CN106168008A - One has Figure recognition function railway maintenance mechanical-electrical-hydraulic integration machinery - Google Patents

Abstract

The invention discloses one and there is Figure recognition function railway maintenance mechanical-electrical-hydraulic integration machinery, synchronized assembling and disassembling device, rail-lifting equipment, transition and push-and-pull sleeper device, handling sleeper device, electromotor, Hydraulic system and control System cabine and railcar formed by tamping flat quarrel device, road shoulder and railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, pillow end clear stone device, sprocket calculus device, four nuts.Equipment quickly can be directed at operating position by the present invention；Being automatically drained out between sleeper, rest the head on outside end and the ballast of railway roadbed, the sandy soil being automatically separated in rock ballast below rail, the tamping between the sleeper of pillow both sides that is automatically backfilled to rock ballast switch tracks is shaken flat, automatically repairs road shoulder and the shape of railway roadbed；Realize four nuts and synchronize mounting or dismounting, improve the fatigue life of bolt, it is ensured that the reliability that sleeper is connected with rail；Swivel block and push-and-pull sleeper are integrating device, compact conformation, and the work in every of pillow is changed in adaptation straight line and curved rail length section, change pillow work efficiency high.

Description

One has Figure recognition function railway maintenance mechanical-electrical-hydraulic integration machinery

Technical field

The present invention relates to a kind of railway maintenance machinery, particularly to one, there is Figure recognition function railway maintenance mechanical electronic hydraulic Integrated machine.

Background technology

Railroad sleeper is during using for a long time, due to natural subsidence and vibration, under the sleeper of railway local Heavy, need to carry out maintenance, indivedual sleepers damage, and need to change in time, during sleeper replacement, use manual work, take Time laborious, inefficiency, it is impossible to complete work in effective train passage gap (being commonly called as: skylight).

Summary of the invention

It is an object of the invention to provide one and there is Figure recognition function railway maintenance mechanical-electrical-hydraulic integration machinery.

The present invention be by tamping flat quarrel device, road shoulder and railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, Pillow end clear stone device, sprocket calculus device, four nuts synchronize assembling and disassembling device, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper Handling apparatus, electromotor, Hydraulic system and control System cabine and railcar composition.Railcar is provided with multiple castor and two and indulges Beam, tamping flat quarrel device, road shoulder and railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, pillow end clear stone device, chain Tooth row stone device, four nuts synchronize assembling and disassembling device, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor Being arranged on two longerons of railcar with Hydraulic system and control System cabine, railcar is drawn by engineering truck, and electromotor is oil Pump and control system provide power, be provided with fuel tank, oil pump, hydraulic control system and automatically control in Hydraulic system and control System cabine System processed；

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

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

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

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

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

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

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

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

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

Two turriform linear Stiffness spring symmetries are sheathed on two light bar segment of slide bar, then two slide blocks are overlapped respectively It is located at two light bar segment of slide bar, two hex nut pretensions respectively, makes two slide blocks make turriform linear Stiffness spring respectively Suitably compression, by the 5th fork and sill chain connection, make the left side monaural ring of two second connecting rods respectively with the 4th fork A pair tapped blind hole of ears ring, the 6th fork ears ring and slide block coaxial, two the second bolts pretensions respectively, make the 4th pendulum Chain connection between bar, the 6th fork and three components of slide block, by the right monaural ring of two third connecting rods respectively with the 5th fork Ears ring, the 7th fork ears ring coaxial, two bearing pins respectively penetrate, and make second connecting rod, the 5th fork and the 7th fork three Chain connection between individual component, composition the 3rd series connection parallelogram lindage；

A pair tapped blind hole of the first strut ears ring, the second strut ears ring and slide block is coaxial, two the 3rd bolts Pretension, makes chain connection between the first strut, the second strut and three components of slide block, the 6th fork, the 7th fork and second respectively Strut respectively with plate shape entablature chain connection, form servo-actuated Equipoising support apparatus；

By four the 3rd forks and entablature chain connection, the first laser displacement sensor symmetry is fixed under entablature Face；Form the first lowering or hoisting gear；

Described vibrate assembly by entablature, several elastic connecting component, oscillating plate, eight vibrating spears, eight the two or six Angle nut and the first dither motor composition, elastic connecting component is by bolt, two helical springs, pad and hex nut group Becoming, oscillating plate is provided with several bolt hole and eight circular holes；

By bolt through entablature connecting plate bolt hole, helical spring is sheathed on bolt, then passes through oscillating plate spiral shell Keyhole, then another helical spring is sheathed on bolt, pad is sheathed on bolt, hex nut pretension, and oscillating plate is with upper Crossbeam realizes elasticity and connects；Vibrating head passes oscillating plate circular hole, and the second hex nut pretension, the first dither motor is fixed on Oscillating plate upper surface symmetric position, sill symmetry is fixed on two longerons of railcar, composition tamping flat quarrel device.

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

The first described entablature assembly is by first party tubular fixed arm, first party tubular telescopic arm, the second laser position Displacement sensor and the second range finding reference plate composition, first party tubular fixed arm is provided with four ears rings, first party tubular telescopic arm Being provided with two symmetrical grooves, groove is provided with bolt hole；

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

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

As the second described lowering or hoisting gear and the first lowering or hoisting gear composition, except aforesaid first party tubular fixed arm and upper Beam structure form is different, and remaining all component structural form is the same；

Carry out the assembly operation identical with the first lifting drive, by four the 3rd forks and first party tubular fixed arm Chain connection, is fixed on the first laser displacement sensor symmetry below first party tubular fixed arm；Form the second lowering or hoisting gear；

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

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

With arm the second ears ring, cylinder body of hydraulic oil cylinder monaural ring is coaxially penetrated pin hinge be connected, strut monaural ring with Arm the first ears ring coaxially penetrates pin hinge and connects, and bucket body the second ears ring and arm monaural ring coaxially penetrate pin hinge Connecting, connecting rod monaural ring coaxially penetrates pin hinge with bucket body the first ears ring and is connected, connecting rod ears ring, strut ears ring and liquid Oil pressuring cylinder piston bar monocycle coaxially penetrates pin hinge and connects, and forms the first bucket assembly, and U-shaped suspension rod is solid with arm ring flange Even, form bucket device, U-shaped suspension rod is fixed on first party tubular telescopic arm, composition road shoulder and railway roadbed modification device；

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

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

Carry out the assembly operation identical with the first lifting drive, by four the 3rd forks respectively with entablature hinge even Connect, the first laser displacement sensor is fixed on below entablature；Form the 3rd lowering or hoisting gear；

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

Second bucket assembly and the first bucket assembly form and version is the same；

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

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

Described casing be provided with base plate, flechette-type bottom, two the first Ji Shicang, the second Ji Shicang, two square cylindrical, two Individual gradual change isosceles trapezoid skewed slot, four first convex stupefied and two second convex stupefied, base plate is provided with several bolt hole, and flechette-type bottom sets There are several sieve aperture, the first Ji Shicang to be provided with two symmetrical calculus mouths and two Ji Shikou, the second Ji Shicang are provided with the two of symmetry Individual calculus mouth and two Ji Shikou, the first convex stupefied top and bottom are provided with two ears rings of symmetry, and it is right that the second convex stupefied top and bottom are provided with Two the ears rings claimed, stone removing door is provided with two the first monaural rings and four the second monaural rings, and collection crossdrift is provided with two first lists Earrings, four the second monaural rings and six spill plates；

Described stone removing door driving means is driven oil cylinder, the first push-pull bar and the second push-pull bar to form by stone removing door, the One push-pull bar is provided with the first ears ring and the second ears ring, and the second push-pull bar is provided with the first ears ring and the second ears ring；

Described collection crossdrift driving means is driven oil cylinder, the 3rd push-pull bar and the 4th push-pull bar to form by collection crossdrift, the Three push-pull bars are provided with the first ears ring and the second ears ring, and the 4th push-pull bar is provided with the first ears ring and the second ears ring；

The second described elastic connecting component and the first Flexible Connector form and version is the same；

Stone removing door drives cylinder piston rod monaural ring, first push-pull bar the first ears ring, second push-pull bar the first ears ring Coaxially penetrating pin hinge to connect, form stone removing door driving means, collection crossdrift drives cylinder piston rod monaural ring, the 3rd push-pull bar First ears ring, the 4th push-pull bar the first ears ring coaxially penetrate pin hinge and connect, composition collection crossdrift driving means；

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

Oil cylinders are driven to be respectively fixedly connected with on the medial wall of two square cylindrical two stone removing doors, two the first push-pull bars the Two ears rings are co-axially inserted pin hinge with two the first monaural rings of stone removing door respectively and are connected, two second push-pull bar the second ears Ring is co-axially inserted pin hinge with two the first monaural rings of another stone removing door respectively and is connected, and drives oil cylinder to divide two collection crossdrifts Not being fixed on the lateral wall of two square cylindrical, two the 3rd push-pull bar the second ears rings are single with collection crossdrift two first respectively Earrings is co-axially inserted pin hinge and connects, and two the 4th push-pull bar the second ears rings are single with another stone removing door two first respectively Earrings is co-axially inserted pin hinge and connects, and two end caps are respectively fixedly connected with on casing；

By bolt through sill bolt hole, helical spring is sheathed on bolt, then passes through box bottom bolt hole, Being sheathed on bolt by another helical spring, pad is sheathed on bolt again, hex nut pretension, and casing and crossbeam realize bullet Property connect；Second dither motor symmetry is connected on box bottom, and crossbeam symmetry is fixed on two longerons of railcar, Cmos image sensor is fixed on below crossbeam, forms ballast collection arranging device；

Described pillow end clear stone device be by the second entablature assembly, the second retractable driving device, the 4th lowering or hoisting gear, Two grab mechanisms and U-shaped bar composition；

The second described entablature assembly and the first entablature assembly composition and version are the same, carry out with first on horizontal The assembly operation that beam assembly is identical, forms the second entablature assembly；

The second described retractable driving device is the same with the first retractable driving device composition and version, carries out and first The assembly operation that retractable driving device is identical, forms the second retractable driving device；

The 4th described lowering or hoisting gear and the second lowering or hoisting gear form and version is the same, carries out and the second lowering or hoisting gear Identical assembly operation, forms the 4th lowering or hoisting gear；

The second described grab mechanisms and the first grab mechanisms form and version is the same, carries out and the first grab mechanisms Identical assembling, forms the second grab mechanisms；

Being connected with U-shaped bar by arm ring flange, then be fixed on by U-shaped bar on first party tubular telescopic arm, composition pillow end is clear Stone device；

Described sprocket calculus device is by the 3rd entablature assembly, the 3rd retractable driving device the 5th lowering or hoisting gear and chain Tooth row stone assembly forms；

The 3rd described entablature assembly is by second party tubular fixed arm, two second party tubular fixed arms, the 3rd swashs Optical displacement sensor and the 3rd range finding reference plate composition, second party tubular fixed arm is provided with four ears rings, and second party tubular is solid Arms is provided with two grooves of symmetry, and groove is provided with bolt hole；

The 3rd described retractable driving device is by second party tubular fixed arm, double output shaft hydraulic motor, two elasticity Shaft coupling, two monaural ring bearings, left-handed screw, left-handed square nut, right handed screw, dextrorotation square nut, two square cunnings Block, two hex nuts, four bolts and two second party tubular fixed arms composition, right handed screw be provided with the first axle journal, second Axle journal and the 3rd axle journal, left-handed screw is the same with right handed screw version, and dextrorotation square nut is provided with two symmetric coaxials Blind screwed hole, left-handed square nut is the same with dextrorotation square nut version, and square slider is provided with axis hole；

Monaural ring bearing is sheathed on the second axle journal of right handed screw, yielding coupling by the first axle journal of right handed screw and The right-hand member output shaft fixed connection of double output shaft hydraulic motor, dextrorotation square nut screws on right handed screw appropriate location, square slider set Being located on right handed screw the 3rd axle journal, hex nut pretension, second party tubular telescopic arm is sheathed thereon from right handed screw right-hand member, Making second party tubular telescopic arm groove bolt hole coaxial with dextrorotation square nut tapped blind hole, two bolts screw in dextrorotation side respectively The tapped blind hole pretension of shape nut, repeats aforementioned assembly operation, by the second monaural ring bearing, left-handed screw, left-handed square nut, Square slider, hex nut, yielding coupling, double output shaft hydraulic motor and second party tubular telescopic arm composition one, by the Two square tube shape fixed arms are sheathed on two second party tubular telescopic arms, make double output shaft hydraulic motor symmetry be fixed on second party Tubular fixed arm endoporus upper surface, two monaural ring bearings are respectively fixedly connected with in second party tubular fixed arm endoporus upper surface, and the 3rd Laser displacement sensor symmetry is fixed on second party tubular fixed arm, and the 3rd range finding reference plate is fixed on second party tubular and stretches On arm, the 3rd retractable driving device square slider forms moving sets with second party tubular telescopic arm；

As the 5th described lowering or hoisting gear and the first lowering or hoisting gear composition, except second party tubular fixed arm and entablature are tied Configuration formula is different, and remaining all component structural form is the same；

Carry out the assembly operation identical with the first lowering or hoisting gear, by four the 3rd forks and second party tubular fixed arm hinge Connect, the first laser displacement sensor is fixed on below second party tubular fixed arm, form the 5th lowering or hoisting gear；

Described sprocket calculus assembly is by double output shaft hydraulic motor, two yielding couplings, two sprocket calculus portions Part, U-shaped bar, eight C-shaped-rod and suspension bracket composition, U-shaped bar is provided with two circular flange dishes and square flange, and C-shaped-rod is provided with the One ring flange and the second ring flange, suspension bracket is provided with two the first ring flanges and eight the second ring flanges；

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

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

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

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

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

Double output shaft hydraulic motor double output shaft, two yielding couplings and two sprocket wheel wheel shafts being connected, U-shaped bar is square Ring flange is fixed on the 3rd double output shaft hydraulic motor, eight C-shaped-rod the second ring flanges be respectively symmetrically be fixed on two square On crossbeam, eight the second ring flanges of suspension bracket respectively with eight C-shaped-rod the first ring flanges be connected, two circular flange dishes of U-shaped bar and Two the first ring flanges of suspension bracket are respectively fixedly connected with on second party tubular telescopic arm, form sprocket calculus device；

It is by entablature, the 6th lowering or hoisting gear and two nut assembling and disassembling devices that described sleeper four nut synchronizes assembling and disassembling device Composition；

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

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

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

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

Described rail-lifting equipment is by first crossbeam telescopic component, first crossbeam retractable driving device, two the first swings Device, eight forks, eight hex nuts, two box connecting rods, eight bolts, two flexible shell types carry cylinder of rail composition, pendulum Bar is provided with six prism hole monaural ring and monaural rings, and box connecting rod is arranged with four bolts hole and semicylindrical opening, and flexible shell type carries Cylinder of rail cylinder body is provided with gusset, piston rod free end is provided with fagging；

Described first crossbeam telescopic component be by third party's tubular fixed arm, two third party's tubular telescopic arms, the 4th Laser displacement sensor and the 4th range finding reference plate composition, it is recessed with symmetrical two that third party's tubular telescopic arm is provided with blind end Groove, groove is provided with bolt hole；

Described first crossbeam retractable driving device is the same with the composition of the 3rd retractable driving device, except aforesaid third party Tubular fixed arm and second party tubular fixed arm version is different, third party's tubular telescopic arm and second party tubular telescopic arm Version is different, and remaining all component structural form is the same；

Carry out the assembly operation identical with the 3rd retractable driving device, form first crossbeam retractable driving device；4th swashs Optical displacement sensor symmetry is fixed on third party's tubular fixed arm side, and the 4th range finding reference plate is fixed on third party's tubular and stretches Arm side；

The first described pendulous device is by the first casing, the second spiral rotary actuator, partial gear, two fans Shape gear, two multidiameters and embedded cover plate composition, it is spacing that the first casing is provided with two axis holes, the first positive stop lug boss and second Boss, multidiameter is provided with the first axle journal, the second axle journal, the 3rd axle journal, the one or six prism shaft part and the two or six prism shaft part, embeds Formula cover plate is provided with two axis holes, the first positive stop lug boss and the second positive stop lug boss；

By on two the most sheathed first diameters of axle being fixed on two multidiameters of sector gear, two multidiameters are each passed through Two axis holes of casing, make multidiameter the second axle journal form revolute pair with casing axis hole, are fixed on second by sheathed for partial gear On spiral rotary actuator output shaft, be placed in the first casing, make the gear teeth of partial gear respectively with two sectors The gear teeth of wheel contact along the facewidth, and the second spiral rotary actuator is fixed on the first box bottom, two of embedded cover plate Axis hole is sheathed on two multidiameter the 3rd axle journals respectively, makes embedded cover plate and the first casing be connected, composition the first swing dress Put；

Two fork six prism hole monaural rings are sheathed on respectively two multidiameter the one or six prism shaft parts, two the one or six Angle nut pretension respectively, more other two fork six prism hole monaural rings are sheathed on two multidiameter the two or six prism axles respectively Section, other two the first hex nuts pretension respectively, the one end making four forks is connected with the two ends of two multidiameters respectively, and four Four screwed holes of individual fork monaural ring and box connecting rod are coaxial, four tools for bolts ' pretensions, make four forks cut with scissors with box connecting rod respectively Chain connects, and forms parallelogram lindage in parallel；

Two the first casings are respectively fixedly connected with in the blind end of two third party's tubular telescopic arms, make two first to swing dress Put and be symmetrical arranged, two flexible shell types are carried cylinder of rail cylinder body and is respectively fixedly connected with in two box connecting rod semicylindrical openings, make two Flexible shell type carries cylinder of rail and is symmetrical arranged, and forms rail-lifting equipment, third party's tubular fixed arm symmetry is fixed on the two of railcar On individual longeron；

Described swivel block and push-and-pull sleeper device be by second cross beam telescopic component, second cross beam retractable driving device, Two pendulous devices, four the first forks, crawl and swivel block device, four the first hex nuts and four bolts compositions, the first pendulum Bar is provided with six prism hole monaural ring and monaural rings；

Described second cross beam telescopic component is by four directions tubular fixed arm, four directions tubular telescopic arm, the 5th laser Displacement transducer and the 5th range finding reference plate composition, four directions tubular telescopic arm is provided with blind end and two symmetrical grooves, recessed Groove is provided with bolt hole；

Described second cross beam retractable driving device is as the first retractable driving device composition, except aforementioned four directions tubular Fixed arm and first party tubular fixed arm version is different, the four directions tubular telescopic arm and first party tubular telescopic arm structure Form is different, and remaining all component structural form is the same；

Carrying out the assembly operation identical with the first retractable driving device, form second cross beam retractable driving device, the 5th swashs Optical displacement sensor symmetry is fixed on tubular fixed arm side, four directions, and the 5th range finding reference plate is fixed on four directions tubular and stretches Arm side；

The second described pendulous device and the first pendulous device form and version is the same, carries out and the first pendulous device Identical assembly operation, forms the second pendulous device；

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

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

By spacing for the 3rd spiral rotary actuator output shaft ring flange fan-shaped boss and the spacing fan of hydraulic jack ring flange Shape boss aligns connected, and the first thrust bearing is sheathed on hydraulic jack the first axle journal, and hydraulic jack penetrates the second casing rank In ladder hole, the 3rd spiral rotary actuator output shaft ring flange and hydraulic jack ring flange is made to insert second casing the first circular hole Section, makes the spacing fan-shaped boss of the 3rd spiral rotary actuator output shaft ring flange and the spacing fan-shaped boss of hydraulic jack ring flange Insert in scallop hole section, make two spacing fan-shaped boss left surfaces contact with scallop hole section the first confined planes, make the first thrust axis Bearing enters second casing the second circular hole portion, makes the 3rd spiral rotary actuator be fixed on the second box bottom, make end cap with Second casing is connected；

Second thrust bearing is sheathed on oil cylinder the 3rd axle journal so that it is insert the second casing the 3rd circular hole portion section, piston Bar passes ladder U-bracket axis hole, and piston shaft borehole jack is located at piston rod axle journal, nut pretension, piston is inserted hydraulic jack cylinder In cylinder, ladder U-bracket flange is penetrated hydraulic jack cylinder barrel and is connected, make oil cylinder the second axle journal and the second housing bushing section hinge Connect, piston rod ears ring, second connecting rod ears ring and first connecting rod monaural ring are coaxially penetrated pin hinge and connects, the second pendulum Bar ears ring coaxially penetrates pin hinge and is connected with roller, and the second fork pin-and-hole and ladder U-bracket pin-and-hole coaxially penetrate bearing pin Chain connection, first connecting rod ears ring and second connecting rod ears ring coaxially penetrate pin hinge even respectively with the first fork monaural ring Connect；

The ears ring of four the 3rd forks is coaxially penetrated pin hinge with four the second monaural rings of ladder U-bracket respectively Connecting, another ears ring of four the 3rd forks coaxially penetrates pin hinge with four the second monaural rings of pressing plate respectively and is connected, Two helical spring one end are connected with two the first monaural rings of ladder U-bracket respectively, and two helical spring other ends divide It is not connected with two the first monaural rings of pressing plate, forms gripper, the pulling force of two helical springs, make to be articulated with the second fork Roller contacts with pressing plate all the time, repeats aforementioned assembly operation, assembles another gripper, and composition captures and swivel block device；

Two the first fork six prism hole monaural rings are sheathed on respectively two multidiameter the one or six prism shaft parts, two One hex nut pretension respectively, more other two the first fork six prism hole monaural rings are sheathed on two multidiameters second respectively Six prism shaft parts, other two the first hex nuts respectively pretensions, make one end of four the first forks respectively with two multidiameters Two ends be connected, four the first fork monaural rings are coaxial with four screwed holes of the second casing respectively, and pretensions distinguished by four bolts, make Four the first forks are connected with the second chest hinge respectively, form in-parallel four-bar mechanism；

First casing is fixed on four directions tubular telescopic arm blind end, composition swivel block and push-and-pull sleeper device；

Described sleeper handling apparatus is made up of reciprocating motion storage sleeper device and rigid hanger hoisting apparatus；

Described reciprocating motion storage sleeper device is made up of reciprocator and storage sleeper case, stores sleeper case Being provided with two rollers and several sleeper storehouse, wherein half sleeper storehouse, left side is used for having stored sleeper, and half sleeper storehouse, right side is used for Store bad sleeper.

Described reciprocator is by base plate, two series connection parallelogram lindages, reciprocating movement driving devices and the Six laser displacement sensor compositions；

Described series connection parallelogram lindage is by fixed cross beam, two the first forks, connecting rod, two the second forks and shiftings Crossbeam forms, and connecting rod is provided with two monaural rings, and moving beam is provided with two rollers and a circular hole；

Described reciprocating movement driving device is by hydraulic motor, yielding coupling, monaural ring bearing, screw rod and square spiral shell Female composition, screw rod is provided with the first axle journal and the second axle journal；

By two the first forks respectively with fixed cross beam chain connection, the first fork ears ring, the second fork ears ring and Connecting rod monaural ring coaxially penetrates pin hinge and connects, another the first fork ears ring, another the second fork ears ring and company Another monaural ring of bar coaxially penetrates pin hinge and connects, two the second forks respectively with moving beam chain connection, composition string Connection parallelogram lindage, repeats aforementioned assembly operation, and the vertical plane of symmetry being symmetrical in fixed cross beam and moving beam assembles another Individual parallelogram lindage, base plate is fixed on fixed cross beam lower surface, makes two rollers of moving beam contact with plate upper surface, Hydraulic motor symmetry is fixed on fixed cross beam side, and monaural ring bearing is sheathed on screw rod the second axle journal, and square nut screws on spiral shell Bar appropriate location, screw rod, through the circular hole of moving beam, makes square nut be fixed on moving beam side, and yielding coupling makes liquid Pressure motor output shaft is connected with screw rod the first axle journal, and monaural ring bearing is fixed on base plate, forms reciprocating movement driving device；

Base plate is fixed on fixed cross beam lower surface, make the four rolling of two rollers of moving beam and motorcycle respectively with Plate upper surface contacts, and the 6th laser displacement sensor symmetry is fixed on fixed cross beam side, forms reciprocator；

Base plate is fixed on railcar crossbeam, third party's tubular fixed arm and four directions tubular fixed arm, stores sleeper Case is fixed on moving beam, makes two rollers of storage sleeper case contact with substrate, and composition moves back and forth storage sleeper Device；

Described rigid hanger hoisting apparatus be by two telescopic cantilever boom devices, telescoping crossbeam device, rigid hanger, two Individual pick-and-place sleeper device and the 7th laser displacement sensor composition；

Described telescopic cantilever boom device is by the first ladder square tube shape fixed arm, the first ladder square tube shape telescopic arm, side Tubular telescopic arm, the first multi-stage expansion shell type oil cylinder, cantilever beam, end plate, cantilever and the 7th laser displacement sensor composition, first Ladder square tube shape fixed arm is provided with ring flange and cylinder shoulder, and the first ladder square tube shape telescopic arm is provided with ring flange and cylinder shoulder, square tube shape Telescopic arm is provided with ring flange and blind end, the first multi-stage expansion shell type oil cylinder be provided with the first ring flange, the first extension sleeve, second Extension sleeve and the second ring flange, cantilever beam is provided with ring flange；

End plate symmetry is fixed on first multi-stage expansion shell type oil cylinder the first ring flange, and square tube shape telescopic arm is sheathed on first Multi-stage expansion shell type oil cylinder, makes first multi-stage expansion shell type oil cylinder the second ring flange symmetry be fixed on square tube shape telescopic arm and closes End, the first ladder square tube shape telescopic arm is sheathed on square tube shape telescopic arm, and the first ladder square tube shape fixed arm is sheathed on the first rank On ladder square tube shape telescopic arm, making the first ladder square tube fixed arm ring flange be connected with end plate, cantilever beam ring flange is fixed on square tube On shape telescopic arm blind end, cantilever is fixed on cantilever beam ring flange, and the 7th laser displacement sensor is fixed on cantilever, composition Telescopic cantilever boom device；

Described telescoping crossbeam device be by the second ladder square tube shape fixed arm, the second ladder square tube shape telescopic arm, the 3rd Ladder square tube shape telescopic arm, the second multi-stage expansion shell type oil cylinder, end cap and push pedal composition, the second ladder square tube shape fixed arm is provided with Ring flange, cylinder shoulder and long slot bore, the second ladder square tube shape telescopic arm is provided with first shoulder, second shoulder and long slot bore, the 3rd rank Ladder square tube shape telescopic arm is provided with cylinder shoulder and two monaural rings, and the second multi-stage expansion shell type oil cylinder is provided with the first ring flange, the first order Extension sleeve, second level extension sleeve and the second ring flange；

End cap symmetry is fixed on second multi-stage expansion shell type oil cylinder the first ring flange, the 3rd ladder square tube shape telescopic arm set It is located on the second multi-stage expansion shell type oil cylinder, makes second multi-stage expansion shell type oil cylinder the second ring flange and the 3rd ladder square tube shape stretch Contracting arm blind end is connected, and the second ladder square tube shape telescopic arm is sheathed on the 3rd ladder square tube shape telescopic arm, then by the second ladder Square tube shape fixed arm is sheathed on the second ladder square tube shape telescopic arm, makes end cap be connected with ladder square tube shape fixed arm ring flange, Push pedal is fixed on the 3rd ladder square tube shape telescopic arm blind end, and the 7th laser displacement sensor symmetry is fixed on the second ladder side Tubular fixed arm side, forms telescoping crossbeam device；

Described rigid hanger is made up of entablature, two pull bars and sill, and entablature is provided with two ears rings, under Crossbeam is provided with two circular holes；

Being fixed on below entablature by one end symmetry of two pull bars, the other end symmetry of two pull bars is fixed on sill Above, composition rigid hanger；

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

Penetrating in sill circular hole by the 4th spiral rotary actuator, the 4th spiral rotary actuator ring flange is fixed on down Above crossbeam, the 3rd yielding coupling makes the 4th spiral rotary actuator output shaft be connected with interior wide-mouth nut axle journal, forms pick-and-place Sleeper device；

Two telescopic cantilever boom device symmetries are fixed on two longerons of railcar, telescoping crossbeam device the second ladder side Tubular fixed arm is fixed on below two cantilever beam cantilevers, and two ears rings of entablature stretch with the 3rd ladder square tube shape respectively Two monaural ring coaxial bolts of arm connect, and form sleeper handling apparatus.

The invention has the beneficial effects as follows:

1. quickly equipment can be directed at operating position；

2. can quickly discharge the ballast between sleeper, the most automatically remove the sandy soil in rock ballast；

3. can quickly remove railway roadbed ballast outside pillow end；

4. can quickly remove railway roadbed ballast below rail；

5. it is capable of four nuts and synchronizes mounting or dismounting, make four nut pretightning forces consistent, improve the fatigue life of bolt, protect The reliability that card sleeper is connected with rail；

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

7. can quickly handling and put sleeper work；

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

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

10. can by be backfilling into switch tracks pillow between ballast quickly consolidate shake flat；

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

12. are capable of automatically controlling, easy to operate, change pillow work efficiency high.

Accompanying drawing explanation

Fig. 1 is the off working state schematic perspective view of the present invention.

Fig. 2 is the front view of Fig. 1.

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

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

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

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

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

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

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

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

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

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

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

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

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

Figure 16 is the grab bucket clear stone device calculus duty schematic perspective view of the present invention.

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

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

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

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

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

Figure 22 is the ballast collection arranging device calculus duty schematic perspective view of the present invention.

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

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

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

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

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

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

Figure 29 is the sprocket calculus device duty schematic perspective view of the present invention.

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

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

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

Figure 33 is the sprocket calculus device schematic perspective view of the present invention.

Figure 34 is the sprocket calculus assembly exploded perspective schematic diagram of the present invention.

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

Figure 36 is that sleeper four nut of the present invention synchronizes assembling and disassembling device duty schematic perspective view.

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

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

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

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

Figure 41 is close-up schematic view at the C in Figure 40.

Figure 42 is the rail-lifting equipment duty schematic perspective view of the present invention.

Figure 43 is the first crossbeam retractable driving device exploded perspective schematic diagram of the present invention.

Figure 44 is the first pendulous device exploded perspective schematic diagram of the present invention.

Figure 45 is the second cross beam retractable driving device exploded perspective schematic diagram of the present invention.

Figure 46 is the second pendulous device exploded perspective schematic diagram of the present invention.

Figure 47 is crawl and the swivel block device exploded perspective schematic diagram of the present invention.

Figure 48 is the rail-lifting equipment of the present invention and swivel block and push-and-pull sleeper device duty schematic perspective view.

Figure 49 is rail-lifting equipment and the handling sleeper device duty schematic perspective view of the present invention.

Figure 50 is the reciprocator schematic perspective view of the present invention.

Figure 51 is the storage sleeper case schematic perspective view of the present invention.

Figure 52 is the telescopic cantilever boom device exploded perspective schematic diagram of the present invention.

Figure 53 is the telescoping crossbeam device exploded perspective schematic diagram of the present invention.

Figure 54 is the left view of Figure 40.

Figure 55 is close-up schematic view at the D in Figure 54.

Detailed description of the invention

Referring to shown in Fig. 1 and Fig. 2, the present invention is by consolidating flat quarrel device 1, road shoulder and railway roadbed modification device 2, grab bucket clearly Stone device 3, ballast collection arranging device 4, pillow end clear stone device 5, sprocket calculus device 6, four nut synchronize assembling and disassembling device 7, carry rail dress Put 8, transition and push-and-pull sleeper device 9, sleeper handling apparatus 16, electromotor 18, Hydraulic system and control System cabine 19 and track Car 20 forms.Railcar is provided with multiple castor 201 and two longerons 202, tamping flat quarrel device 1, road shoulder and railway roadbed modification device 2, grab bucket clear stone device 3, ballast collection arranging device 4, pillow end clear stone device 5, sprocket calculus device 6, four nut synchronize assembling and disassembling device 7, rail-lifting equipment 8, transition and push-and-pull sleeper device 9, sleeper handling apparatus 16, electromotor 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, and electromotor 18 carries for oil pump and control system For power, in Hydraulic system and control System cabine 19, it is provided with fuel tank, oil pump, hydraulic control system and automatic control system；

Referring to shown in Fig. 3 to Fig. 8, described tamping flat quarrel device 1 is by entablature the 11, first lowering or hoisting gear 12 and to shake Smashing assembly 13 to form, entablature 11 is provided with two connecting plates 111, and connecting plate is provided with several bolt hole 1111；

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

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

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

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

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

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

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

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

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

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

By four the 3rd forks 1214 and entablature 11 chain connection, it is connected symmetrical for the first laser displacement sensor 125 Below entablature 11；Form the first lowering or hoisting gear 12；

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

By bolt 1311 through entablature connecting plate bolt hole 1111, helical spring 1312 is sheathed on bolt 1311, Then passing through oscillating plate bolt hole 1321, then be sheathed on bolt 1311 by another helical spring 1312, pad 1313 is sheathed On bolt 1311, hex nut 1314 pretension, oscillating plate 132 realizes elastic connection with entablature 11；Vibrating head 133 is through shaking Dynamic plate circular hole 1322, the second hex nut 134 pretension, the first dither motor 135 is fixed on oscillating plate upper surface symmetry position Putting, sill 1211 symmetry is fixed on two longerons 202 of railcar, composition tamping flat quarrel device 1.

Refer to shown in Fig. 9 to Figure 13, described road shoulder and railway roadbed modification device 2 be by the first entablature assembly 21, the One retractable driving device the 22, second lowering or hoisting gear 23 and bucket device 24 form；

The first described entablature assembly 21 be by first party tubular fixed arm 211, first party tubular telescopic arm 212, Dual-laser displacement transducer 213 and the second range finding reference plate 214 form, and first party tubular fixed arm 211 is provided with four ears rings 2111, first party tubular telescopic arm 212 is provided with two symmetrical grooves 2121, and groove 2121 is provided with bolt hole 21211；

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

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

The second described lowering or hoisting gear 23 forms the same with the first lowering or hoisting gear 12, except aforesaid first party tubular fixed arm 211 and entablature 11 version different, remaining all component structural form is the same；

Carry out the assembly operation identical with the first lifting drive 12, by four the 3rd forks 1214 and first party tubular Fixed arm 211 chain connection, is fixed on the first laser displacement sensor 125 symmetry below first party tubular fixed arm 211；Group Become the second lowering or hoisting gear 23；

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

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

With arm the second ears ring 263, cylinder body of hydraulic oil cylinder monaural ring 2512 is coaxially penetrated pin hinge be connected, strut Monaural ring 2522 coaxially penetrates pin hinge with arm the first ears ring 262 and is connected, bucket body the second ears ring 2542 and arm list Earrings 261 coaxially penetrates pin hinge and connects, and connecting rod monaural ring 2531 and bucket body the first ears ring 2541 coaxially penetrate bearing pin hinge Chain connects, and connecting rod ears ring 2532, strut ears ring 2521 and hydraulic cylinder piston rod monocycle 2511 coaxially penetrate pin hinge Connect, form the first bucket assembly 25, U-shaped suspension rod 27 is connected with arm ring flange 264, form bucket device 24, U-shaped is hung Bar 27 is fixed on first party tubular telescopic arm 212, composition road shoulder and railway roadbed modification device 2；

Referring to shown in Figure 14 to Figure 23, described grab bucket clear stone device 3 is by 31, two the 3rd lowering or hoisting gears of entablature 32 and eight the first grab mechanisms 33 form, entablature 31 is provided with two longerons 311 and two cantilever longitudinal beams 312；

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

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

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

Second bucket assembly 34 forms with the first bucket assembly 25 and version is the same；

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

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

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

Described stone removing door driving means 44 is to be driven oil cylinder the 441, first push-pull bar 442 and the second push-pull bar by stone removing door 443 compositions, the first push-pull bar 442 is provided with the first ears ring 4421 and the second ears ring 4422, and the second push-pull bar 443 is provided with first Ears ring 4431 and the second ears ring 4432；

Described collection crossdrift driving means 45 is to be driven oil cylinder the 451, the 3rd push-pull bar 452 and the 4th push-pull bar by collection crossdrift 453 compositions, the 3rd push-pull bar 452 is provided with the first ears ring 4521 and the second ears ring 4522, and the 4th push-pull bar 453 is provided with first Ears ring 4531 and the second ears ring 4532；

The second described elastic connecting component 47 forms with the first Flexible Connector 131 and version is the same；

Stone removing door drives oil cylinder 441 piston rod monaural ring, first push-pull bar the first ears ring the 4421, second push-pull bar first Ears ring 4431 coaxially penetrates pin hinge and connects, and forms stone removing door driving means 44, and collection crossdrift drives oil cylinder 451 piston rod list Earrings, the 3rd push-pull bar the first ears ring the 4521, the 4th push-pull bar the first ears ring 4531 coaxially penetrate pin hinge and connect, group Become collection crossdrift driving means 45；

Four the second monaural rings 422 of stone removing door 42 respectively with the ears ring 4171 of two the first convex stupefied 417 lower surfaces, Two convex stupefied 418 two ears rings 4181 below coaxially penetrate pin hinge and connect, four the second monaural rings 432 of collection crossdrift 43 Two ears rings 4181 with two first convex stupefied 417 convex stupefied 418 upper surfaces of ears ring 4171, second above are coaxially worn respectively Enter pin hinge to connect；

Driving oil cylinder 441 to be respectively fixedly connected with on the medial wall of two square cylindrical 415 two stone removing doors, two first push away Pull bar the second ears ring 4422 is co-axially inserted pin hinge with two the first monaural rings 421 of stone removing door respectively and is connected, two second Push-pull bar the second ears ring 4432 is co-axially inserted pin hinge with two the first monaural rings 421 of another stone removing door respectively and is connected, Collecting crossdrift by two drives oil cylinder 451 to be respectively fixedly connected with on the lateral wall of two square cylindrical 415, two the 3rd push-pull bars second Ears ring 4522 is co-axially inserted pin hinge is connected with collection two the first monaural ring 431 of crossdrift respectively, two the 4th push-pull bars the Two ears rings 4432 are co-axially inserted pin hinge with two the first monaural rings 431 of another stone removing door respectively and are connected, two end caps 49 are respectively fixedly connected with on casing 41；

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

Referring to shown in Figure 24 to Figure 28, described pillow end clear stone device 5 is by the second entablature assembly 51, second stretches Driving means the 52, the 4th lowering or hoisting gear the 53, second grab mechanisms 54 and U-shaped bar 55 form；

The second described entablature assembly 51 forms with the first entablature assembly 21 and version is the same, carries out and first The assembly operation that entablature assembly 21 is identical, forms the second entablature assembly 52；

The second described retractable driving device 52 forms with the first retractable driving device 22 and version is the same, carry out with The assembly operation that first retractable driving device 22 is identical, forms the second retractable driving device 52；

The 4th described lowering or hoisting gear 53 forms with the second lowering or hoisting gear 23 and version is the same, carries out and the second lifting The assembly operation that device 23 is identical, forms the 4th lowering or hoisting gear 53；

The second described grab mechanisms 54 forms with the first grab mechanisms 33 and version is the same, carries out and the first grab bucket The assembling that device 33 is identical, forms the second grab mechanisms 54；

Arm ring flange 354 is connected with U-shaped bar 55, then U-shaped bar 55 is fixed on first party tubular telescopic arm 212, Composition pillow end clear stone device 5；

Referring to shown in Figure 29 to Figure 35, described sprocket calculus device 6 is to be stretched by the 3rd entablature assembly the 61, the 3rd Driving means 62 the 5th lowering or hoisting gear 63 and sprocket calculus assembly 64 form；

The 3rd described entablature assembly 61 is by 611, two second party tubular fixed arms of second party tubular fixed arm 611, the 3rd laser displacement sensor 613 and the 3rd range finding reference plate 614 form, and second party tubular fixed arm 611 is provided with four Ears ring 6111, second party tubular fixed arm 611 is provided with two grooves 6121 of symmetry, and groove 6121 is provided with bolt hole 61211；

The 3rd described retractable driving device 62 be by second party tubular fixed arm 611, double output shaft hydraulic motor 621, 622, two monaural ring bearings 623 of two yielding couplings, left-handed screw 624, left-handed square nut 625, right handed screw 626, 627, two square sliders of dextrorotation square nut, 629, four bolts 630 of 628, two hex nuts and two second party tubulars are solid Arms 611 forms, and right handed screw 626 is provided with the first axle journal the 6261, second axle journal 6262 and the 3rd axle journal 6263, left-handed screw 624 is the same with right handed screw 626 version, and dextrorotation square nut 627 is provided with the blind screwed hole 6271 of two symmetric coaxials, left Rotation square nut 625 is the same with dextrorotation square nut 627 version, and square slider 628 is provided with axis hole 6281；

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

The 5th described lowering or hoisting gear 63 forms the same with the first lowering or hoisting gear 12, except second party tubular fixed arm 611 He Entablature 11 version is different, and remaining all component structural form is the same；

Carry out the assembly operation identical with the first lowering or hoisting gear 12, four the 3rd forks 1214 are fixed with second party tubular Arm 611 chain connection, is fixed on the first laser displacement sensor 125 below second party tubular fixed arm 611, forms the 5th liter Falling unit 63；

Described sprocket calculus assembly 64 is by double output shaft hydraulic motor 642, two chains of 641, two yielding couplings Tooth row Plumbum preparatium part 643,644, eight C-shaped-rod 645 of U-shaped bar and suspension bracket 646 form, and U-shaped bar 644 is provided with two circular flange dishes 6441 and square flange 6442, C-shaped-rod 645 is provided with the first ring flange 6451 and the second ring flange 6452, and suspension bracket 646 is provided with two Individual first ring flange 6461 and eight the second ring flanges 6462；

Described sprocket calculus parts 643 are by square beam 6431, sprocket wheel 6432, sprocket wheel wheel shaft 6433, inducer 6434,6436, four BOGEY WHEEL wheel shafts 6437 of 6435, four BOGEY WHEELs of inducer wheel shaft, several chain tooth assembly 6438 and several Bearing pin 6439 forms, and square beam 6431 is provided with the first ears ring the 64311, second ears ring 64312 and four the 3rd ears Ring 64313；

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

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

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

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

By solid to double output shaft hydraulic motor 641 double output shaft, two yielding couplings 642 and two sprocket wheel wheel shafts 6433 Even, U-shaped bar 644 square flange is fixed on the 3rd double output shaft hydraulic motor 641, eight C-shaped-rod the second ring flanges 6452 Be respectively symmetrically and be fixed on two square beams 6431, eight the second ring flanges 6462 of suspension bracket respectively with eight C-shaped-rod the first methods Blue dish 6451 is connected, and two circular flange dishes 6441 of U-shaped bar and two the first ring flanges 6461 of suspension bracket are respectively fixedly connected with in second party On tubular telescopic arm 612, form sprocket calculus device 6；

Refer to shown in Figure 36 to Figure 39, described sleeper four nut synchronize assembling and disassembling device 7 be by entablature 71, the 6th liter Falling unit 72 and two nut assembling and disassembling devices 73 form；

The 6th described lowering or hoisting gear 72 forms the same with the first lowering or hoisting gear 12, the sill in the 6th lowering or hoisting gear 72 7211 are provided with five ears rings 72111 and two symmetrical long slot bore the 72112, first forks 7212 are provided with shoulder hole 72121, remove Entablature 11 version of aforesaid 6th lowering or hoisting gear 72 entablature 71 and the first lowering or hoisting gear 12 is different, the 6th lifting Sill 1211 version of device 72 sill 7211 and the first lowering or hoisting gear 12 is different, the 6th lowering or hoisting gear 72 first First fork 1212 version of fork 7212 and the first lowering or hoisting gear 12 is different, remaining all component structural form one Sample；

Carry out the assembly operation identical with the first lowering or hoisting gear 12, by four the 3rd forks 1214 with entablature 71 hinge even Connect, the first laser displacement sensor 125 is fixed on below entablature 71, form the 6th lowering or hoisting gear 72；

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

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

Referring to Figure 40 to Figure 55, described rail-lifting equipment 8 is to be stretched by first crossbeam telescopic component 81, first crossbeam to drive Dynamic device 84, eight hex nuts of 83, eight forks of 82, two the first pendulous devices, 86, eight bolts of 85, two box connecting rods 87, two flexible shell types carry cylinder of rail 88 and form, and fork 84 is provided with six prism hole monaural ring 841 and monaural rings 842, box connecting rod 86 are arranged with four bolts hole 861 and semicylindrical opening 862, and flexible shell type carries cylinder of rail 88 cylinder body and is provided with gusset 881, lives Stopper rod free end is provided with fagging 882；

Described first crossbeam telescopic component 81 is by 811, two third party's tubular telescopic arms of third party's tubular fixed arm 812, the 4th laser displacement sensor 813 and the 4th range finding reference plate 814 form, and third party's tubular telescopic arm 812 is provided with closing End 8121 and two symmetrical grooves 8122, groove 8122 is provided with bolt hole 81221；

Described first crossbeam retractable driving device 82 is the same with the composition of the 3rd retractable driving device 62, except aforesaid Tripartite's tubular fixed arm 811 and second party tubular fixed arm 611 version is different, third party's tubular telescopic arm 812 and Two square tube shape telescopic arm 612 versions are different, and remaining all component structural form is the same；

Carry out the assembly operation identical with the 3rd retractable driving device 62, form first crossbeam retractable driving device 82；The Four laser displacement sensor 813 symmetries are fixed on third party's tubular fixed arm 811 side, and the 4th range finding reference plate 814 is fixed on Third party's tubular telescopic arm 812 side；

The first described pendulous device 83 is by first casing the 831, second spiral rotary actuator 832, incomplete tooth Taking turns 834, two multidiameters 835 of 833, two sector gears and embedded cover plate 836 forms, the first casing 831 is provided with two axles Hole the 8311, first positive stop lug boss 8312 and the second positive stop lug boss 8313, multidiameter 835 is provided with first axle journal the 8351, second axle journal 8352, the 3rd axle journal the 8353, the 1st prism shaft part the 8354 and the 2nd 6 prism shaft part 8355, embedded cover plate 836 is provided with two Individual axis hole the 8361, first positive stop lug boss 8362 and the second positive stop lug boss 8363；

By on two the most sheathed first diameters of axle 8351 being fixed on two multidiameters of sector gear 834, two multidiameters 835 are each passed through two axis holes 8311 of casing, make multidiameter 835 second axle journal 8352 and casing axis hole 8311 form revolute pair, It is fixed on sheathed for partial gear 833 on the second spiral rotary actuator 832 output shaft, is placed in the first casing 831, The gear teeth of partial gear 833 gear teeth respectively with two sector gears are made to contact along the facewidth, the second spiral rotary actuator 832 are fixed on the first casing 831 base plate, and two axis holes 8371 of embedded cover plate 837 are sheathed on two multidiameters respectively On three axle journals 8353, make embedded cover plate 837 and the first casing 831 be connected, form the first pendulous device 83；

Two fork six prism hole monaural rings 841 are sheathed on respectively two multidiameter the one or six prism shaft parts 8354, two Individual first hex nut 85 pretension respectively, more other two fork six prism hole monaural rings 841 are sheathed on two ladders respectively Axle the two or six prism shaft part 8355, other two the first hex nuts 85 respectively pretensions, make one end of four forks 84 respectively with The two ends of two multidiameters 835 are connected, and four screwed holes 861 of four fork monaural rings 842 and box connecting rods are coaxial, four bolts 87 pretensions, make four forks 84 respectively with box connecting rod 86 chain connection, form parallelogram lindage in parallel；

Two the first casings 831 are respectively fixedly connected with in the blind end 8121 of two third party's tubular telescopic arms, make two One pendulous device 83 is symmetrical arranged, and two flexible shell types carries cylinder of rail 88 cylinder body and is respectively fixedly connected with in two box connecting rod semicolumns In hole 862, make two flexible shell types carry cylinder of rail 88 and be symmetrical arranged, form rail-lifting equipment 8, by third party's tubular fixed arm 811 Symmetry is fixed on two longerons 202 of railcar；

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

Described second cross beam telescopic component 90 be by the four directions tubular fixed arm 901, four directions tubular telescopic arm 902, 5th laser displacement sensor 903 and the 5th range finding reference plate 904 form, and four directions tubular telescopic arm 902 is provided with blind end 9021 and two symmetrical grooves 9022, groove 9022 is provided with bolt hole 90221；

As described second cross beam retractable driving device 91 and the first retractable driving device 22 form, except aforementioned four directions Tubular fixed arm 901 and first party tubular fixed arm 211 version is different, the four directions tubular telescopic arm 902 and first party Tubular telescopic arm 212 version is different, and remaining all component structural form is the same；

Carry out the assembly operation identical with the first retractable driving device 22, form second cross beam retractable driving device 91, the Five laser displacement sensor 903 symmetries are fixed on tubular fixed arm 901 side, four directions, and the 5th range finding reference plate 904 is fixed on Tubular telescopic arm 902 side, four directions；

The second described pendulous device 92 forms with the first pendulous device 83 and version is the same, carries out swinging with first The assembly operation that device 83 is identical, forms the second pendulous device 92；

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

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

Spacing for 3rd spiral rotary actuator output shaft ring flange fan-shaped boss 94211 is limited with hydraulic jack ring flange The fan-shaped boss 94311 in position aligns connected, and the first thrust bearing 944 is sheathed on hydraulic jack the first axle journal 9432, by hydraulic oil Cylinder penetrates in the second casing 941 shoulder hole, makes the 3rd spiral rotary actuator output shaft ring flange 9421 and hydraulic jack method Second casing the first circular hole portion 9413 inserted by blue dish 9431, makes the 3rd spiral rotary actuator spacing sector of output shaft ring flange Boss 94211 and the spacing fan-shaped boss 94311 of hydraulic jack ring flange are inserted in scallop hole section 9413, make two spacing sectors convex Platform left surface contacts with scallop hole section the first confined planes 94131, makes the first thrust bearing 944 insert second casing the second circular hole portion 9414, make the 3rd spiral rotary actuator 942 be fixed on the second casing 941 base plate, make end cap 954 and the second casing 941 It is connected；

Second thrust bearing 945 is sheathed on oil cylinder the 3rd axle journal 9434 so that it is insert the second casing the 3rd circular hole portion 9416 sections, piston rod 948 is through ladder U-bracket axis hole 9492, and piston axis hole 9471 is sheathed on piston rod axle journal 9481, nut 946 pretensions, insert piston 947 in hydraulic jack 943 cylinder barrel, ladder U-bracket flange 9491 are penetrated hydraulic jack 943 cylinder Cylinder is connected, and makes oil cylinder the second axle journal 9433 and the second housing bushing section 9415 chain connection, by piston rod ears ring 9482, second Connecting rod ears ring 9511 and first connecting rod monaural ring 9502 coaxially penetrate pin hinge and connect, the second fork ears ring 9523 and rolling Wheel 953 coaxially penetrates pin hinge and connects, and the second fork pin-and-hole 9522 and ladder U-bracket pin-and-hole 9494 coaxially penetrate bearing pin hinge Chain connects, and first connecting rod ears ring 9501 and second connecting rod ears ring 9511 coaxially penetrate with the first fork monaural ring 9521 respectively Pin hinge connects；

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

Two the first fork six prism hole monaural rings 931 are sheathed on two multidiameter the one or six prism shaft parts respectively 9254, two the first hex nut 96 pretensions respectively, then by the most sheathed for other two the first fork six prism hole monaural rings 931 In two multidiameter the two or six prism shaft parts 9254, other two the first hex nuts 96 pretension respectively, make four the first forks One end of 93 is connected with the two ends of two multidiameters 925 respectively, four the first fork monaural rings 932 respectively with the second casing four Screwed hole 9411 is coaxial, four bolts 97 pretensions respectively, make four the first forks 93 respectively with the second casing 941 chain connection, Form in-parallel four-bar mechanism；

First casing 831 is fixed on four directions tubular telescopic arm blind end 9021, composition swivel block and push-and-pull sleeper device 9；

Described sleeper handling apparatus 16 is by moving back and forth storage sleeper device 160 and rigid hanger hoisting apparatus 168 Composition；

Described reciprocating motion storage sleeper device 160 is made up of reciprocator 161 and storage sleeper case 167, Storage sleeper case 167 is provided with two rollers 1671 and several sleeper storehouse 1672, and wherein half sleeper storehouse, left side is used for having stored rail Pillow, half sleeper storehouse, right side is used for storing bad sleeper.

Described reciprocator 161 is by base plate 162, two series connection parallelogram lindage 163, moves back and forth driving Device 165 and the 6th laser displacement sensor 166 form；

Described series connection parallelogram lindage 163 be by 1631, two the first forks 1632 of fixed cross beam, connecting rod 1633, Two the second forks 1634 and shifting crossbeam 1635 form, and connecting rod 1633 is provided with two monaural rings 16331, and moving beam 1635 is provided with Two rollers 16351 and a circular hole 16352；

Described reciprocating movement driving device 165 is by hydraulic motor 1651, yielding coupling 1652, monaural ring bearing 1653, screw rod 1654 and square nut 1655 form, and screw rod 1654 is provided with the first axle journal 16541 and the second axle journal 16542；

By two the first forks 1632 respectively with fixed cross beam 1631 chain connection, the first fork 1632 ears ring, second Fork 1634 ears ring and connecting rod monaural ring 16331 coaxially penetrate pin hinge and connect, another the first fork 1632 ears ring, Another the second fork 1634 ears ring and another monaural ring 16331 of connecting rod coaxially penetrate pin hinge and connect, two second Fork 1634 respectively with moving beam 1635 chain connection, composition series connection parallelogram lindage 163, repeat aforementioned assembly operation, The vertical plane of symmetry being symmetrical in fixed cross beam 1631 and moving beam 1635 assembles another parallelogram lindage 163, base plate 162 It is fixed on fixed cross beam 1631 lower surface, makes two rollers 16351 and base plate 162 upper surface, the hydraulic pressure horse of moving beam Reaching 1651 symmetries and be fixed on fixed cross beam 1631 side, monaural ring bearing 1653 is sheathed on screw rod the second axle journal 16542, square Nut 1655 screws on screw rod 1654 appropriate location, and screw rod, through the circular hole 16552 of moving beam, makes square nut 1655 be fixed on Moving beam 1635 side, yielding coupling 1652 makes hydraulic motor 1651 output shaft be connected with screw rod the first axle journal 16541, single Earrings bearing 1653 is fixed on base plate 162, forms reciprocating movement driving device 165；

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

Base plate 162 is fixed on railcar 20 crossbeam, third party's tubular fixed arm 811 and four directions tubular fixed arm 901 On, storage sleeper case 167 is fixed on moving beam 1635, makes above two rollers 1671 and the base plate 162 of storage sleeper case Contact, composition moves back and forth storage sleeper device 160；

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

Described telescopic cantilever boom device 169 is to be stretched by first ladder square tube shape fixed arm the 1691, first ladder square tube shape Contracting arm 1692, square tube shape telescopic arm the 1693, first multi-stage expansion shell type oil cylinder 1694, cantilever beam 1695, end plate 1696, cantilever 1697 and the 8th laser displacement sensor 1698 form, the first ladder square tube shape fixed arm 1691 is provided with ring flange 16911 and cylinder Shoulder 16912, the first ladder square tube shape telescopic arm 1692 is provided with ring flange 16921 and cylinder shoulder 16922, and square tube shape telescopic arm 1693 sets Ring flange 16931 and blind end 16932, the first multi-stage expansion shell type oil cylinder 1694 is had to be provided with the first ring flange 16941, first stretch Contracting sleeve the 16942, second extension sleeve 16943 and the second ring flange 16944, cantilever beam 1695 is provided with ring flange 16951；

End plate 1696 symmetry is fixed on first multi-stage expansion shell type oil cylinder the first ring flange 16941, square tube shape telescopic arm 1693 are sheathed on the first multi-stage expansion shell type oil cylinder 1694, make first multi-stage expansion shell type oil cylinder the second ring flange 16944 symmetrical Being fixed on square tube shape telescopic arm blind end 16932, the first ladder square tube shape telescopic arm 1692 is sheathed on square tube shape telescopic arm 1693 On, the first ladder square tube shape fixed arm 1691 is sheathed on the first ladder square tube shape telescopic arm 1692, makes the first ladder square tube solid Arms ring flange 16911 is connected with end plate 1696, and cantilever beam ring flange 16951 is fixed on square tube shape telescopic arm blind end 16932 On, cantilever 1697 is fixed on cantilever beam ring flange 16951, and the 8th laser displacement sensor 1698 is fixed on cantilever 1697, Composition telescopic cantilever boom device 169；

Described telescoping crossbeam device 170 is to be stretched by second ladder square tube shape fixed arm the 1701, second ladder square tube shape Arm the 1702, the 3rd ladder square tube shape telescopic arm the 1703, second multi-stage expansion shell type oil cylinder 1704, end cap 1705 and push pedal 1706 groups Becoming, the second ladder square tube shape fixed arm 1701 is provided with ring flange 17011, cylinder shoulder 17012 and long slot bore 17013, the second ladder side Tubular telescopic arm 1702 is provided with 17021, second shoulder 17022 of first shoulder and long slot bore 17023, and the 3rd ladder square tube shape is stretched Arm 1703 is provided with cylinder shoulder 17031 and two monaural rings 17032, and the second multi-stage expansion shell type oil cylinder 1704 is provided with the first ring flange 17041, first order extension sleeve 17042, second level extension sleeve 17043 and the second ring flange 17044；

End cap 1705 symmetry is fixed on second multi-stage expansion shell type oil cylinder the first ring flange 17041, the 3rd ladder square tube Shape telescopic arm 1703 is sheathed on the second multi-stage expansion shell type oil cylinder 1704, makes second multi-stage expansion shell type oil cylinder the second ring flange 17044 and the 3rd ladder square tube shape telescopic arm 1703 blind end be connected, the second ladder square tube shape telescopic arm 1702 is sheathed on the 3rd On ladder square tube shape telescopic arm 1703, then the second ladder square tube shape fixed arm 1701 is sheathed on the second ladder square tube shape telescopic arm On 1702, making end cap 1705 be connected with ladder square tube shape fixed arm ring flange 17011, push pedal 1706 is fixed on the 3rd ladder square tube Shape telescopic arm 1703 blind end, is fixed on the second ladder square tube shape fixed arm 1701 by the 7th laser displacement sensor 173 symmetry Side, forms telescoping crossbeam device 170；

Described rigid hanger 171 is made up of 1711, two pull bars 1712 of entablature and sill 1713, entablature 1711 are provided with two ears rings 17111, and sill 1713 is provided with two circular holes 17131；

Being fixed on below entablature 1711 by one end symmetry of two pull bars 1712, the other end of two pull bars 1712 is symmetrical It is fixed on above sill 1713, forms rigid hanger 171；

Described pick-and-place sleeper device 172 is by the 4th spiral rotary actuator the 1721, the 3rd yielding coupling 1722 Forming with interior wide-mouth nut 1723, the 4th spiral rotary actuator 1721 is provided with ring flange 17211 and output shaft 17212, interior Wide-mouth nut 1723 is provided with axle journal 17231；

4th spiral rotary actuator 1721 is penetrated in sill circular hole 17131, the 4th spiral rotary actuator Ring flange 17211 is fixed on above sill 1713, and the 3rd yielding coupling 1722 makes the 4th spiral rotary actuator output Axle 17212 is connected with interior wide-mouth nut axle journal 17231, forms pick-and-place sleeper device 172；

Two telescopic cantilever boom device 169 symmetries are fixed on two longerons 202 of railcar, telescoping crossbeam device second Ladder square tube shape fixed arm 1701 is fixed on below two cantilever beam 169 cantilevers, two ears rings 17111 of entablature respectively with Two monaural ring 17032 coaxial bolts of the 3rd ladder square tube shape telescopic arm connect, and form sleeper handling apparatus 16.

Work process and the principle of the present embodiment are as follows:

1. clear stone screening work: outside sleeper to be changed, bolt machine oil labelling is good, and engineering truck traction track car runs to treating When the pillow that switches tracks is neighbouring, the image information that cmos image sensor gathers, automatically identified by pattern recognition system, make engineering truck stop In the position that cmos image sensor is coaxial with machine oil labelling bolt, two ranked first grab mechanisms is positioned at sleeper both sides to be changed sleeper Between, position shown in Fig. 1, oil pump starts working, and hydraulic oil makes the 3rd lifting drive double output shaft hydraulic motor to start to rotate forward, Drive left-handed screw and right handed screw forward synchronous axial system, promote first connecting rod and second connecting rod to synchronize translation respectively, make symmetry The the first series connection parallelogram lindage arranged and the second series connection the most each two pairs of fork synchronous hunting dorsad of parallelogram lindage, the Three lowering or hoisting gears are entrusted two and be ranked first grab mechanisms decline, measure it by the first laser displacement sensor and drive with the 3rd lifting The displacement signal of double output shaft hydraulic motor, controls the 3rd lifting and drives double output shaft hydraulic motor and two hydraulic oil of grab bucket Cylinder working, when grab bucket is close to ballast between the sleeper of sleeper both sides to be changed, two cylinder piston rods of grabbing bucket start retraction, pull respectively Two link motions, make two symmetrically arranged bucket bodies relative to arm monaural ring backswing, make grab bucket be flared to maximum opening, Grabbing bucket two cylinder piston rod stop motions, when bucket tooth contact ballast, the 3rd lifting drives double output shaft hydraulic motor to stop Rotating forward, position shown in Figure 14, two cylinder piston rods of grabbing bucket start to stretch out, and promote two link motions respectively, make two Symmetrically arranged bucket body swings in opposite directions relative to arm monaural ring, makes grab bucket gradually close ballast between crawl sleeper, two oil of grabbing bucket Cylinder piston rod stops stretching out, and hydraulic oil makes the 3rd lifting drive double output shaft hydraulic motor to start to rotate backward simultaneously, drives a left side Rotation screw rod and right handed screw reverse sync rotate, and pull first connecting rod and second connecting rod to synchronize translation respectively, make symmetrically arranged First series connection parallelogram lindage and the second series connection the most each two pairs of fork synchronous hunting in opposite directions of parallelogram lindage, the 3rd lifting Device is entrusted two and be ranked first grab mechanisms and rise to position shown in Figure 15, and two collection crossdrifts drive cylinder piston rods to start synchronization to stretch Go out, promote two the 3rd push-pull bars and two the 4th push-pull bars respectively, make two collection crossdrift synchronous hunting to position shown in Figure 15, Two collection crossdrifts drive cylinder piston rod to stop stretching out, and the second dither motor is started working, and casing starts vibration, grab bucket two Individual hydraulic cylinder piston rod starts to synchronize to retract, and pulls two link motions respectively, makes two bucket bodies slowly be flared to maximum and open Degree, two hydraulic cylinder piston rods of grabbing bucket stop retracting, and the ballast in grab bucket rushes down and drops down onto in two collection crossdrifts, along two collection crossdrifts Being slipped to collect in stone storehouse, the sandy soil that casing vibration makes in collection stone storehouse in ballast are separated to two gradual changes by the sieve aperture of flechette-type bottom In isosceles trapezoid skewed slot, sandy soil slide into two end cap sand discharges Tu Zui along two gradual change isosceles trapezoid skewed slots and discharge, in waiting to grab bucket Ballast be slipped to collect in stone storehouse completely, two collection crossdrifts drive cylinder piston rods to start to synchronize to retract, and pull two the respectively Three push-pull bars and two the 4th push-pull bars, make two collection crossdrift synchronous hunting to position shown in Fig. 1, and two collection crossdrifts drive oil cylinder Piston rod stops retracting, and the second dither motor quits work, and two grab bucket cylinder piston rods start to stretch out simultaneously, push away respectively Dynamic two link motions, make grab bucket gradually close；

2. pillow end lasher makees: engineering truck traction track car moves to left, and is automatically identified the firm rail of sleeper by pattern recognition system The number of outer bolt image, makes railcar move to left two sleeper pitches, and the second grab mechanisms is positioned at above the pillow end of sleeper to be changed, Hydraulic oil makes the second telescopic drive hydraulic motor start to rotate forward, and drives screw rod to rotate forward, makes nut promote the first square tube Shape telescopic arm is entrusted the second grab mechanisms and is moved out, and the second laser displacement sensor measures the position of itself and the second range finding reference plate Shifting signal, controls the second telescopic drive hydraulic motor and two hydraulic jack work of grab bucket, and hydraulic oil makes the 4th lifting simultaneously Driving double output shaft hydraulic motor to start to rotate forward, the 4th lowering or hoisting gear is entrusted the second grab mechanisms and is declined, and swashs by first Optical displacement sensor measures the displacement signal of itself and the 4th lifting driving double output shaft hydraulic motor, controls the 4th lifting and drives Double output shaft hydraulic motor and two hydraulic jacks work of grabbing bucket, when the bucket tooth of grab bucket is close to pillow end railway roadbed ballast, grab bucket two Individual hydraulic cylinder piston rod starts to synchronize to retract, and pulls two link motions respectively, makes grab bucket be flared to maximum opening, grab bucket two Individual hydraulic cylinder piston rod stops retracting, and when bucket tooth of grabbing bucket contacts ballast, the 4th lifting drives double output shaft hydraulic motor to stop Only rotating forward, position shown in Figure 24, grab bucket liquid two oil pressuring cylinder piston bar starts synchronization and stretches out, and promotes two connecting rod fortune respectively Dynamic, make grab bucket gradually close the crawl outer railway roadbed ballast of pillow end, two hydraulic cylinder piston rods of grabbing bucket stop stretching out, hydraulic oil simultaneously Making the 4th lifting drive double output shaft hydraulic motor to start to rotate backward, the 4th lowering or hoisting gear is entrusted the second grab mechanisms and is risen, Hydraulic oil makes the second telescopic drive hydraulic motor start to rotate forward simultaneously, promotes first party tubular telescopic arm to entrust the second grab bucket When device moves out above superior self-cultivation shoulder, the 4th lifting drives double output shaft hydraulic motor to stop rotating backward, and second stretches drives Hydrodynamic pressure motor stops rotating forward, and two hydraulic cylinder piston rods of grabbing bucket start to retract and pull two link motions respectively, make to grab Bucket gradually opens, and makes the ballast in grab bucket be slipped on shoulder, and two hydraulic cylinder piston rods of grabbing bucket start synchronization and stretch out, respectively Promoting two link motions, make grab bucket gradually close, the second telescopic drive hydraulic motor and the 4th lifting drive double output shaft liquid Pressure motor starts simultaneously at and rotates backward, and the 4th lowering or hoisting gear is entrusted the second grab mechanisms and moved to position shown in Fig. 1, and second stretches Driving hydraulic motor and the 4th lifting to drive double output shaft hydraulic motor to stop rotating backward, pillow end lasher makees to terminate simultaneously；

3. calculus work below rail: engineering truck traction track car moves to left, and is automatically identified sleeper by pattern recognition system Just the number of rail outer bolt image, makes railcar move to left a sleeper pitch, and sprocket calculus device is positioned at sleeper two siding track to be changed Top between pillow, hydraulic oil makes the 3rd telescopic drive double output shaft hydraulic motor start to rotate forward, and drives left-handed screw and dextrorotation Screw rod forward synchronous axial system, makes left-handed square nut and dextrorotation square nut promote two the second party tubulars being connected with it respectively Telescopic arm synchronizes to stretch out, and makes two second party tubular telescopic arms entrust two sprocket calculus devices respectively and moves out, and the 3rd swashs Optical displacement sensor measures the displacement signal of itself and the 3rd range finding reference plate, controls the 3rd and flexible drives double output shaft hydraulic motor Work with sprocket calculus assembly double output shaft hydraulic motor, treat that sprocket calculus device moves out to rail sleeper two to be changed Between siding track pillow during top, the 3rd flexible double output shaft hydraulic motor that drives stops rotating forward, and hydraulic oil makes the 5th lifting drive simultaneously Dynamic double output shaft hydraulic motor starts to rotate forward, and the 5th lowering or hoisting gear torr two band chain tooth row stone device declines, by first Laser displacement sensor measures the displacement signal of itself and the 5th lifting driving double output shaft hydraulic motor, controls the 5th lifting and drives Dynamic double output shaft hydraulic motor and the work of sprocket calculus assembly double output shaft hydraulic motor, when sprocket calculus device contacts ballast Time, the 5th lifting drives double output shaft hydraulic motor to stop rotating forward, and hydraulic oil makes sprocket calculus assembly double output shaft hydraulic pressure Motor rotates forward, and makes two sprocket wheel forward synchronous axial system, and chain wheel drive is by several chain tooth assemblies of several chain connections one Motion, the ballast that the sprocket of sprocket calculus device following chain tooth plate is contacted is pushed to outside railway roadbed, and hydraulic oil makes the 3rd to stretch Drive double output shaft hydraulic motor to start to rotate backward, drive left-handed screw and right handed screw reverse sync to rotate, make left-handed side The Tong Bu retraction of two second party tubular telescopic arms that shape nut and dextrorotation square nut pull respectively with it is connected, two second party Tubular telescopic arm entrusts the interior motion mutually of two sprocket calculus devices respectively, and sprocket calculus device inward is to its front-end chain tooth plate Sprocket contact with the ballast below rail, ballast is gnawed successively between adjacent two the chain tooth plate sprockets of sprocket calculus device, stone Quarrel is pushed into outside railway roadbed successively by chain tooth plate, when sprocket calculus device inward is to position shown in Figure 29, and calculus below rail Terminating, the 3rd telescopic drive double output shaft hydraulic motor stops rotating backward, sprocket calculus assembly double output shaft hydraulic pressure horse simultaneously Reaching stopping to rotate forward, the 3rd telescopic drive double output shaft hydraulic motor starts to rotate forward, and makes two second party tubulars stretch Arm is entrusted two sprocket calculus devices respectively and is moved out, sprocket of chain tooth plate inside sprocket calculus device moves out to it When leaving outside rail lower flange, the 3rd telescopic drive double output shaft hydraulic motor stops rotating forward, and hydraulic oil makes the 5th liter Fall drives double output shaft hydraulic motor to start to rotate backward, and the 5th lowering or hoisting gear is entrusted two sprocket calculus devices and raised, simultaneously Hydraulic oil makes the 3rd telescopic drive double output shaft hydraulic motor start to rotate backward, and makes two second party tubular telescopic arms hold in the palm respectively Carry two sprocket calculus device inward, when sprocket calculus device moves to position shown in Fig. 1, the 3rd telescopic drive dual output Axle hydraulic motor and the 5th lifting drive double output shaft hydraulic motor all to stop rotating backward, calculus end-of-job below rail；

4. dismounting nut work: engineering truck traction track car moves to left, and is automatically identified the firm rail of sleeper by pattern recognition system The number of outer bolt image, makes railcar move to left a sleeper pitch, and four interior wide-mouth magnetic coupling boxs are positioned at sleeper to be changed Directly over four bolts, hydraulic oil makes the 6th lifting drive double output shaft hydraulic motor to start to rotate forward, the 6th lowering or hoisting gear Entrust two nut assembling and disassembling devices to decline, measure it by the first laser displacement sensor and drive double output shaft liquid with the 6th lifting The displacement signal of pressure motor, controls the 6th lifting and drives double output shaft hydraulic motor and the first spiral rotary actuator work Making, when interior wide-mouth magnetic coupling box is sheathed on nut, position shown in Figure 36, the 6th lifting drives double output shaft hydraulic motor Stopping rotates forward, and hydraulic oil makes two the first spiral rotary actuators start reverse sync rotation, drives two circles even Fishplate bar is entrusted two internal gears respectively and is rotated backward, and each internal gear engages with two gears simultaneously, drives two power transmission shafts to turn Dynamic, make four interior wide-mouth magnetic coupling box reverse sync rotate, four interior wide-mouth magnetic coupling boxs synchronize to screw off four spiral shells Mother, the magnetic of interior wide-mouth magnetic coupling box makes the nut screwed off stay in interior wide-mouth magnetic coupling box, two the first spirals Rotary actuator stops rotating backward, and hydraulic oil makes the 6th lifting drive double output shaft hydraulic motor to start reverse turning simultaneously Dynamic, the 6th lowering or hoisting gear is entrusted two nut assembling and disassembling devices and is risen to position shown in Fig. 1, and the 6th lifting drives double output shaft hydraulic pressure Motor stops rotating backward, and dismantles nut end-of-job；

5. pull-out bad sleeper work: engineering truck traction track car moves to left, and is automatically identified that by pattern recognition system sleeper is firm The number of rail outer bolt image, makes railcar move to left six sleeper pitches, swivel block and push-and-pull sleeper device and is positioned at bad sleeper and just goes up Side, directly over rail-lifting equipment is positioned on the left of bad sleeper between sleeper, hydraulic oil makes second cross beam telescopic drive hydraulic motor just start To rotation, drive screw rod to rotate forward, make square nut promote four directions tubular telescopic arm to stretch out, four directions tubular telescopic arm torr Carry the second pendulous device and crawl and swivel block device to move out, measure itself and the 5th range finding by the 5th laser displacement sensor The displacement signal of reference plate, controls second cross beam telescopic drive hydraulic motor, the second spiral rotary actuator and the 3rd spiral shell Swing hydrodynamic pressure motor operations, the second pendulous device and crawl and swivel block device move out to appropriate location, and second cross beam is stretched Contracting drives hydraulic motor to stop rotating forward, and hydraulic oil makes the second spiral rotary actuator start to rotate forward, incomplete tooth Wheel and two sector gear engaged transmission, two multidiameters drive four the first fork forwards to swing, make the second casing entrust and grab Taking and swivel block device does translation, when two the first forks and the first positive stop lug boss contact, the second spiral rotary actuator stops Only rotating forward, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, and hydraulic oil makes second cross beam stretch simultaneously Contracting drives hydraulic motor to start to rotate backward, and drives screw rod to rotate backward, and makes square nut pull four directions tubular telescopic arm contracting Returning, four directions tubular telescopic arm entrusts the second pendulous device and crawl and swivel block device inward, when two pressures of gripper When plate inward is to bad appropriate location, sleeper both sides, second cross beam telescopic drive hydraulic motor stops rotating backward, hydraulic oil Make hydraulic cylinder piston rod start to stretch out, promote first connecting rod and second connecting rod motion, make symmetrically arranged two second respectively Fork swings in opposite directions, and the roller being articulated with the second fork ears ring pushes down pressing plate, and roller rolls and makes pressing plate overcome two cylinder spiral shells The pulling force of rotation spring makees translation, and two in-parallel four-bar mechanism forwards swing, when two platen clamp sleepers, and electromagnetic switch The middle position of valve makes hydraulic jack pressurize；

Hydraulic oil makes first crossbeam telescopic drive double output shaft hydraulic motor start to rotate forward, and drives left-handed screw and the right side Rotation screw rod forward synchronous axial system, makes left-handed square nut and dextrorotation square nut promote two the third party's cylinders being connected with it respectively Shape telescopic arm synchronizes to stretch out, and is measured the displacement signal of itself and the 4th range finding reference plate by the 4th laser displacement sensor, controls First crossbeam telescopic drive double output shaft hydraulic motor processed, the second spiral rotary actuator and flexible shell type put forward cylinder of rail work Making, third party's tubular telescopic arm entrusts the first pendulous device and flexible shell type carries cylinder of rail and moves out to appropriate location, and first Crossbeam telescopic drive double output shaft hydraulic motor stops rotating forward, and it starts to rotate backward, and drives left-handed screw and dextrorotation spiral shell Bar reverse sync rotates, and makes left-handed square nut and dextrorotation square nut pull respectively and stretches with its two third party's tubulars being connected Contracting arm synchronizes to retract, and third party's tubular telescopic arm entrusts the first pendulous device and flexible shell type carries cylinder of rail inward, simultaneously Second spiral rotary actuator starts to rotate forward, partial gear and two sector gear engaged transmission, two multidiameters Driving four fork forwards to swing, box connecting rod is entrusted flexible shell type and is carried cylinder of rail and make translation, when two forks and first spacing During boss contact, the second spiral rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes the second spiral swing liquid Pressure motor pressurize, when flexible shell type carries cylinder of rail cylinder body with rail lower flange contacts side surfaces, its gusset upper surface and rail Contacting below, first crossbeam telescopic drive double output shaft hydraulic motor stops rotating backward；

The second level extension sleeve that hydraulic oil makes flexible shell type carry cylinder of rail stretches out with first order extension sleeve, and the first order is stretched Contracting sleeve moves to range, and second level extension sleeve starts to stretch out, when the fagging being fixed on second level extension sleeve contacts Railway roadbed ballast after being compacted into, along with constantly stretching out of second level extension sleeve, flexible shell type carries the cylinder body of cylinder of rail and entrusts Gusset moves upward, and makes rail jack-up, and the middle position of solenoid directional control valve makes flexible shell type propose cylinder of rail pressurize；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, and makes hydraulic jack entrust gripper forward and turns Dynamic, gripper makes sleeper rotate forward, when the 3rd spiral rotary actuator ring flange and the spacing sector of hydraulic jack ring flange When boss and the contact of second casing scallop hole the second confined planes, gripper makes sleeper rotate forward 90 °, and the 3rd spiral swings hydraulic pressure Motor stops rotating forward, and hydraulic oil makes second cross beam telescopic drive hydraulic motor start to rotate forward, and makes four directions tubular stretch Contracting arm entrusts the second pendulous device and crawl and swivel block device moves out, and gripper pulls bad sleeper to move out, when bad rail Pillow moves out to end face thereafter with when above rail lower flange trailing flank is coplanar, and second cross beam telescopic drive hydraulic motor stops Rotating forward, hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and makes cylinder body of hydraulic oil cylinder entrust gripper anti- To rotation, gripper makes sleeper rotate backward, when the 3rd spiral rotary actuator ring flange and hydraulic jack ring flange are spacing When fan-shaped boss and the contact of second casing scallop hole the first confined planes, gripper makes sleeper rotate backward 90 °, position shown in Figure 50 Putting, the 3rd spiral rotary actuator stops rotating backward；

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

Hydraulic oil makes the second spiral rotary actuator rotate backward, and partial gear and two sector gear engagements pass Dynamic, two multidiameters drive four the first fork backswings, and crawl entrusted by the second casing and swivel block device makees translation, when two When the first fork and the contact of the second positive stop lug boss, the second spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes Second spiral rotary actuator pressurize；

Hydraulic oil makes second cross beam telescopic drive hydraulic motor start to rotate backward, and four directions tubular telescopic arm entrusts second Pendulous device and crawl and swivel block device inward are to position shown in Fig. 1, and second cross beam telescopic drive hydraulic motor stops anti- To rotation；

Hydraulic oil makes flexible shell type propose the extension sleeve retraction of the cylinder of rail second level, and second level extension sleeve is retracted to stop, Second level extension sleeve starts to retract with first order extension sleeve, and second level extension sleeve hauls fagging and moves upward, under rail Dropping down onto original position, pushed down by bad sleeper so that it is upper surface is parallel with two rail lower surfaces, flexible shell type carries cylinder of rail and stops work Make；

Hydraulic oil makes first crossbeam telescopic drive double output shaft hydraulic motor start to rotate forward, and makes two third party's tubulars Telescopic arm is entrusted two flexible shell types respectively and is carried cylinder of rail and move out, when its gusset disengages with rail and contact, and the first horizontal stroke Beam telescopic drive double output shaft hydraulic motor stops rotating forward；

Hydraulic oil makes the second spiral rotary actuator rotate backward, and partial gear and two sector gear engagements pass Dynamic, two multidiameters drive four fork backswings, and box connecting rod is entrusted flexible shell type and carried cylinder of rail and make translation, when two pendulum When bar and the contact of the second positive stop lug boss, flexible shell type carries cylinder of rail and moves to position shown in Fig. 1, the second spiral rotary actuator Stopping operating, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, pulls out bad sleeper end-of-job；

6. handling bad sleeper work: engineering truck traction track car moves to right, and is automatically identified that by pattern recognition system sleeper is firm The number of rail outer bolt image, makes railcar move to right a sleeper pitch, and rail-lifting equipment is positioned at adjacent sleeper on the left of sleeper to be changed Directly between, position shown in Figure 40, hydraulic oil makes first crossbeam telescopic drive double output shaft hydraulic motor start to rotate forward, makes Two third party's tubular telescopic arms entrust two the first pendulous devices respectively and flexible shell type carries cylinder of rail and moves out to suitably Position, first crossbeam telescopic drive double output shaft hydraulic motor stops rotating forward, and it starts to rotate backward, and makes two third parties Tubular telescopic arm entrusts two the first pendulous devices respectively and flexible shell type carries cylinder of rail and is inwardly synchronized with the movement, the second spiral simultaneously Rotary actuator starts to rotate forward, when two forks and the first positive stop lug boss contact, and the second spiral rotary actuator Stopping operating, the middle position of solenoid directional control valve makes the second spiral rotary actuator pressurize, when the first pendulous device inward extremely When flexible shell type carries cylinder of rail cylinder body and rail lower flange contact outside, flexible shell type carry cylinder of rail cylinder body gusset upper surface with Contacting below rail, first crossbeam telescopic drive double output shaft hydraulic motor stops rotating backward；

Hydraulic oil makes reciprocating motion drive hydraulic motor to start to rotate forward, and drives screw rod to rotate forward, makes square nut Pulling moving beam to left movement, moving beam entrusts storage sleeper case to left movement, is surveyed by the 6th laser displacement sensor Measure the displacement signal of itself and fixed cross beam, control to move back and forth driving hydraulic motor work, when storage sleeper case is to left movement To store bad sleeper position in storehouse immediately below pick-and-place sleeper device time, move back and forth drive hydraulic motor stop rotate forward；

Hydraulic oil makes the second level extension sleeve of the second multi-stage expansion shell type oil cylinder start to stretch out with first order extension sleeve, Promoting the 3rd ladder square tube shape telescopic arm to stretch out, the 3rd ladder square tube shape telescopic arm is entrusted rigid hanger and is moved out, when the 3rd Ladder square tube shape telescopic arm extend out to its shoulder with second ladder second shoulder grafting of square tube shape telescopic arm touch time, the second multi-stage expansion Shell type oil cylinder second level extension sleeve starts to stretch out, and promotes the 3rd ladder square tube shape telescopic arm to stretch by first order extension sleeve Going out, the 3rd ladder square tube shape telescopic arm pulls the second ladder square tube shape telescopic arm to stretch out, and is surveyed by the 7th laser displacement sensor Measure the displacement signal of itself and push pedal, control the second multi-stage expansion shell type cylinder efficient, when two interior wide-mouths of pick-and-place sleeper device When above nut and the bad sleeper having been pulled out between sleeper, two bolts in inner side are coaxial, the second multi-stage expansion shell type oil cylinder second level is stretched Contracting sleeve stops stretching out；

Hydraulic oil makes the sleeve of the first multi-stage expansion shell type oil cylinder start to retract step by step, square tube shape telescopic arm and the first ladder Square tube shape telescopic arm starts to retract successively, and rigid hanger is entrusted pick-and-place sleeper device and declined, by the 7th laser displacement sensor Measure the displacement signal of itself and sill, control the first multi-stage expansion shell type cylinder efficient, when two interior wide-mouth nuts and rail Pillow two, inner side bolts above close to time, hydraulic oil makes two the 4th spiral rotary actuators start to rotate forward, makes two Interior wide-mouth nut forward rotates, and when two interior wide-mouth nuts screw on two bolts in inner side above sleeper, swings liquid to the 4th spiral Pressure motor rotates forward to hard-over, position shown in Figure 51, and the 4th spiral rotary actuator stops rotating forward, more than first The first order sleeve of the flexible shell type oil cylinder of level stops retracting；

The second level extension sleeve that hydraulic oil makes flexible shell type carry cylinder of rail stretches out with first order extension sleeve, and the first order is stretched Contracting sleeve moves to range, and second level extension sleeve starts to stretch out, when the fagging being fixed on second level extension sleeve contacts Railway roadbed ballast after being compacted into, along with constantly stretching out of second level extension sleeve, flexible shell type carries the cylinder body of cylinder of rail and entrusts Gusset moves upward, and makes rail jack-up, and the middle position of solenoid directional control valve makes flexible shell type propose cylinder of rail pressurize；

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start again to stretch out, and promotes the 3rd ladder square tube Shape telescopic arm stretches out, and the 3rd ladder square tube shape telescopic arm pulls the second ladder square tube shape telescopic arm to stretch out, the 3rd ladder square tube shape Telescopic arm entrusts rigid hanger and pick-and-place sleeper device moves out, and pick-and-place sleeper device is entrusted bad sleeper and moved out, when bad Sleeper move out to end face thereafter leave appropriate location, sleeper lower flange time, the second multi-stage expansion shell type oil cylinder second level stretch Sleeve stops stretching out；

Hydraulic oil makes the first order sleeve of the first multi-stage expansion shell type oil cylinder start to stretch out, and entrusts square tube shape telescopic arm and stretches Going out, rigid hanger is entrusted pick-and-place sleeper device and is risen, when square tube shape telescopic arm ring flange and the first ladder square tube shape telescopic arm cylinder When shoulder grafting touches, the second level sleeve of the second multi-stage expansion shell type oil cylinder starts to stretch out, and square tube shape telescopic arm pulls the first ladder side Tubular telescopic arm stretches out, when pick-and-place sleeper device rises to suitable height, the second level sleeve of the first multi-stage expansion shell type oil cylinder Stopping is stretched out；

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start to retract, and pulls the 3rd ladder square tube shape Telescopic arm is retracted, and the 3rd ladder square tube shape telescopic arm entrusts rigid hanger and pick-and-place sleeper device inward, when push pedal and the During two ladder square tube shape telescopic arm contacts, second level extension sleeve is retracted with first order extension sleeve, and the 3rd ladder square tube shape is stretched Contracting arm draws push pedal to retract, and push pedal promotes the second ladder square tube shape telescopic arm to retract, when sleeper inward is to storing bad sleeper storehouse During surface, the second multi-stage expansion shell type oil cylinder first order extension sleeve stops retracting, and hydraulic oil makes the first multi-stage expansion shell type The sleeve of oil cylinder starts to retract step by step, and pick-and-place sleeper device is entrusted bad sleeper and declined, when bad sleeper declines close at the bottom of bad sleeper storehouse Or previously put into bad sleeper time, hydraulic oil make two the 4th spiral rotary actuators start reverse sync rotate, make two Interior wide-mouth nut rotates backward, and when bad sleeper is discharged in storehouse, the 4th spiral rotary actuator stops rotating backward, and first The sleeve of multi-stage expansion shell type oil cylinder starts to stretch out step by step, and rigid hanger and pick-and-place sleeper device rise to position shown in Fig. 1, the The second level sleeve of one multi-stage expansion shell type oil cylinder stops stretching out, and handling bad sleeper has worked；

7. handling is well placed sleeper work: hydraulic oil makes reciprocating motion drive hydraulic motor to start to rotate backward, and drives spiral shell Bar rotates backward, and makes square nut promote moving beam to move right, and moving beam is entrusted storage sleeper case and moved right, and works as storage Deposit sleeper case move right to stored sleeper position in storehouse immediately below pick-and-place sleeper device time, move back and forth drive hydraulic motor stop Only rotate backward；

Hydraulic oil makes the sleeve of the first multi-stage expansion shell type oil cylinder start to stretch out step by step, and rigid hanger entrusts pick-and-place sleeper dress Putting rising, pick-and-place sleeper device has been entrusted sleeper and has been risen to suitable height, the first order sleeve of the first multi-stage expansion shell type oil cylinder Stopping is stretched out；

Hydraulic oil makes the first order extension sleeve of the second multi-stage expansion shell type oil cylinder and second level extension sleeve stretch out successively, Making the 3rd ladder square tube shape telescopic arm entrust rigid hanger to move out, pick-and-place sleeper device has been entrusted sleeper and has been moved out to suitable Working as position, the first order extension sleeve of the second multi-stage expansion shell type oil cylinder stops stretching out, and hydraulic oil makes the first multi-stage expansion shell type The sleeve of oil cylinder starts to retract step by step, pick-and-place sleeper device entrusted sleeper drop to its when contacting with railway roadbed, hydraulic oil makes The first order sleeve of one multi-stage expansion shell type oil cylinder stops retracting；

Hydraulic oil makes the second multi-stage expansion shell type oil cylinder second level extension sleeve start to retract, and the 3rd ladder square tube shape is stretched Arm entrusts rigid hanger inward, and pick-and-place sleeper device has entrusted sleeper inward to appropriate location, has made sleeper penetrate Under rail, when having made sleeper rear end face and above rail lower flange trailing flank be coplanar, the second multi-stage expansion shell type oil cylinder second level Extension sleeve stops retracting；

Hydraulic oil makes flexible shell type propose the extension sleeve retraction of the cylinder of rail second level, and second level extension sleeve is retracted to stop, Second level extension sleeve starts to retract with first order extension sleeve, and second level extension sleeve hauls fagging and retracts, and rail falls to Original position, pushes down sleeper to be finished changing so that it is upper surface is parallel with two rail lower surfaces, and flexible shell type carries cylinder of rail and stops work Make；

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

Hydraulic oil makes the 4th spiral rotary actuator start to rotate backward, when the 4th spiral rotary actuator reversely turns When moving to hard-over, discharging sleeper, the 4th spiral rotary actuator stops rotating backward, the first multi-stage expansion shell type oil cylinder Sleeve start to stretch out step by step, rigid hanger is entrusted pick-and-place sleeper device and is risen to suitable height, and hydraulic oil makes second multistage to stretch The extension sleeve of contracting shell type oil cylinder is retracted successively, makes the 3rd ladder square tube shape telescopic arm entrust rigid hanger and pick-and-place sleeper device Inward, pick-and-place sleeper device moves to position shown in Fig. 1, and the second level sleeve of the first multi-stage expansion shell type oil cylinder stops stretching Going out, the first order sleeve of the second multi-stage expansion shell type oil cylinder stops retracting, and handling is well placed sleeper and has worked；

8. advanced sleeper to work: engineering truck traction track car moves to left, automatically identified that by pattern recognition system sleeper is firm The number of rail outer bolt image, makes railcar move to left a sleeper pitch, swivel block and push-and-pull sleeper device and has been positioned at above sleeper, Directly over rail-lifting equipment has been positioned on the left of sleeper between sleeper, hydraulic oil makes second cross beam telescopic drive hydraulic motor start forward to turn Dynamic, make four directions tubular telescopic arm stretch out, four directions tubular telescopic arm entrust the second pendulous device and crawl and swivel block device to Outer motion, when four directions tubular telescopic arm extend out to stop, second cross beam telescopic drive hydraulic motor stops rotating forward, high Force feed makes the second spiral rotary actuator rotate forward, and crawl entrusted by the second casing and swivel block device makees translation, when two the When one fork and the contact of the first positive stop lug boss, the second spiral rotary actuator stops operating, and the middle position of solenoid directional control valve makes the Two spiral rotary actuator pressurizes；

Hydraulic oil makes second cross beam telescopic drive hydraulic motor start to rotate backward, when two pressing plates of gripper are inwardly transported During dynamic most intimate friend's sleeper appropriate location, both sides, position shown in Figure 50, second cross beam telescopic drive hydraulic motor stops rotating backward, high Force feed makes hydraulic cylinder piston rod start to stretch out, and when two platen clamp sleepers, hydraulic cylinder piston rod stops stretching out, electromagnetism The middle position of reversal valve makes hydraulic jack pressurize；

Hydraulic oil makes first crossbeam telescopic drive double output shaft hydraulic motor start to rotate forward, and makes third party's tubular stretch Arm entrusts the first pendulous device and flexible shell type carries cylinder of rail and moves out to appropriate location, first crossbeam telescopic drive dual output Axle hydraulic motor stops rotating forward, and it starts to rotate backward, and third party's tubular telescopic arm is entrusted the first pendulous device and stretches Shell type carries cylinder of rail inward, and the second spiral rotary actuator starts to rotate forward simultaneously, when two forks and the first limit During the boss contact of position, the second spiral rotary actuator stops rotating forward, and the middle position of solenoid directional control valve makes the second spiral swing Hydraulic motor pressurize, when flexible shell type carries cylinder of rail cylinder body with rail lower flange contacts side surfaces, its gusset upper surface and steel Contacting below rail, first crossbeam telescopic drive double output shaft hydraulic motor stops rotating backward, and hydraulic oil makes flexible shell type carry rail Oil cylinder extension sleeve stretches out step by step, makes rail jack-up, and the middle position of solenoid directional control valve makes flexible shell type propose cylinder of rail pressurize；

Hydraulic oil makes the 3rd spiral rotary actuator start to rotate forward, and gripper makes sleeper rotate forward 90 °, and the 3rd Spiral rotary actuator stops rotating forward, and hydraulic oil makes second cross beam telescopic drive hydraulic motor start to rotate backward, machine Tool pawl has promoted sleeper inward, made sleeper inward to shown in Fig. 1 during position, second cross beam telescopic drive hydraulic pressure horse Reaching stopping to rotate backward, hydraulic oil makes the 3rd spiral rotary actuator start to rotate backward, and gripper makes sleeper rotate backward 90 °, the 3rd spiral rotary actuator stops rotating backward；

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

Hydraulic oil makes second cross beam telescopic drive hydraulic motor start to rotate backward, and makes the four directions tubular telescopic arm entrust the Two pendulous devices and crawl and swivel block device inward are to position shown in Fig. 1, and second cross beam telescopic drive hydraulic motor stops Rotate backward；

Hydraulic oil makes flexible shell type carry cylinder of rail extension sleeve to retract step by step, and rail falls to original position, and flexible shell type carries Cylinder of rail quits work, and hydraulic oil makes first crossbeam telescopic drive double output shaft hydraulic motor start to rotate forward, and works as telescopic Formula carries cylinder of rail and moves out to its gusset and rail and disengage when contacting, first crossbeam telescopic drive double output shaft hydraulic motor Stopping rotates forward, and has advanced sleeper end-of-job；

9. nut work is installed: engineering truck traction track car moves to right, the image information that cmos image sensor gathers, pass through Pattern recognition system identifies the number of sleeper firm rail outer bolt image automatically, makes railcar move to right six sleeper pitches, and four are stayed In having nut, wide-mouth magnetic coupling box is coaxial with four bolts on sleeper respectively, and hydraulic oil makes the 6th lifting double output shaft liquid Pressure motor starts to rotate forward, and the 6th lowering or hoisting gear is entrusted two nut assembling and disassembling devices and declined, when dropping to interior wide-mouth magnetic prunus mume (sieb.) sieb.et zucc. Nut in flower sleeve and the pillow threaded bolt contacts that switches tracks, position shown in Figure 36, the 6th lifting double output shaft hydraulic motor is just stopping To rotation, hydraulic oil makes two the first spiral rotary actuator forward synchronous axial system, drives two circular connecting plates to hold in the palm respectively Carrying two internal gears to rotate forward, each internal gear engages with two gears simultaneously, drives two drive axis, in making four Wide-mouth magnetic coupling box forward synchronous axial system, the nut in four interior wide-mouth magnetic coupling boxs synchronizes to screw in four spiral shells of sleeper Bolt pretension, two the first spiral rotary actuators quit work, and hydraulic oil makes the 6th lifting double output shaft hydraulic motor open Beginning rotates backward, and the 6th lowering or hoisting gear is entrusted two nut assembling and disassembling devices and risen to position shown in Fig. 1, the 6th lifting double output shaft Hydraulic motor stops rotating backward, and installs nut and has worked；

10. ballast backfilling working: engineering truck traction track car moves to right, the image information that cmos image sensor gathers, logical Cross pattern recognition system and automatically identify the number of sleeper firm rail outer bolt image, make railcar move to right four sleeper pitches, ballast Collection arranging device is positioned at directly over the pillow that switches tracks, and the second dither motor is started working, and two stone removing doors drive cylinder piston rod Start to stretch out, promote two the first push-pull bars and two the second push-pull bars to make two stone removing door synchronous hunting to shown in Figure 16 respectively Position, the ballast in stone storehouse to be collected rushes down to fall completely and switches tracks between the sleeper of pillow both sides, and the second dither motor quits work, and two Individual stone removing door drives cylinder piston rod to start to retract, and pulls two the first push-pull bars and two the second push-pull bars to make two rows respectively Crossdrift synchronous hunting is to position shown in Fig. 1, and ballast backfilling working completes；

11. road shoulders and railway roadbed correction of the flank shape work: engineering truck traction track car moves to right, and is automatically identified rail by pattern recognition system Resting the head on the number of firm rail outer bolt image, make railcar move to right two sleeper pitches, bucket device is positioned on the pillow end of the pillow that switches tracks Side, hydraulic oil makes the first telescopic drive hydraulic motor start to rotate forward, and makes first party tubular telescopic arm stretch out, first party tubular Telescopic arm is entrusted bucket device and is moved out, and the second laser displacement sensor measures the displacement letter of itself and the second range finding reference plate Number, controlling the first telescopic drive hydraulic motor and the work of bucket hydraulic jack, hydraulic oil makes the second lifting drive lose-lose simultaneously Shaft hydraulic motor starts to rotate forward, and the second lowering or hoisting gear is entrusted bucket device and declined, by the first laser displacement sensor Measure the displacement signal of itself and the second lifting driving double output shaft hydraulic motor, control the second lifting and drive double output shaft hydraulic pressure Motor and the work of bucket hydraulic jack, when the bucket tooth of bucket is close to road shoulder ballast, bucket hydraulic cylinder piston rod stretches out, and promotes Link motion, makes bucket forward swing suitable angle, it is simple to combine in bucket by unnecessary ballast during road shoulder correction of the flank shape, when bucket moves During superior self-cultivation shoulder base angle, the first telescopic drive hydraulic motor stops rotating forward, and the second lifting drives double output shaft hydraulic motor to stop Only rotating forward, position shown in Fig. 9, hydraulic oil makes the first telescopic drive hydraulic motor start to rotate backward, and makes first party tubular Telescopic arm is retracted, and first party tubular telescopic arm entrusts bucket inward, and the second lifting simultaneously drives double output shaft hydraulic motor Starting to rotate backward, the second lowering or hoisting gear is entrusted bucket device and is risen, and the first telescopic drive hydraulic motor and the second lifting drive Double output shaft hydraulic motor starts reversely to coordinate to rotate, and makes the stringcourse that movement locus is isosceles trapezoid road shoulder of bucket bucket tooth, enters Trade shoulder correction of the flank shape, when bucket moves to bucket tooth to railway roadbed upper surface, it is anti-that the second lifting drives double output shaft hydraulic motor to stop To rotation, road shoulder correction of the flank shape terminates, and the first telescopic drive hydraulic motor continues to rotate backward, and the movement locus of bucket bucket tooth is straight Line, bucket hydraulic cylinder piston rod is slowly retracted simultaneously, pulls link motion, makes the slow backswing of bucket, makes to combine in bucket Ballast gush, with finishing pillow end railway roadbed, when bucket bucket tooth close to pillow end time, bucket hydraulic jack quits work, second lifting Driving double output shaft hydraulic motor to start to rotate backward, the second lowering or hoisting gear entrusts bucket device when rising to position shown in Fig. 1, First telescopic drive hydraulic motor stops rotating backward, and the second lifting drives double output shaft hydraulic motor to stop rotating backward, Switch tracks Zhen Zhenduan road shoulder and railway roadbed correction of the flank shape end-of-job；

12. tamping flat quarrel work: engineering truck traction track car moves to right, and is automatically identified sleeper rail by pattern recognition system The number of outer bolt image, makes railcar move to right a sleeper pitch, and two row's vibrating spears are positioned at and switch tracks between the sleeper of pillow both sides, figure Position shown in 3, hydraulic oil makes the first lifting drive double output shaft hydraulic motor to start to rotate forward, and the first lowering or hoisting gear is entrusted and shaken Smash assembly to decline, measure it by the first laser displacement sensor and drive the displacement of double output shaft hydraulic motor to believe with the first lifting Number, control the first lifting and drive double output shaft hydraulic motor and the work of the first dither motor, when vibrating spear freely terminates Near the most switched tracks ballast between the sleeper of pillow both sides time, the first dither motor starts working, and oscillating plate drives two row's vibrating spear high frequencies Vibration, the first lifting drives double output shaft hydraulic motor to continue to rotate forward, and the first lowering or hoisting gear is entrusted two row's vibrating spears and inserted Railway roadbed ballast appropriate depth, the first lifting drives double output shaft hydraulic motor to stop rotating forward, and position shown in Fig. 4, first is high Frequency vibration motor works on to shaking at ordinary times by the ballast tamping between the sleeper of pillow both sides that switches tracks, and the first dither motor stops work Making, hydraulic oil makes the first lifting drive double output shaft hydraulic motor to start to rotate backward, and the assembly that vibrates entrusted by the first lowering or hoisting gear Rising to position shown in Fig. 1, the first lifting drives double output shaft hydraulic motor to stop rotating backward, and oil pump quits work, and changes Tamping flat quarrel end-of-job between the sleeper of sleeper both sides.

Symmetrically arranged first series connection parallelogram lindage and the second series connection in first lowering or hoisting gear to the 6th lowering or hoisting gear Parallelogram lindage, the entablature making correspondence is the most parallel with sill, changes the right of pillow adapting to straight line and curved rail length section Should work；3rd series connection parallelogram lindage makes plate shape entablature parallel with sill all the time, makes servo-actuated Equipoising support apparatus fit Straight line and curved rail length section is answered to change the corresponding work of pillow；Two series connection parallelogram lindages in reciprocator, make shifting Dynamic crossbeam is the most parallel with fixed cross beam, makees translation with realization storage sleeper case；Yielding coupling and interior wide-mouth nut can be effective Adapt to sleeper bolt position deviation, make interior wide-mouth nut easily screw on sleeper bolt；Synchronous valve in hydraulic system, it is ensured that two The sleeve synchronization telescope of the first multi-stage expansion shell type oil cylinder；Rigid hanger makes sleeper in handling without swinging, improve handling sleeper speed Degree.

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

Claims (1)

1. one kind has Figure recognition function railway maintenance mechanical-electrical-hydraulic integration machinery, it is characterised in that: it is by tamping flat quarrel dress Put, road shoulder and railway roadbed modification device, clear stone device of grabbing bucket, ballast collection arranging device, pillow end clear stone device, sprocket calculus device, four Nut synchronizes assembling and disassembling device, rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor, hydraulic system and control System cabine processed and railcar composition；Railcar is provided with multiple castor and two longerons, tamping flat quarrel device, road shoulder and railway roadbed correction of the flank shape Device, clear stone device of grabbing bucket, ballast collection arranging device, pillow end clear stone device, sprocket calculus device, four nuts synchronize assembling and disassembling devices, Rail-lifting equipment, transition and push-and-pull sleeper device, sleeper handling apparatus, electromotor and Hydraulic system and control System cabine are arranged in-orbit On two longerons of road car, railcar is drawn by engineering truck, and electromotor is that oil pump and control system provide power, hydraulic system and Fuel tank, oil pump, hydraulic control system and automatic control system it is provided with in control system case；

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

First lowering or hoisting gear is to be driven dress by the first series connection parallelogram lindage, the second series connection parallelogram lindage, the first lifting Put, servo-actuated Equipoising support apparatus and the first laser displacement sensor composition；

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

As second series connection parallelogram lindage and the first series connection parallelogram lindage composition, second connecting rod is provided with two to coaxial Tapped blind hole and right-handed thread hole, except aforesaid second connecting rod and first connecting rod version are different, remaining all parts Version is the same；

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

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

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

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

Being sheathed on the second axle journal of right handed screw by monaural ring bearing, double output shaft hydraulic motor symmetry is fixed in plate shape horizontal stroke Liang Shang, the yielding coupling the first axle journal by right handed screw and the right-hand member output shaft fixed connection of double output shaft hydraulic motor, then will be single Earrings bearing is sheathed on the second axle journal of left-handed screw, and another yielding coupling is by the first axle journal of left-handed screw and lose-lose Two yielding couplings are fixed on plate shape entablature by the left end output shaft fixed connection of shaft hydraulic motor, make left-handed screw with First connecting rod left handed threaded hole axial contact, makes right handed screw and second connecting rod right-handed thread hole axial contact, rotates dual output The output shaft of axle hydraulic motor, makes left-handed screw screw in first connecting rod left handed threaded hole, and right handed screw screws in second even simultaneously In bar right-handed thread hole, form the first lifting drive；

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

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

By four the 3rd forks and entablature chain connection, the first laser displacement sensor symmetry is fixed on below entablature； Form the first lowering or hoisting gear；

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

By bolt through entablature connecting plate bolt hole, helical spring is sheathed on bolt, then passes through oscillating plate bolt hole, Being sheathed on bolt by another helical spring, pad is sheathed on bolt again, hex nut pretension, and oscillating plate is real with entablature Existing elasticity connects；Vibrating head passes oscillating plate circular hole, and the second hex nut pretension, the first dither motor is fixed on oscillating plate Upper surface symmetric position, sill symmetry is fixed on two longerons of railcar, composition tamping flat quarrel device；

Described road shoulder and railway roadbed modification device are by the first entablature assembly, the first retractable driving device, the second lowering or hoisting gear Form with bucket device；

The first described entablature assembly is to be passed by first party tubular fixed arm, first party tubular telescopic arm, the second laser displacement Sensor and the second range finding reference plate composition, first party tubular fixed arm is provided with four ears rings, and first party tubular telescopic arm is provided with Two symmetrical grooves, groove is provided with bolt hole；

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

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

As the second described lowering or hoisting gear and the first lowering or hoisting gear composition, except aforesaid first party tubular fixed arm and entablature Version is different, and remaining all component structural form is the same；

Carry out the assembly operation identical with the first lifting drive, by four the 3rd forks and first party tubular fixed arm hinge Connect, the first laser displacement sensor symmetry is fixed on below first party tubular fixed arm；Form the second lowering or hoisting gear；

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

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

With arm the second ears ring, cylinder body of hydraulic oil cylinder monaural ring is coaxially penetrated pin hinge be connected, strut monaural ring and arm First ears ring coaxially penetrates pin hinge and connects, and bucket body the second ears ring and arm monaural ring coaxially penetrate pin hinge even Connecing, connecting rod monaural ring coaxially penetrates pin hinge with bucket body the first ears ring and is connected, connecting rod ears ring, strut ears ring and hydraulic pressure Cylinder piston rod monocycle coaxially penetrates pin hinge and connects, and forms the first bucket assembly, and U-shaped suspension rod is solid with arm ring flange Even, form bucket device, U-shaped suspension rod is fixed on first party tubular telescopic arm, composition road shoulder and railway roadbed modification device；

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

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

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

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

Second bucket assembly and the first bucket assembly form and version is the same；

With two the second ears rings of arm, two cylinder body of hydraulic oil cylinder monaural rings are coaxially penetrated pin hinge respectively be connected, two Strut monaural ring coaxially penetrates pin hinge with two the first ears rings of arm respectively and is connected, and two bucket body the second ears rings are respectively Coaxially penetrating pin hinge with two monaural rings of arm to be connected, two connecting rod monaural rings are same with two bucket body the first ears rings respectively Axle penetrates pin hinge and connects, and connecting rod ears ring, strut ears ring and hydraulic cylinder piston rod monocycle coaxially penetrate pin hinge Connect, form the first grab mechanisms, eight arm ring flanges are respectively symmetrically and are fixed on two longerons of entablature and two cantilevers On longeron, the composition clear stone device of grab bucket；

Described ballast collection arranging device is by cmos image sensor, casing, two stone removing doors, two collection crossdrift, two calculus Door drive, two collection crossdrift driving means, crossbeam, several second elastic connecting component, the second dither motors and two Individual end cap forms, and crossbeam is provided with several bolt hole, and end cap is provided with sand discharge Tu Zui；

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

Described stone removing door driving means is driven oil cylinder, the first push-pull bar and the second push-pull bar to form by stone removing door, and first pushes away Pull bar is provided with the first ears ring and the second ears ring, and the second push-pull bar is provided with the first ears ring and the second ears ring；

Described collection crossdrift driving means is driven oil cylinder, the 3rd push-pull bar and the 4th push-pull bar to form by collection crossdrift, and the 3rd pushes away Pull bar is provided with the first ears ring and the second ears ring, and the 4th push-pull bar is provided with the first ears ring and the second ears ring；

The second described elastic connecting component and the first Flexible Connector form and version is the same；

Stone removing door drives cylinder piston rod monaural ring, first push-pull bar the first ears ring, second push-pull bar the first ears ring coaxial Penetrating pin hinge to connect, form stone removing door driving means, collection crossdrift drives cylinder piston rod monaural ring, the 3rd push-pull bar first Ears ring, the 4th push-pull bar the first ears ring coaxially penetrate pin hinge and connect, composition collection crossdrift driving means；

Four the second monaural rings of stone removing door respectively with the ears ring of two the first convex stupefied lower surfaces, the second convex stupefied below two Ears ring coaxially penetrates pin hinge and connects, four the second monaural rings of collection crossdrift respectively with two the first convex stupefied ears above Ring, two ears rings of the second convex stupefied upper surface coaxially penetrate pin hinge and connect；

Oil cylinders are driven to be respectively fixedly connected with on the medial wall of two square cylindrical two stone removing doors, two the first push-pull bars second pair Earrings is co-axially inserted pin hinge with two the first monaural rings of stone removing door respectively and is connected, and two second push-pull bar the second ears rings divide It is not co-axially inserted pin hinge with two the first monaural rings of another stone removing door to be connected, drives oil cylinder solid respectively two collection crossdrifts Be connected on the lateral wall of two square cylindrical, two the 3rd push-pull bar the second ears rings respectively with collection two the first monaural rings of crossdrift Be co-axially inserted pin hinge to connect, two the 4th push-pull bar the second ears rings respectively with two the first monaural rings of another stone removing door Being co-axially inserted pin hinge to connect, two end caps are respectively fixedly connected with on casing；

By bolt through sill bolt hole, helical spring is sheathed on bolt, then passes through box bottom bolt hole, then will Another helical spring is sheathed on bolt, and pad is sheathed on bolt, hex nut pretension, and casing and crossbeam realize elasticity even Connect；Second dither motor symmetry is connected on box bottom, and crossbeam symmetry is fixed on two longerons of railcar, and CMOS schemes As sensor is fixed on below crossbeam, form ballast collection arranging device；

Described pillow end clear stone device is by the second entablature assembly, the second retractable driving device, the 4th lowering or hoisting gear, second grabs Bucket device and U-shaped bar composition；

The second described entablature assembly and the first entablature assembly form and version is the same, carries out and the first entablature group The assembly operation that part is identical, forms the second entablature assembly；

The second described retractable driving device is the same with the first retractable driving device composition and version, carries out stretching with first The assembly operation that driving means is identical, forms the second retractable driving device；

The 4th described lowering or hoisting gear and the second lowering or hoisting gear form and version is the same, carries out identical with the second lowering or hoisting gear Assembly operation, form the 4th lowering or hoisting gear；

The second described grab mechanisms and the first grab mechanisms form and version is the same, carries out identical with the first grab mechanisms Assembling, form the second grab mechanisms；

Arm ring flange is connected with U-shaped bar, then U-shaped bar is fixed on first party tubular telescopic arm, composition pillow end clear stone dress Put；

Described sprocket calculus device is by the 3rd entablature assembly, the 3rd retractable driving device the 5th lowering or hoisting gear and chain tooth row Stone assembly forms；

The 3rd described entablature assembly is by second party tubular fixed arm, two second party tubular fixed arms, the 3rd laser positions Displacement sensor and the 3rd range finding reference plate composition, second party tubular fixed arm is provided with four ears rings, second party tubular fixed arm Being provided with two grooves of symmetry, groove is provided with bolt hole；

The 3rd described retractable driving device is by second party tubular fixed arm, double output shaft hydraulic motor, two elastic shaft couplings Device, two monaural ring bearings, left-handed screw, left-handed square nut, right handed screw, dextrorotation square nut, two square sliders, two Individual hex nut, four bolts and two second party tubular fixed arms composition, right handed screw be provided with the first axle journal, the second axle journal and 3rd axle journal, left-handed screw is the same with right handed screw version, and dextrorotation square nut is provided with the blind screw thread of two symmetric coaxials Hole, left-handed square nut is the same with dextrorotation square nut version, and square slider is provided with axis hole；

Monaural ring bearing is sheathed on the second axle journal of right handed screw, and yielding coupling is by the first axle journal of right handed screw and lose-lose The right-hand member output shaft fixed connection of shaft hydraulic motor, dextrorotation square nut screws on right handed screw appropriate location, and square slider is sheathed on On right handed screw the 3rd axle journal, hex nut pretension, second party tubular telescopic arm is sheathed thereon from right handed screw right-hand member, makes Two square tube shape telescopic arm groove bolts hole are coaxial with dextrorotation square nut tapped blind hole, and two bolts screw in the square spiral shell of dextrorotation respectively Female tapped blind hole pretension, repeats aforementioned assembly operation, by the second monaural ring bearing, left-handed screw, left-handed square nut, square Slide block, hex nut, yielding coupling, double output shaft hydraulic motor and second party tubular telescopic arm composition one, by second party Tubular fixed arm is sheathed on two second party tubular telescopic arms, makes double output shaft hydraulic motor symmetry be fixed on second party tubular Fixed arm endoporus upper surface, two monaural ring bearings are respectively fixedly connected with in second party tubular fixed arm endoporus upper surface, the 3rd laser Displacement transducer symmetry is fixed on second party tubular fixed arm, and the 3rd range finding reference plate is fixed on second party tubular telescopic arm On, the 3rd retractable driving device square slider forms moving sets with second party tubular telescopic arm；

As the 5th described lowering or hoisting gear and the first lowering or hoisting gear composition, except second party tubular fixed arm and entablature structure shape Formula is different, and remaining all component structural form is the same；

Carry out the assembly operation identical with the first lowering or hoisting gear, by four the 3rd forks with second party tubular fixed arm hinge even Connect, the first laser displacement sensor is fixed on below second party tubular fixed arm, form the 5th lowering or hoisting gear；

Described sprocket calculus assembly is by double output shaft hydraulic motor, two yielding couplings, two sprocket calculus parts, U Shape bar, eight C-shaped-rod and suspension bracket composition, U-shaped bar is provided with two circular flange dishes and square flange, and C-shaped-rod is provided with the first method Blue dish and the second ring flange, suspension bracket is provided with two the first ring flanges and eight the second ring flanges；

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

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

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

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

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

Double output shaft hydraulic motor double output shaft, two yielding couplings and two sprocket wheel wheel shafts are connected, U-shaped bar square flange Dish is fixed on the 3rd double output shaft hydraulic motor, and eight C-shaped-rod the second ring flanges are respectively symmetrically and are fixed on two square beams On, eight the second ring flanges of suspension bracket are connected with eight C-shaped-rod the first ring flanges respectively, two circular flange dishes of U-shaped bar and suspension bracket Two the first ring flanges are respectively fixedly connected with on second party tubular telescopic arm, form sprocket calculus device；

It is by entablature, the 6th lowering or hoisting gear and two nut assembling and disassembling device groups that described sleeper four nut synchronizes assembling and disassembling device Become；

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

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

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

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

Described rail-lifting equipment be by first crossbeam telescopic component, first crossbeam retractable driving device, two the first pendulous devices, Eight forks, eight hex nuts, two box connecting rods, eight bolts, two flexible shell types carry cylinder of rail composition, and fork is provided with Six prism hole monaural ring and monaural rings, box connecting rod is arranged with four bolts hole and semicylindrical opening, and flexible shell type carries cylinder of rail Cylinder body is provided with gusset, piston rod free end is provided with fagging；

Described first crossbeam telescopic component is by third party's tubular fixed arm, two third party's tubular telescopic arms, the 4th laser Displacement transducer and the 4th range finding reference plate composition, third party's tubular telescopic arm is provided with blind end and two symmetrical grooves, recessed Groove is provided with bolt hole；

Described first crossbeam retractable driving device is the same with the composition of the 3rd retractable driving device, except aforesaid third party's tubular Fixed arm and second party tubular fixed arm version is different, third party's tubular telescopic arm and second party tubular telescopic arm structure Form is different, and remaining all component structural form is the same；

Carry out the assembly operation identical with the 3rd retractable driving device, form first crossbeam retractable driving device；4th laser position Displacement sensor symmetry is fixed on third party's tubular fixed arm side, and the 4th range finding reference plate is fixed on third party's tubular telescopic arm side Face；

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

By on two the most sheathed first diameters of axle being fixed on two multidiameters of sector gear, two multidiameters are each passed through casing Two axis holes, make multidiameter the second axle journal form revolute pair with casing axis hole, are fixed on the second spiral by sheathed for partial gear On rotary actuator output shaft, be placed in the first casing, make the gear teeth of partial gear respectively with two sector gears The gear teeth contact along the facewidth, and the second spiral rotary actuator is fixed on the first box bottom, two axis holes of embedded cover plate It is sheathed on respectively on two multidiameter the 3rd axle journals, makes embedded cover plate and the first casing be connected, form the first pendulous device；

Two fork six prism hole monaural rings are sheathed on two multidiameter the one or six prism shaft parts, two the first hexagonal spiral shells respectively The other pretension of mother stock, more other two fork six prism hole monaural rings are sheathed on two multidiameter the two or six prism shaft parts respectively, Other two the first hex nuts pretension respectively, the one end making four forks is connected with the two ends of two multidiameters respectively, four Four screwed holes of fork monaural ring and box connecting rod are coaxial, four tools for bolts ' pretensions, make four forks respectively with box connecting rod link Connect, form parallelogram lindage in parallel；

Two the first casings are respectively fixedly connected with in the blind end of two third party's tubular telescopic arms, make two the first pendulous devices pair Claim to arrange, two flexible shell types are carried cylinder of rail cylinder body and is respectively fixedly connected with in two box connecting rod semicylindrical openings, make two to stretch Shell type carries cylinder of rail and is symmetrical arranged, and forms rail-lifting equipment, and two that third party's tubular fixed arm symmetry is fixed on railcar vertical Liang Shang；

Described swivel block and push-and-pull sleeper device are by second cross beam telescopic component, second cross beam retractable driving device, the second pendulum Dynamic device, four the first forks, crawl and swivel block device, four the first hex nuts and four bolts compositions, the first fork sets There are six prism hole monaural ring and monaural rings；

Described second cross beam telescopic component is by four directions tubular fixed arm, four directions tubular telescopic arm, the 5th laser displacement Sensor and the 5th range finding reference plate composition, four directions tubular telescopic arm is provided with blind end and two symmetrical grooves, and groove sets There is bolt hole；

Described second cross beam retractable driving device is as the first retractable driving device composition, except aforementioned four directions tubular is fixed Arm and first party tubular fixed arm version is different, the four directions tubular telescopic arm and first party tubular telescopic arm structure form Different, remaining all component structural form is the same；

Carry out the assembly operation identical with the first retractable driving device, form second cross beam retractable driving device, the 5th laser position Displacement sensor symmetry is fixed on tubular fixed arm side, four directions, and the 5th range finding reference plate is fixed on tubular telescopic arm side, four directions Face；

The second described pendulous device and the first pendulous device form and version is the same, carries out identical with the first pendulous device Assembly operation, form the second pendulous device；

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

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

By convex for spacing for the 3rd spiral rotary actuator output shaft ring flange fan-shaped boss sector spacing with hydraulic jack ring flange Platform aligns connected, and the first thrust bearing is sheathed on hydraulic jack the first axle journal, and hydraulic jack penetrates the second casing shoulder hole In, make the 3rd spiral rotary actuator output shaft ring flange and hydraulic jack ring flange insert second casing the first circular hole portion, The spacing fan-shaped boss of the 3rd spiral rotary actuator output shaft ring flange and the spacing fan-shaped boss of hydraulic jack ring flange is made to put Enter in scallop hole section, make two spacing fan-shaped boss left surfaces contact with scallop hole section the first confined planes, make the first thrust bearing Insert second casing the second circular hole portion, make the 3rd spiral rotary actuator be fixed on the second box bottom, make end cap and Two casings are connected；

Second thrust bearing is sheathed on oil cylinder the 3rd axle journal so that it is inserting the second casing the 3rd circular hole portion section, piston rod is worn Crossing ladder U-bracket axis hole, piston shaft borehole jack is located at piston rod axle journal, nut pretension, is inserted by piston in hydraulic jack cylinder barrel, Ladder U-bracket flange is penetrated hydraulic jack cylinder barrel be connected, makes oil cylinder the second axle journal and the second housing bushing section chain connection, Piston rod ears ring, second connecting rod ears ring and first connecting rod monaural ring coaxially penetrating pin hinge connect, the second fork is double Earrings coaxially penetrates pin hinge and is connected with roller, and the second fork pin-and-hole and ladder U-bracket pin-and-hole coaxially penetrate pin hinge Connecting, first connecting rod ears ring and second connecting rod ears ring coaxially penetrate pin hinge with the first fork monaural ring respectively and are connected；

The ears ring of four the 3rd forks is coaxially penetrated respectively pin hinge even with four the second monaural rings of ladder U-bracket Connecing, another ears ring of four the 3rd forks coaxially penetrates pin hinge with four the second monaural rings of pressing plate respectively and is connected, and two Individual helical spring one end is connected with two the first monaural rings of ladder U-bracket respectively, and two helical spring other ends are respectively It is connected with two the first monaural rings of pressing plate, forms gripper, the pulling force of two helical springs, make to be articulated with the rolling of the second fork Wheel contacts with pressing plate all the time, repeats aforementioned assembly operation, assembles another gripper, and composition captures and swivel block device；

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

First casing is fixed on four directions tubular telescopic arm blind end, composition swivel block and push-and-pull sleeper device；

Described sleeper handling apparatus is made up of reciprocating motion storage sleeper device and rigid hanger hoisting apparatus；

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 storehouse, wherein half sleeper storehouse, left side is used for having stored sleeper, and half sleeper storehouse, right side is used for storing Bad sleeper；

Described reciprocator is to be swashed by base plate, two series connection parallelogram lindages, reciprocating movement driving devices and the 6th Optical displacement sensor forms；

Described series connection parallelogram lindage is by fixed cross beam, two the first forks, connecting rod, two the second forks and to move crossbeam Composition, connecting rod is provided with two monaural rings, and moving beam is provided with two rollers and a circular hole；

Described reciprocating movement driving device is by hydraulic motor, yielding coupling, monaural ring bearing, screw rod and square nut group Becoming, screw rod is provided with the first axle journal and the second axle journal；

By two the first forks respectively with fixed cross beam chain connection, the first fork ears ring, the second fork ears ring and connecting rod Monaural ring coaxially penetrates pin hinge and connects, and another the first fork ears ring, another the second fork ears ring and connecting rod are another One monaural ring coaxially penetrates pin hinge and connects, two the second forks respectively with moving beam chain connection, composition series connection is flat Row four-bar mechanism, repeats aforementioned assembly operation, is symmetrical in the vertical plane of symmetry of fixed cross beam and moving beam and assembles another and put down Row four-bar mechanism, base plate is fixed on fixed cross beam lower surface, makes two rollers of moving beam contact with plate upper surface, hydraulic pressure Motor symmetry is fixed on fixed cross beam side, and monaural ring bearing is sheathed on screw rod the second axle journal, and square nut screws on screw rod and fits Working as position, screw rod, through the circular hole of moving beam, makes square nut be fixed on moving beam side, and yielding coupling makes hydraulic pressure horse Reaching output shaft to be connected with screw rod the first axle journal, monaural ring bearing is fixed on base plate, forms reciprocating movement driving device；

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

Being fixed on by base plate on railcar crossbeam, third party's tubular fixed arm and four directions tubular fixed arm, storage sleeper case is solid Being connected on moving beam, make two rollers of storage sleeper case contact with substrate, composition moves back and forth storage sleeper device；

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

Described telescopic cantilever boom device is by the first ladder square tube shape fixed arm, the first ladder square tube shape telescopic arm, square tube shape Telescopic arm, the first multi-stage expansion shell type oil cylinder, cantilever beam, end plate, cantilever and the 7th laser displacement sensor composition, the first ladder Square tube shape fixed arm is provided with ring flange and cylinder shoulder, and the first ladder square tube shape telescopic arm is provided with ring flange and cylinder shoulder, and square tube shape is stretched Arm is provided with ring flange and blind end, the first multi-stage expansion shell type oil cylinder be provided with the first ring flange, the first extension sleeve, second stretch Sleeve and the second ring flange, cantilever beam is provided with ring flange；

End plate symmetry is fixed on first multi-stage expansion shell type oil cylinder the first ring flange, and it is multistage that square tube shape telescopic arm is sheathed on first Flexible shell type oil cylinder, makes first multi-stage expansion shell type oil cylinder the second ring flange symmetry be fixed on square tube shape telescopic arm blind end, the One ladder square tube shape telescopic arm is sheathed on square tube shape telescopic arm, and the first ladder square tube shape fixed arm is sheathed on the first ladder square tube On shape telescopic arm, making the first ladder square tube fixed arm ring flange be connected with end plate, cantilever beam ring flange is fixed on square tube shape and stretches On arm blind end, cantilever is fixed on cantilever beam ring flange, and the 7th laser displacement sensor is fixed on cantilever, and composition is flexible outstanding Arm boom device；

Described telescoping crossbeam device is by the second ladder square tube shape fixed arm, the second ladder square tube shape telescopic arm, the 3rd ladder Square tube shape telescopic arm, the second multi-stage expansion shell type oil cylinder, end cap and push pedal composition, the second ladder square tube shape fixed arm is provided with flange Dish, cylinder shoulder and long slot bore, the second ladder square tube shape telescopic arm is provided with first shoulder, second shoulder and long slot bore, the 3rd ladder side Tubular telescopic arm is provided with cylinder shoulder and two monaural rings, and the second multi-stage expansion shell type oil cylinder is provided with the first ring flange, the first order is stretched Sleeve, second level extension sleeve and the second ring flange；

End cap symmetry is fixed on second multi-stage expansion shell type oil cylinder the first ring flange, and the 3rd ladder square tube shape telescopic arm is sheathed on On second multi-stage expansion shell type oil cylinder, make second multi-stage expansion shell type oil cylinder the second ring flange and the 3rd ladder square tube shape telescopic arm Blind end is connected, and the second ladder square tube shape telescopic arm is sheathed on the 3rd ladder square tube shape telescopic arm, then by the second ladder square tube Shape fixed arm is sheathed on the second ladder square tube shape telescopic arm, makes end cap be connected with ladder square tube shape fixed arm ring flange, push pedal It is fixed on the 3rd ladder square tube shape telescopic arm blind end, the 7th laser displacement sensor symmetry is fixed on the second ladder square tube shape Fixed arm side, forms telescoping crossbeam device；

Described rigid hanger is made up of entablature, two pull bars and sill, and entablature is provided with two ears rings, sill It is provided with two circular holes；

Being fixed on below entablature by one end symmetry of two pull bars, the other end symmetry of two pull bars is fixed on sill Face, forms rigid hanger；

Described pick-and-place sleeper device is made up of the 4th spiral rotary actuator, yielding coupling and interior wide-mouth nut, the Four spiral rotary actuators are provided with ring flange and output shaft, and interior wide-mouth nut is provided with axle journal；

Penetrating in sill circular hole by the 4th spiral rotary actuator, the 4th spiral rotary actuator ring flange is fixed on sill Above, the 3rd yielding coupling makes the 4th spiral rotary actuator output shaft be connected with interior wide-mouth nut axle journal, forms pick-and-place sleeper Device；

Two telescopic cantilever boom device symmetries are fixed on two longerons of railcar, telescoping crossbeam device the second ladder square tube shape Fixed arm is fixed on below two cantilever beam cantilevers, two ears rings of entablature respectively with the 3rd ladder square tube shape telescopic arm Two monaural ring coaxial bolts connect, and form sleeper handling apparatus.