to the hanger frame square flange 69101 to form a device 69 for preventing ballast from falling at the pillow end;

a fourth cylindrical fixed arm 6901 is fixedly connected to an upper cross beam flange plate 611, two third hydraulic oil cylinder piston rod flange plates 6011 are symmetrically and fixedly connected to the lower surface of an upper cross beam 61, two third cylindrical telescopic arm flange plates 6031 are symmetrically and fixedly connected to the lower surface of the upper cross beam 61, a lower cross beam 600 is symmetrically and fixedly connected to two longitudinal beams 133 of the self-propelled railcar, laser displacement sensors 67 are symmetrically and fixedly connected to the upper surface of the lower cross beam 600, and a CMOS image sensor 68 is fixedly connected to the outer sides of the longitudinal beams 133 of the railcar to form an intelligent nut assembling and disassembling device with adjustable pretightening force.

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

1. and (3) disassembling the nut: the bolt on the outer side of the sleeper on the right side of the bad sleeper is well marked by engine oil, high-pressure oil enables a first output shaft and a second output shaft of a braking and decelerating double-output-shaft hydraulic motor to rotate synchronously in the forward direction, two rail wheels are respectively driven to rotate in the forward direction by two first stepped shafts, when the rail car runs to the vicinity of a sleeper changing site, image information collected by a CMOS image sensor is automatically identified by a pattern identification system, the braking and decelerating double-output-shaft hydraulic motor starts to brake, the rail car is stopped at the position where the CMOS image sensor is coaxial with the engine oil marking bolt, four magnetic wide-mouth hexagonal sleeves are coaxial with four bolts on the sleeper, as shown in figure 1, the high-pressure oil enables piston rods of two third hydraulic oil cylinders to retract synchronously, a laser displacement sensor measures displacement signals of the laser displacement sensor and an upper cross beam to control the third hydraulic oil cylinders to work, the upper cross beam is pulled to move downwards, the upper, the upper cross beam carries the second driving device to descend to four magnetic wide-mouth hexagon sleeves sleeved on four nuts to be disassembled, the piston rods of the two third hydraulic oil cylinders stop retracting, the low-speed high-torque hydraulic motor starts to rotate in the forward direction, the output shaft of the low-speed high-torque hydraulic motor drives the duplex sprocket to rotate in the forward direction, two chain wheels are driven by two annular chains to rotate forwards, the two chain wheels drive two stepped shafts to rotate respectively, a first gear fixedly connected to the stepped shafts is meshed with two second gears to rotate respectively, the four second gears drive a second transmission shaft and three first transmission shafts to rotate in a reverse synchronous mode respectively, four inner hexagonal sleeves rotate in a reverse synchronous mode, four nuts are screwed down respectively, the screwed nuts are left in the inner hexagonal sleeves due to the magnetism of the inner hexagonal sleeves, as shown in figure 2, the low-speed large-torque hydraulic motor stops working, and the nut dismounting work is completed.

2. Inserting a baffle for preventing the ballast at the pillow end from collapsing: high-pressure oil enables a piston rod of a fourth hydraulic oil cylinder to start extending to push a fourth cylindrical telescopic arm to extend, a baffle plate is driven to enable fork teeth of the baffle plate to be inserted into roadbed ballast at the outer side of a broken sleeper to a proper depth, the piston rod of the fourth hydraulic oil cylinder stops extending, high-pressure oil enables a piston rod of a fifth hydraulic oil cylinder to start retracting to pull a first claw and a second claw to swing back around pin shafts of the first claw and the second claw respectively, a spiral pressure spring is compressed properly, two sector gears which are meshed with each other ensure that the first claw and the second claw swing synchronously, when the first claw and the second claw swing back to the maximum opening degree, the first claw and the second claw are disconnected with a T-shaped chuck, the high-pressure oil enables the piston rod of the fourth hydraulic oil cylinder to start retracting to pull the fourth cylindrical telescopic arm to retract, a fourth cylindrical telescopic arm retracting belt grabbing and releasing device moves upwards to a proper height, and the piston rod of the, and the piston rod of the fifth hydraulic oil cylinder stops retracting, the middle position of the directional control valve of the hydraulic system enables the piston rod of the fifth hydraulic oil cylinder to be in a floating state, and the elastic force of the helical compression spring enables the first claw and the second claw to swing around the pin shafts of the first claw and the second claw to the original positions in opposite directions, so that the work of inserting the baffle for blocking the collapse of ballast at the pillow end is completed.

The high-pressure oil enables piston rods of two third hydraulic oil cylinders to start to synchronously extend, the upper cross beam pulls two third-party cylindrical telescopic arms to start to synchronously extend, the upper cross beam supports the belt second driving device to ascend to four magnetic wide-mouth inner hexagonal sleeves to be sleeved to proper heights, the piston rods of the two third hydraulic oil cylinders stop extending, the high-pressure oil enables a first output shaft and a second output shaft of the braking and decelerating double-output-shaft hydraulic motor to forwardly and synchronously rotate, and the rail car is moved away from a sleeper changing site.

3. Installing a nut: when a new sleeper is replaced in place, high-pressure oil enables a first output shaft and a second output shaft of a braking and decelerating double-output-shaft hydraulic motor to reversely and synchronously rotate, a rail car runs to a sleeper replacement site, the rail car is stopped at a position where a CMOS image sensor and an engine oil marking bolt are coaxial, four inner hexagonal sleeves provided with nuts are coaxial with four bolts on the new sleeper, as shown in figure 1, the numerical value of a pre-tightening torque is set according to the pre-tightening requirement of the nuts, the low-speed large-torque hydraulic motor is controlled to work through the output information of a dynamic torque sensor, high-pressure oil enables piston rods of two third hydraulic oil cylinders to synchronously retract, an upper cross beam supports a nut of a second driving device which descends into the inner hexagonal sleeve to be in contact with the bolt of the new sleeper replacement, the piston rods of the two third hydraulic oil cylinders stop retracting, the low-speed large-torque hydraulic motor starts to reversely rotate, output shafts of two, two chain wheels rotate reversely through two annular chain support belts, the two chain wheels drive two stepped shafts to rotate reversely respectively, a first gear fixedly connected to the stepped shafts is meshed with two second gears to drive, the four second gears drive a second transmission shaft and three first transmission shafts to rotate in a forward synchronous mode respectively, four inner hexagonal sleeves are driven to enable inner nuts to rotate in a forward synchronous mode, the four nuts are screwed into four bolts respectively and are pre-tightened to a required torque value, the low-speed high-torque hydraulic motor stops working, and the position shown in figure 2 is used for finishing the work of installing the nuts.

4. Pulling out the baffle for preventing the ballast from collapsing at the pillow end: the piston rod of the fourth hydraulic oil cylinder starts to extend by high-pressure oil to push the fourth cylindrical telescopic arm to extend, the fourth cylindrical telescopic arm carries the grabbing and releasing device to move downwards, the piston rod of the fifth hydraulic oil cylinder is in a floating state, when the inclined plane of the first claw and the inclined plane of the second claw respectively start to contact and slide with two symmetrical inclined planes of the T-shaped chuck, the first claw and the second claw respectively swing around the pin shaft of the first claw and back to back against the elastic force of the helical compression spring, when the grabbing and releasing device moves downwards until the plane of the first claw and the plane of the second claw respectively start to contact with two symmetrical bottom planes of the T-shaped chuck, under the elastic force of the helical compression spring, the first claw and the second claw respectively swing around the pin shaft to the plane of the first claw and the plane of the second claw respectively and coplanar with the two symmetrical bottom planes of the T-shaped chuck, the hanger is connected with the baffle plate, and the piston rod of the fourth hydraulic oil cylinder stops extending, the piston rods of the two third hydraulic oil cylinders start to synchronously extend by high-pressure oil, the upper cross beam support plate has a ballast collapse blocking baffle at the sleeper end and rises to a proper height, the piston rods of the two third hydraulic oil cylinders stop extending, meanwhile, the piston rod of the fourth hydraulic oil cylinder retracts properly, the work of the ballast collapse blocking baffle at the sleeper end is finished, the high-pressure oil enables the first output shaft and the second output shaft of the braking and decelerating dual-output-shaft hydraulic motor to synchronously rotate in the forward direction, and the rail car leaves a sleeper changing site.

5. The rail car leaves the railway track: if the related work cannot be finished in the effective train passing clearance, the high-pressure oil enables four first hydraulic oil cylinder piston rods to synchronously extend, the four first hydraulic oil cylinder piston rods respectively push four first square tubular telescopic arms to synchronously extend, simultaneously two second hydraulic oil cylinder piston rods also start to synchronously extend, two second hydraulic oil cylinder bodies respectively push two second square tubular telescopic arms to synchronously extend, six L-shaped pin shafts respectively push two annular track plate driving wheels and two wheels to move downwards, when the two annular track plate driving wheels and the two wheels contact roadbed ballast, the four first hydraulic oil cylinder bodies respectively push four first square tubular fixed arms to move upwards, so that the four first equal-strength cantilever beams respectively support the first cross beams and the second cross beams to move upwards, and simultaneously the two second hydraulic oil cylinder piston rods respectively push the two second square fixed arms to move upwards, making two second equal-strength cantilever beams respectively carry the first cross beam and the second cross beam to move upwards to lift the rail wheels from the rail at a proper height, as shown in fig. 8 and 9, stopping extending of four first hydraulic cylinder piston rods and two second hydraulic cylinder piston rods, enabling two speed reduction hydraulic motors to start synchronous forward rotation by high-pressure oil to drive the rail car to start transverse movement away from the rail on a roadbed, when the caterpillar plates of two annular caterpillar plate driving wheels approach the rail, enabling the two second hydraulic cylinder piston rods and the two first hydraulic cylinder piston rods to start coordinated retraction, respectively measuring displacement signals of the two second hydraulic cylinder piston rods and two distance measurement reference plates by two second laser displacement sensors to respectively control the first hydraulic cylinder and the second hydraulic cylinder to work, respectively enabling the two second lifting driving devices to respectively swing forward relative to the second equal-strength cantilever beams to enable the front ends of the two annular caterpillar plate driving wheels to lift up the rail, as shown in fig. 10 and 11, the center of gravity of the rail car is not raised, when the longitudinal beams of the two annular track plate driving wheels are parallel to the upper surface of the sleeper, the two second hydraulic cylinder piston rods and the two first hydraulic cylinder piston rods stop retracting, the two second hydraulic cylinder piston rods start extending, so that the two second lifting driving devices respectively swing reversely relative to the second equal-strength cantilever beam, as shown in fig. 12 and 13, the two annular track plate driving wheels go over the lower rail, the two second hydraulic cylinder piston rods stop extending simultaneously, the two second hydraulic cylinder piston rods start to appropriately retract to the positions shown in fig. 9, the two first hydraulic cylinder piston rods start to appropriately extend to the positions shown in fig. 9, so that the rail car leaves the railway track, and the two deceleration hydraulic motors stop rotating forwards;

6. returning the rail car to the railway track: when the train passes through a sleeper changing site, high-pressure oil enables the two speed reducing hydraulic motors to start synchronous reverse rotation to drive the railcar to start transverse return track movement on a roadbed, when the caterpillar plates of the two annular caterpillar plate driving wheels are close to the steel rails, the two first hydraulic cylinder piston rods and the two second hydraulic cylinder piston rods start to retract in a coordinated manner, the two second lifting driving devices respectively swing in a reverse direction relative to the second equal-strength cantilever beam, the rear ends of the two annular caterpillar plate driving wheels are lifted to jump over the track, as shown in figures 12 and 13, when the longitudinal beams of the two annular caterpillar plate driving wheels are parallel to the upper surface of the sleeper, the two first hydraulic cylinder piston rods and the two second hydraulic cylinder piston rods stop retracting, the two first hydraulic cylinder piston rods of the railcar start to extend properly, and the two second lifting driving devices respectively swing in a forward direction relative to the second equal-strength cantilever beam, as shown in fig. 10 and 11, the two endless track plate driving wheels will get over the lower track, the two first hydraulic cylinder piston rods will begin to retract properly to the position shown in fig. 9, the two second hydraulic cylinder piston rods will begin to extend properly to the position shown in fig. 9, when the railcar returns to the position shown in fig. 9, the two decelerating hydraulic motors will stop rotating in reverse, the four first hydraulic cylinder piston rods and the two second hydraulic cylinder piston rods will begin to retract properly and synchronously with the high pressure oil, the rail wheels will drop to contact the rail, and the rail wheels will support the railcar to the position shown in fig. 1 to begin the relevant work to be completed.

Claims

1. The utility model provides an intelligent device is installed and removed to nut that pretightning force is adjustable which characterized in that: the system consists of a self-propelled rail car, a four-nut assembling and disassembling multifunctional device, a rechargeable battery pack, an inverter, a hydraulic system and a control system box, wherein the rechargeable battery pack and the inverter provide power for an oil pump and the control system;