CN106676981A - Small railway maintenance machine with shape recognition function - Google Patents

Abstract

The invention discloses a small railway maintenance machine with graphic recognition function, which is composed of a tamping ballast leveling device, a road shoulder and ballast bed shaping device, a grab stone cleaning device, a ballast collecting and discharging device, a pillow end stone cleaning device, a chain It is composed of tooth row stone device, four-nut synchronous assembly and disassembly device, first rail lifting device, rail transfer and push-pull sleeper device, lifting sleeper device, generator, hydraulic system and control system box and rail car. The invention can quickly align the working device to the working position; automatically discharge the ballast between the sleepers, the outer side of the sleeper end and the ballast bed under the rail, automatically separate the sand and soil in the stone slag, and automatically backfill the stone slag to the sleepers on both sides of the replaced sleeper. Real vibration leveling, automatically repairing the shape of the shoulder and the ballast bed; realizing the synchronous assembly and disassembly of four nuts, improving the fatigue life of the bolts, and ensuring the reliability of the connection between the sleeper and the rail; the rotary sleeper and the push-pull sleeper are integrated devices, with a compact structure and suitable for straight lines The work of changing pillows on curved rail sections has high work efficiency.

Description

A small railway maintenance machine with graphic recognition function

technical field

The invention relates to a railway maintenance machine, in particular to a small railway maintenance machine with graphic recognition function.

Background technique

During the long-term use of railway sleepers, due to natural settlement and vibration, some railway sleepers sink and need maintenance. Individual sleepers are damaged and need to be replaced in time. In the process of sleeper replacement, manual work is used, which is time-consuming and laborious. , the work efficiency is low, and the work cannot be completed in the effective train passage gap (commonly known as: skylight).

Contents of the invention

The purpose of the present invention is to provide a small railway maintenance machine with graphic recognition function.

The present invention consists of a tamping ballast leveling device, a road shoulder and ballast bed modification device, a grab stone cleaning device, a ballast collection and discharge device, a pillow end stone cleaning device, a sprocket stone discharge device, a four-nut synchronous assembly and disassembly device, the first A rail lifting device, a rail transfer and push-pull sleeper device, a sleeper lifting device, a generator, a hydraulic system and a control system box, and a rail car. The rail car is equipped with multiple casters and two longitudinal beams, tamping ballast leveling device, road shoulder and ballast bed shaping device, grab stone cleaning device, ballast collecting and discharging device, pillow end stone cleaning device, sprocket stone discharging device , Four-nut synchronous assembly and disassembly device, the first rail lifting device, rail transition and push-pull sleeper device, sleeper lifting device, generator, hydraulic system and control system box are set on the two longitudinal beams of the rail car, and the rail car is operated by an engineering car Traction, the generator provides power for the oil pump and control system, and the hydraulic system and control system box is equipped with a fuel tank, oil pump, hydraulic control system and automatic control system;

The tamping and leveling device is composed of an upper beam, a first lifting device and a vibrating assembly, the upper beam is provided with two connecting plates, and the connecting plates are provided with several bolt holes;

The first lifting device is composed of a first series parallel four-bar mechanism, a second series parallel four-bar mechanism, a first lifting drive device, a follow-up balance support device and a first laser displacement sensor;

The first series parallel four-bar mechanism is composed of a lower crossbeam, a first fork, a second fork, two third fork, a first connecting rod, four first bolts and an upper crossbeam, the first connecting rod There are two pairs of coaxial threaded blind holes and left-handed threaded holes;

The second series parallel four-bar mechanism is the same as the first series parallel four-bar mechanism. The second connecting rod is provided with two pairs of coaxial threaded blind holes and right-handed threaded holes. Except the aforementioned second connecting rod and the first connecting rod The structural form is different, and the structural form of all other parts is the same;

The first lifting drive device is composed of a hydraulic motor with double output shafts, two elastic couplings, a left-handed screw, a first connecting rod, a right-handed screw, a second connecting rod and two single clevis supports. The helical screw is provided with a first journal and a second journal, and the structure of the left-handed screw and the right-handed screw is the same;

The follow-up balance support device is composed of a plate-shaped upper beam, a third series parallel four-bar mechanism, a first strut, a second strut, a slide bar, two sliders, two tower-shaped stiffness nonlinear springs, Composed of two first hexagonal nuts, two second bolts and two third bolts, the slide rod is provided with a fixed disk, symmetrically provided with two polished rod sections and two threaded sections; the slide block is provided with round holes and A pair of coaxial threaded blind holes;

The third series parallel four-bar mechanism is composed of a plate-shaped upper beam, a lower beam, a fourth swing link, a fifth swing link, a sixth swing link, a seventh swing link, two third connecting rods and two pins. Shaft composition;

The first swing link is hinged to the lower crossbeam, the second swing link, the fourth swing link and the lower crossbeam are hingedly connected, and the double clevis of the first swing link and the double clevis of the third swing link are connected with the left side of the first link. The threaded blind hole is coaxial, and the two first bolts are pre-tightened, so that the first swing link, the third swing link and the first connecting rod are hinged between the three components, and the second swing link double clevis and another third swing link The double clevis is coaxial with a pair of threaded blind holes on the right side of the first connecting rod, and the two first bolts are pre-tightened to make the second swinging rod, the third swinging rod and the first connecting rod hingedly connected among the three components, and the two The third swing rods are respectively hingedly connected with the upper crossbeam to form the first series parallel four-bar mechanism, repeat the aforementioned assembly operation, and assemble the second series parallel four-bar mechanism on the vertical symmetry plane symmetrical to the lower crossbeam and the upper crossbeam;

Set the single clevis support on the second journal of the right-handed screw, the double output shaft hydraulic motor is symmetrically fixed on the plate-shaped upper beam, and the elastic coupling connects the first journal of the right-handed screw and the double output shaft The output shaft at the right end of the hydraulic motor is fixedly connected, and then the single clevis support is sleeved on the second journal of the left-handed screw, and another elastic coupling connects the first journal of the left-handed screw with the left end of the double output shaft hydraulic motor. The shaft is fixedly connected, and the two elastic couplings are fixed on the plate-shaped upper beam, so that the left-handed screw is in coaxial contact with the left-handed threaded hole of the first connecting rod, and the right-handed screw is coaxial with the right-handed threaded hole of the second connecting rod. Contact, turn the output shaft of the dual output shaft hydraulic motor, so that the left-handed screw is screwed into the left-handed threaded hole of the first connecting rod, and at the same time, the right-handed screw is screwed into the right-handed threaded hole of the second connecting rod to form the first lifting drive device;

Set two tower-shaped stiffness nonlinear springs symmetrically on the two polished sections of the slide bar, and then set two sliders on the two polished sections of the slide bar respectively, and pre-tighten the two hex nuts respectively, so that the two The sliders respectively make the tower-shaped rigidity nonlinear spring properly compressed, and the fifth swing link is hingedly connected with the lower beam, so that the left single clevis of the two second connecting rods is respectively connected with the double clevis of the fourth swing link and the double clevis of the sixth swing link. A pair of threaded blind holes of the earring and the slider are coaxial, and the two second bolts are respectively pre-tightened, so that the fourth swing link, the sixth swing link and the slider are hingedly connected, and the two third connecting rods are connected to each other. The single clevis on the right is coaxial with the double clevis of the fifth pendulum and the double clevis of the seventh pendulum respectively, and the two pin shafts penetrate respectively, so that the hinges between the second connecting rod, the fifth pendulum and the seventh pendulum are hinged. connected to form a third series parallel four-bar mechanism;

The double clevis of the first strut, the double clevis of the second strut and a pair of threaded blind holes of the slider are coaxial, and the two third bolts are respectively pre-tightened, so that the first strut, the second strut and the slider are three The components are hingedly connected, and the sixth swing rod, the seventh swing rod and the second support rod are respectively hinged with the plate-shaped upper beam to form a dynamic balance support device;

Connect the four third swing rods to the upper beam with hinges, and connect the first laser displacement sensor symmetrically to the bottom of the upper beam to form the first lifting device;

The vibrating assembly is composed of an upper beam, several elastic connecting assemblies, a vibrating plate, eight vibrating rods, eight second hex nuts and a first high-frequency vibration motor, and the elastic connecting assembly consists of bolts, two screw Composed of springs, washers and hex nuts, the vibration plate is provided with several bolt holes and eight round holes;

Put the bolt through the bolt hole of the connecting plate of the square upper beam, put the coil spring on the bolt, then pass through the bolt hole of the vibrating plate, then put another coil spring on the bolt, and the gasket on the bolt , the hexagonal nut is pre-tightened, the vibration plate and the upper beam are elastically connected; the vibrating rod passes through the round hole of the vibration plate, the second hexagonal nut is pre-tightened, the first high-frequency vibration motor is fixedly connected to the symmetrical position on the upper surface of the vibration plate, and the lower beam It is symmetrically fixed on the two longitudinal beams of the rail car to form a tamping and leveling device.

The road shoulder and ballast bed shaping device is composed of a first upper beam assembly, a first telescopic drive device, a second lifting device and a bucket device;

The first upper beam assembly is composed of a first square cylindrical fixed arm, a first square cylindrical telescopic arm, a second laser displacement sensor and a second distance measuring reference plate. The first square cylindrical fixed arm is provided with four two double earrings, the first square cylindrical telescopic arm is provided with two symmetrical grooves, and the grooves are provided with bolt holes;

The first telescopic driving device is composed of a first square cylindrical fixed arm, a hydraulic motor, an elastic coupling, a single clevis support, a screw rod, a square nut, a square slider, a hex nut, two bolts and a first square Composed of cylindrical telescopic arms, the screw rod is provided with the first journal, the second journal and the third journal, and the square nut is provided with two coaxial threaded blind holes;

Set the single clevis support on the second journal of the screw rod, the elastic coupling connects the first journal of the screw rod with the output shaft of the hydraulic motor, screw the square nut on the appropriate position of the screw rod, and set the square slider on the On the third journal of the screw rod, the hexagonal nut is pre-tightened, and the first square cylindrical telescopic arm is sleeved on it from the left end of the screw rod, so that the two threaded blind holes of the square nut are coaxial with the two bolt holes of the first square cylindrical telescopic arm , two bolts are pre-tightened, the first square cylindrical fixed arm is sleeved on it from the right end of the hydraulic motor, and the hydraulic motor is fixedly connected to the upper surface of the inner hole of the first square cylindrical fixed arm to form the first telescopic drive device. The square slider and the first square cylindrical telescopic arm form a moving pair, the second laser displacement sensor is fixedly connected to the first square cylindrical fixed arm, and the second ranging reference plate is fixedly connected to the first square cylindrical telescopic arm ;

The composition of the second lifting device is the same as that of the first lifting device, except that the structure of the first square cylindrical fixed arm and the upper beam are different, and the structures of all other parts are the same;

Carry out the same assembly operation as the first lifting drive device, connect the four third swing rods to the first square cylindrical fixed arm hinge, and connect the first laser displacement sensor symmetrically to the bottom of the first square cylindrical fixed arm; composition the second lifting device;

The bucket device is composed of a first bucket assembly, a boom and a U-shaped boom, and the boom is provided with a single clevis, a first double clevis, a second double clevis and a flange;

The first bucket assembly is composed of a hydraulic cylinder, a strut, a connecting rod and a bucket body. The free end of the piston rod of the hydraulic cylinder is provided with a single clevis, and the cylinder body is provided with a single clevis; the strut is provided with double clevis and Single clevis; the connecting rod is provided with a single clevis and double clevis, and the bucket body is provided with a first double clevis and a second double clevis;

Connect the single clevis of the hydraulic cylinder body with the second double clevis of the boom coaxially through the pin shaft hinge, connect the single clevis of the support rod with the first double clevis of the boom coaxially through the pin shaft hinge, and connect the second double clevis of the bucket body with the The single clevis of the boom is hingedly connected with the coaxial penetration pin, the single clevis of the connecting rod is connected with the first double clevis of the bucket body with the coaxial penetration pin, and the double clevis of the connecting rod, the double clevis of the support rod and the single clevis of the hydraulic cylinder piston rod are the same. The shaft penetrates the pin shaft and is hinged to form the first bucket assembly. The U-shaped boom is connected to the boom flange to form a bucket device. The U-shaped boom is fixed to the first square cylindrical telescopic arm. , to form the road shoulder and ballast bed shaping device;

The grab stone clearing device is composed of an upper beam, two third lifting devices and eight first grab devices, and the upper beam is provided with two longitudinal beams and two cantilever longitudinal beams;

The composition of the third lifting device is the same as that of the first lifting device, except that the structure of the upper beam of the third lifting device is different from that of the first lifting device, and the structure of all other parts is the same;

Carry out the same assembly operation as that of the first lifting drive device, connect the four third swing rods to the upper beam with hinges respectively, and fix the first laser displacement sensor under the upper beam to form the third lifting device;

The first grab device is composed of two second bucket assemblies and a boom, and the boom is symmetrically provided with two single clevis, two first double clevis, two second double clevis and a flange;

The composition and structural form of the second bucket assembly is the same as that of the first bucket assembly;

The single clevis of the two hydraulic cylinders is hingedly connected with the two second double clevises of the boom respectively coaxially penetrated into the pin shaft, and the two single clevises of the support rod are respectively coaxially penetrated into the pin shaft with the two first double clevises of the boom Hinge connection, the second double clevis of the two buckets is hingedly connected with the two single clevises of the boom respectively coaxially penetrated into the pin shaft, and the two single clevises of the two connecting rods are coaxially penetrated into the pin shaft with the first double clevis of the two bucket bodies respectively Hinge connection, double clevis of connecting rod, double clevis of support rod and single ring of piston rod of hydraulic cylinder are coaxially penetrated into pin shaft hinge connection to form the first grab device, and the eight boom flanges are symmetrically fixed to the upper beam respectively On two longitudinal beams and two cantilever longitudinal beams, a grab stone clearing device is formed;

The ballast collection and discharge device is composed of a CMOS image sensor, a box body, two stone discharge gates, two stone discharge gates, two stone discharge gate drive devices, two stone discharge gate drive devices, a beam, and several second elastic connecting components , The second high-frequency vibration motor and two end covers, the beam is provided with several bolt holes, and the end cover is provided with sand discharge nozzles;

The box body is provided with a base plate, an arrow-shaped box bottom, two first stone-collecting bins, a second stone-collecting bin, two square cylindrical holes, two gradually changing isosceles trapezoidal chutes, four first convex grooves and Two second convex grooves, several bolt holes on the bottom plate, several screen holes on the bottom of the arrow-shaped box, two symmetrical stone discharge ports and two stone collection ports in the first stone collection bin, and two stone collection ports in the second stone collection bin. There are two symmetrical stone row openings and two stone collection openings. There are two symmetrical double earrings on the upper and lower sides of the first convex groove, and two symmetrical double earrings on the upper and lower sides of the second convex groove. Single earrings and four second single earrings, Jishimen has two first single earrings, four second single earrings and six anti-spill plates;

The stone row gate driving device is composed of a stone row gate drive hydraulic cylinder, a first push-pull rod and a second push-pull rod, the first push-pull rod is provided with a first double clevis and a second double clevis, and the second push-pull rod is provided with a first double earrings and second double earrings;

The Jishimen driving device is composed of Jishimen driving hydraulic cylinder, a third push-pull rod and a fourth push-pull rod, the third push-pull rod is provided with a first double clevis and a second double clevis, and the fourth push-pull rod is provided with a first double earrings and second double earrings;

The composition and structural form of the second elastic connecting component and the first elastic connecting piece are the same;

Paishimen driving hydraulic cylinder piston rod single clevis, first push-pull rod, first double clevis, second push-pull rod, first double clevis are coaxially penetrated into the pin shaft hinge to form a Paishimen driving device, and Shimen driving hydraulic cylinder piston rod is single The clevis, the first double clevis of the third push-pull rod, and the first double clevis of the fourth push-pull rod are coaxially penetrated into the pin shaft and hinged to form the Jishimen driving device;

The four second single clevises of Paishimen are respectively connected with the double clevises on the lower surface of the two first corrugations and the two double clevises below the second convex corrugations through coaxial pin hinges, and the four second single clevises of Jishimen The earrings are respectively connected with the double clevises on the upper surface of the two first ribs and the two double clevises on the upper surface of the second ribs through coaxial pin shaft hinge connection;

The two stone gate drive hydraulic cylinders are fixedly connected to the inner side walls of the two square cylindrical holes, and the two first push-pull rods and the second double clevis are respectively connected with the two first single clevis coaxially inserted into the pin shaft hinge of the stone gate. , the two second push-pull rods and the second double clevis are hingedly connected with the two first single clevis of the other row of stone gates with coaxial insertion pins, and the two stone gate drive hydraulic cylinders are fixedly connected to the two square cylindrical holes. On the outer wall, the second double clevis of the two third push-pull rods are hingedly connected with the two first single clevises of Jishimen respectively with coaxial insertion pins, and the second double clevis of the two fourth push-pull rods are respectively connected with the second double clevis of another row of stone gates. The first single clevis is hingedly connected with the coaxial insertion pin, and the two end covers are fixedly connected to the box respectively;

Put the bolt through the bolt hole of the lower beam, put the coil spring on the bolt, then pass through the bolt hole on the bottom plate of the box body, and then put another coil spring on the bolt, the gasket on the bolt, and the hex nut tight, the box and the beam are elastically connected; the second high-frequency vibration motor is symmetrically fixed to the bottom of the box, the beam is symmetrically fixed to the two longitudinal beams of the rail car, and the CMOS image sensor is fixed to the bottom of the beam to form a ballast Collecting device;

The pillow end stone cleaning device is composed of a second upper beam assembly, a second telescopic drive device, a fourth lifting device, a second grab device and a U-shaped bar;

The second upper beam assembly has the same composition and structural form as the first upper beam assembly, and performs the same assembly operation as the first upper beam assembly to form the second upper beam assembly;

The second telescopic drive device has the same composition and structural form as the first telescopic drive device, and performs the same assembly operation as the first telescopic drive device to form the second telescopic drive device;

The fourth lifting device has the same composition and structural form as the first lifting device, and performs the same assembly operation as the first lifting device to form the fourth lifting device;

The second grab device has the same composition and structural form as the first grab device, and is assembled in the same way as the first grab device to form the second grab device;

Connect the flange of the boom to the U-shaped rod, and then connect the U-shaped rod to the first square cylindrical telescopic arm to form a stone cleaning device at the pillow end;

The sprocket stone removal device is composed of the third upper beam assembly, the third telescopic drive device, the fifth lifting device and the sprocket stone removal assembly;

The third upper beam assembly is composed of a second square cylindrical fixed arm, two second square cylindrical fixed arms, a third laser displacement sensor and a third distance measuring reference plate, the second square cylindrical fixed arm is set There are four double earrings, and the second square cylindrical fixed arm is provided with two symmetrical grooves, and the grooves are provided with bolt holes;

The third telescopic driving device is composed of a second square cylindrical fixed arm, a double output shaft hydraulic motor, two elastic couplings, two single clevis supports, a left-handed screw, a left-handed square nut, a right-handed screw, and a right-handed screw. Rotating square nuts, two square sliders, two hex nuts, four bolts and two second square cylindrical fixed arms, the right-handed screw is provided with a first journal, a second journal and a third journal, The left-handed screw and the right-handed screw have the same structure, the right-handed square nut is provided with two symmetrical coaxial blind threaded holes, the left-handed square nut and the right-handed square nut have the same structure, and the square slider is provided with a shaft hole;

The single clevis support is sleeved on the second journal of the right-handed screw, and the elastic coupling connects the first journal of the right-handed screw with the output shaft at the right end of the double output shaft hydraulic motor, and the right-handed square nut is screwed on the right When the screw is in the proper position, the square slider is sleeved on the third journal of the right-handed screw, the hex nut is pre-tightened, and the second square-shaped telescopic arm is sleeved on it from the right end of the right-handed screw, so that the second square-shaped telescopic The bolt hole in the arm groove is coaxial with the threaded blind hole of the right-handed square nut. The two bolts are respectively screwed into the threaded blind hole of the right-handed square nut for pre-tightening. Square nuts, square sliders, hex nuts, elastic couplings, dual output shaft hydraulic motors and the second square cylindrical telescopic arm are integrated, and the second square cylindrical fixed arm is sleeved on the two second square cylindrical telescopic arms. On the arm, the double output shaft hydraulic motor is symmetrically fixed on the upper surface of the inner hole of the second square cylindrical fixed arm, and the two single clevis supports are respectively fixed on the upper surface of the inner hole of the second square cylindrical fixed arm, and the second laser The displacement sensor is symmetrically fixed on the second square cylindrical fixed arm, the second ranging reference plate is fixed on the second square cylindrical telescopic arm, and the square slider of the third telescopic drive device is formed by the second square cylindrical telescopic arm. mobile vice;

The composition of the fifth lifting device is the same as that of the first lifting device, except that the structure of the second square cylindrical fixed arm and the upper beam is different, and the structure of all other parts is the same;

Carry out the same assembly operation as that of the first lifting device, connect the four third swing rods to the second square cylindrical fixed arm with hinges, and fix the first laser displacement sensor under the second square cylindrical fixed arm to form the fifth Lifting device;

The chain tooth stone removal assembly is composed of a double output shaft hydraulic motor, two elastic couplings, two chain tooth stone removal parts, a U-shaped bar, eight C-shaped bars and a hanger. The U-shaped bar is equipped with Two circular flanges and square flanges, the C-shaped bar is provided with a first flange and a second flange, and the hanger is provided with two first flanges and eight second flanges;

The sprocket stone removal part is composed of a square beam, a sprocket, a sprocket shaft, an induction wheel, an induction wheel shaft, four load-bearing wheels, four load-bearing wheel axles, several sprocket assemblies and several pin shafts, A first pair of earrings, a second pair of earrings and four third pair of earrings are arranged on the square beam;

The first double clevis of the square beam is coaxial with the sprocket, penetrates into the sprocket wheel shaft and is hinged, the second double clevis of the square beam is coaxial with the induction wheel, penetrates into the induction wheel shaft and is hinged, the third double clevis of the square beam is connected with the load-bearing wheel Coaxial, penetrating into the load-bearing wheel axle hinge connection, so that the square beam, sprocket, induction wheel and four load-bearing wheels are assembled into one;

The sprocket assembly is composed of a sleeve and a chain link;

The chain link is composed of two bolts, two nuts, a chain plate, a first chain plate and a second chain plate. The chain tooth plate is provided with two bolt holes and several chain teeth of equal strength. The first chain The plate is provided with the first single clevis, the second single clevis and the third single clevis, and the second chain plate is provided with the first single clevis, the second single clevis and the third single clevis;

Make the bolt hole of the sprocket plate coaxial with the second single clevis of the first chain plate, pass through the bolts, and pre-tighten the nuts, the other bolt hole of the sprocket plate is coaxial with the second single clevis of the second chain plate, pass through the bolts, nuts Pretighten, form the chain link, the first chain plate of the first chain link, the first single clevis, the second chain link, the first chain plate, the third single clevis, the sleeve, the second chain link, the second chain plate, the third single clevis Connect with the first chain link, the second chain plate, and the first single clevis coaxially through the pin shaft hinge, repeat the above operation until several chain links are hinged together, and assemble the integrated square beam, sprocket, induction wheel and four Put the load-bearing wheel on it, put the first chain plate of the last chain link, the first single clevis, the first chain link, the first chain plate, the third single clevis, the sleeve, the first chain link, the second chain plate, the third single clevis and The last chain link, the second chain plate, and the first single clevis are coaxially penetrated into the pin shaft for hinge connection, so that all the chain tooth components are hinged and connected with a ring-shaped integrated structure to form a chain tooth row stone component.

The double output shaft hydraulic motor double output shaft, two elastic couplings and two sprocket wheel shafts are fixedly connected, the U-shaped rod square flange is fixed on the third double output shaft hydraulic motor, and the eight C-shaped rods The two flanges are respectively symmetrically fixed on the two square beams, the eight second flanges of the hanger are respectively fixedly connected with the first flanges of the eight C-shaped rods, and the two circular flanges of the U-shaped rod and the The two first flanges of the hanger are respectively fixedly connected to the second square cylindrical telescopic arm to form a sprocket stone removal device;

The described sleeper four-nut synchronous assembly and disassembly device is composed of an upper beam, a sixth lifting device and two nut assembly and disassembly devices;

The sixth lifting device has the same composition as the first lifting device. The lower beam in the sixth lifting device is provided with five double clevis and two symmetrical long slot holes, and the first swing rod is provided with a stepped hole. The upper beam of the sixth lifting device is different from the upper beam of the first lifting device, the lower beam of the sixth lifting device is different from the lower beam of the first lifting device, the first swing rod of the sixth lifting device and the first lifting The structure of the first pendulum of the device is different, and the structure of all other parts is the same;

Carry out the same assembly operation as the first lifting device, connect the four third swing rods to the upper beam with hinges, and fix the first laser displacement sensor under the upper beam to form the sixth lifting device;

The nut assembly and disassembly device is composed of two suspension rods, a first helical swing hydraulic motor, an upper cover, a circular connecting plate, a first hex nut, an internal gear, two transmission shafts, two gears, a housing, Composed of two first thrust bearings, two second thrust bearings, two second hex nuts, two elastic couplings and two inner wide-mouth magnetic plum blossom sleeves, the first helical swing hydraulic motor is provided with a flange The disc and its output shaft are provided with a circular shaft section and a hexagonal prism shaft section, the upper cover is provided with a shaft hole, the circular connecting plate is provided with a hexagonal shaft hole, and the transmission shaft is provided with a first journal, a second journal, and a third shaft. neck, the fourth journal and threaded section, the housing is provided with a flange and two shaft holes, and the inner wide-mouth magnetic plum blossom sleeve is provided with a journal;

Set the upper cover on the circular shaft section of the output shaft of the first helical oscillating hydraulic motor, so that the upper cover is fixedly connected with the flange of the first helical oscillating hydraulic motor, and then set the circular connecting plate on the output shaft of the first helical oscillating hydraulic motor. The hexagonal prism shaft section of the shaft, the first hexagonal nut is pre-tightened, the internal gear and the circular connecting plate are coaxially fixed, the gear is sleeved on the first journal of the transmission shaft and fixed, and the first thrust bearing is sleeved on the second shaft of the transmission shaft. On the journal, the transmission shaft passes through the shaft hole of the housing to make the first thrust bearing contact with the housing, the second thrust bearing is sleeved on the third journal of the transmission shaft, and the second hex nut is screwed on the threaded section of the transmission shaft for pre-tightening , the elastic coupling makes the fourth journal of the transmission shaft coaxially fixed with the journal of the inner wide-mouth magnetic plum blossom sleeve, the inner gear is placed in the housing, and the tooth surfaces of the two gears are respectively connected to the teeth of the inner gear. Surface contact, the upper cover is fixedly connected to the flange of the shell, one end of the two suspenders is symmetrically fixed on both sides of the shell to form a nut assembly and disassembly device, and the other end of the two suspenders is symmetrically fixed to the two upper beams On the side, the lower beam is fixedly connected to the inner side of the two longitudinal beams of the rail car, forming a synchronous assembly and disassembly device for the four nuts of the sleeper;

The first rail lifting device is composed of an upper beam, a seventh lifting device and a rail lifting assembly, and the upper beam is provided with four double earrings;

The composition of the seventh lifting device is the same as that of the first lifting device, except that the structure of the upper beam of the seventh lifting device is different from that of the first lifting device, and the structure of all other parts is the same;

Carry out the same assembly operation as the first lifting device, connect the four third swing rods to the upper beam with hinges, and fix the first laser displacement sensor under the upper beam to form the seventh lifting device;

The rail lifting assembly is composed of two suspenders, a third cylindrical fixed arm, a double output shaft hydraulic motor, two elastic couplings, two single clevis supports, a left-handed screw, a first box-shaped telescopic arm, It consists of a right-hand screw, a second box-shaped telescopic arm and two rail lifting cylinders. The suspender is provided with a first flange and a second flange. The third cylindrical fixed arm is provided with two symmetrical semi-cylindrical holes. The left-handed screw has the first journal and the second journal, the right-handed screw and the left-handed screw have the same structure, the first box-shaped telescopic arm has a half-cylindrical hole and a left-handed transmission threaded hole, and the second box-shaped telescopic arm has a semi-cylindrical hole. Cylindrical hole and right-handed transmission threaded hole, a booster plate is provided on the cylinder body of the lifting rail cylinder, and a support plate is provided at the free end of the piston rod;

Set the single clevis support on the second journal of the left-handed screw, screw the left-handed screw into the appropriate position of the left-handed transmission threaded hole of the first box-shaped telescopic arm, and the elastic coupling makes the left output shaft of the double output shaft hydraulic motor and the left-handed screw The first journal is coaxially fixed, repeat the above assembly operations, assemble the single clevis support, right-handed screw, the second box-shaped telescopic arm, elastic coupling and double output shaft hydraulic motor, and fix the third cylindrical The arm is sleeved on the first box-shaped telescopic arm and the second box-shaped telescopic arm, so that the double output shaft hydraulic motor is symmetrically fixed on the upper surface of the inner hole of the third cylindrical fixed arm, and the two single clevis supports are fixed on the second On the upper surface of the inner hole of the three-square cylindrical fixed arm, two rail-lifting cylinders are fixedly connected to the semi-cylindrical hole of the first box-shaped telescopic arm and the semi-cylindrical hole of the second box-shaped telescopic arm, so that the two rail-lifting cylinders are arranged symmetrically. The second flanges of the two suspenders are symmetrically fixed on the third cylindrical fixed arm to form a rail lifting assembly, and the first flanges of the two suspenders are symmetrically fixed to the side of the upper beam to form the first rail lifting device.

The described rotating sleeper and push-pull sleeper device is composed of a first beam telescopic assembly, a first beam telescopic driving device, a first swing device, four first swing rods, a grasping and rotating sleeper device, and four first hexagonal nuts. and four bolts, the first swing rod is provided with a hexagonal prism hole single clevis and a single clevis;

The first beam telescopic assembly is composed of a fourth square cylindrical fixed arm, a fourth square cylindrical telescopic arm, a fourth laser displacement sensor and a fourth distance measuring reference plate, and the fourth square cylindrical telescopic arm is provided with a closed end and two symmetrical grooves with bolt holes;

The composition of the fourth telescopic driving device is the same as that of the first telescopic driving device, except that the structure of the fourth square cylindrical fixed arm is different from that of the first square cylindrical fixed arm, and the structural forms of all other parts are the same;

Carry out the same assembly operation as the first telescopic driving device to form the fourth telescopic driving device, the fourth laser displacement sensor is symmetrically fixed on the fourth square cylindrical fixed arm, and the fourth ranging reference plate is fixed on the fourth square cylinder telescopic arm;

The first oscillating device is composed of a first box body, a second helical oscillating hydraulic motor, an incomplete gear, two sector gears, two stepped shafts and an embedded cover plate. The first box body is provided with two shafts hole, the first limiting boss and the second limiting boss, the stepped shaft is provided with a first journal, a second journal, a third journal, a first hexagonal prism shaft section and a second hexagonal prism shaft section, embedded The type cover is provided with two shaft holes, a first limiting boss and a second limiting boss;

The two sector gears are sleeved and fixedly connected to the first shaft diameters of the two stepped shafts respectively, and the two stepped shafts pass through the two shaft holes of the first box body respectively, so that the second journal of the stepped shaft and the first box body The shaft hole forms a rotating pair, and the incomplete gear is sleeved and fixedly connected to the output shaft of the second helical swing hydraulic motor, and placed in the first box, so that the teeth of the incomplete gear are respectively aligned with the teeth of the two sector gears. The tooth width contacts, the second helical swing hydraulic motor is fixedly connected to the bottom plate of the first box body, and the two shaft holes of the embedded cover plate are respectively sleeved on the third journal of the two stepped shafts, so that the embedded cover plate and the first A box is fixedly connected to form the first swing device;

The grab and turn pillow device is composed of a second box, a third helical swing hydraulic motor, a hydraulic cylinder, a first thrust bearing, a second thrust bearing, a second hex nut, a piston, a piston rod, a stepped U-shaped The bracket, the first connecting rod, the second connecting rod, two second swing rods, two rollers, end caps and two mechanical claw devices, the second box is provided with four symmetrical threaded holes, the first round hole section, fan-shaped hole section, second circular hole section, bushing section and third circular hole section, the output shaft of the third helical swing motor is fixedly connected to the flange, the flange is provided with a limiting fan-shaped boss, and the fan-shaped hole section is provided with The first limiting surface and the second limiting surface, the hydraulic cylinder is provided with a flange, the first journal, the second journal and the third journal, the flange is provided with a limiting fan-shaped boss, and the piston is provided with a shaft hole , the piston rod is provided with a journal and double clevis, the stepped U-shaped bracket is provided with a flange, a shaft hole, two slot holes, two pin holes, four first single clevis and eight second single clevis, the first connecting The rod is provided with a double clevis and a single clevis, the second connecting rod is provided with two double clevises, and the second swing rod is provided with a single clevis, a pin hole and a double clevis;

The mechanical claw is composed of a stepped U-shaped bracket, four third swing rods, two cylindrical springs and a pressure plate, the third and first swing rods are provided with two double earrings, and the pressure plate is provided with two first single ear rings and four second single earrings;

Align and securely connect the third helical swing hydraulic motor output shaft flange limit fan-shaped boss with the hydraulic cylinder flange limit fan-shaped boss, the first thrust bearing is sleeved on the first journal of the hydraulic cylinder, and the hydraulic pressure The oil cylinder penetrates into the stepped hole of the second box, so that the output shaft flange of the third helical oscillating hydraulic motor and the flange of the hydraulic cylinder are placed in the first circular hole section of the second box, so that the output shaft of the third helical oscillating hydraulic motor The flange limit fan-shaped boss and the flange limit fan-shaped boss of the hydraulic cylinder are placed in the fan-shaped hole section, so that the left side of the two limit fan-shaped bosses is in contact with the first limit surface of the fan-shaped hole section. The thrust bearing is placed in the second circular hole section of the second box, so that the third helical swing hydraulic motor is fixedly connected to the bottom plate of the second box, and the end cover is fixedly connected with the second box;

Sleeve the second thrust bearing on the third journal of the hydraulic cylinder so that it is inserted into the third round hole section of the second box body, the piston rod passes through the shaft hole of the stepped U-shaped bracket, and the piston shaft hole is sleeved on the piston rod shaft Neck, pre-tighten the second hex nut, put the piston into the cylinder barrel of the hydraulic cylinder, penetrate the flange of the stepped U-shaped bracket into the cylinder barrel of the hydraulic cylinder, and make the second journal of the oil cylinder and the second box sleeve section Hinge connection, the double clevis of the piston rod, the double clevis of the second connecting rod and the single clevis of the first connecting rod are coaxially penetrated into the pin shaft and hingedly connected, and the double clevis of the second swing rod is hingedly connected with the coaxial pin penetration of the roller, and the second The pin hole of the swing rod is connected with the pin hole of the stepped U-shaped bracket coaxially through the pin shaft hinge, and the double clevis of the first connecting rod and the double clevis of the second connecting rod are respectively coaxially penetrated into the pin shaft hinge with the single clevis of the second swing rod connect;

Connect the double clevises of the four third swing rods with the four second single clevises of the stepped U-shaped bracket coaxially through the pin shaft hinges, and the other double clevises of the four third swing rods are connected with the four second single clevises of the pressure plate respectively. The earrings are coaxially penetrated into the pin shaft hinge connection, one end of the two cylindrical springs is respectively fixedly connected with the two first single earrings of the stepped U-shaped bracket, and the other ends of the two cylindrical springs are respectively fixedly connected with the two first single earrings of the pressure plate, To form a mechanical claw, the tension of the two cylindrical springs makes the roller hinged to the second swing rod always in contact with the pressure plate, repeat the aforementioned assembly operation, assemble another mechanical claw, and form a grasping and turning pillow device;

Set the two single earrings of the hexagonal prism hole of the first swing rod respectively on the first hexagonal prism shaft section of the two stepped shafts, pre-tighten the two first hexagonal nuts respectively, and then insert the other two hexagonal prism holes of the first swing rod The single clevis is respectively sleeved on the second hexagonal prism shaft section of the two stepped shafts, and the other two first hexagonal nuts are respectively pre-tightened, so that one end of the four first swing rods is respectively fixedly connected with the two ends of the two stepped shafts, The four first swing rod single clevis are respectively coaxial with the four threaded holes of the second box body, and the four bolts are respectively pre-tightened, so that the four first swing rods are hingedly connected with the second box body respectively, forming a parallel parallel four-bar mechanism ;

The first box is fixedly connected to the closed end of the fourth square cylindrical telescopic arm to form a rotating sleeper and a push-pull sleeper device;

The sleeper lifting device is composed of a second rail lifting device, a reciprocating storage sleeper device and a rigid hanger lifting device;

The second rail lifting device is composed of the second beam telescopic assembly, the second beam telescopic drive device, two second swing devices, eight swing rods, eight hex nuts, two box-type connecting rods, eight bolts It is composed of two telescopic sleeve-type rail lifting cylinders. The swing rod is equipped with a hexagonal prism hole with a single clevis and a single clevis. The box-shaped connecting rod is symmetrically equipped with four bolt holes and a semi-cylindrical hole. There is an afterburner plate and a support plate at the free end of the piston rod;

The second beam telescopic assembly is composed of a fifth square cylindrical fixed arm, two fifth square cylindrical telescopic arms, a fifth laser displacement sensor and a fifth distance measuring reference plate. The fifth square cylindrical telescopic arm is designed It has a closed end, two symmetrical grooves, and the grooves are provided with bolt holes;

The composition of the second beam telescopic driving device is the same as that of the third telescopic driving device, except that the structure of the fifth square cylindrical fixed arm and the second square cylindrical fixed arm are different, and the structural forms of all other parts are the same;

Carry out the same assembly operation as the third telescopic drive device to form the second beam telescopic drive device, the fifth laser displacement sensor is fixed symmetrically to the side of the fifth square cylindrical fixed arm, and the fifth ranging reference plate is fixed to the fifth square The side of the cylindrical telescopic arm;

The second oscillating device has the same composition and structure as the first oscillating device, and performs the same assembly operation as the first oscillating device to form the second oscillating device;

Set the two hexagonal prism hole single clevises of the pendulum rods on the first hexagonal prism shaft section of the two stepped shafts respectively, pre-tighten the two hexagonal nuts respectively, and then set the other two hexagonal prism hole single clevises on the two swing rods respectively. The second hexagonal prism shaft section of the first stepped shaft, and the other two hexagonal nuts are respectively pre-tightened, so that one end of the four swing rods is respectively connected to the two ends of the two stepped shafts, and the single clevis of the four swing rods is connected to the box-shaped connecting rod four The four threaded holes are coaxial, and the four bolts are respectively pre-tightened, so that the four swing rods are respectively hinged with the box-shaped connecting rods to form a parallel parallel four-bar mechanism;

Fix the two boxes to the closed ends of the two fifth square telescopic arms respectively, make the two second swinging devices symmetrical, and fix the two telescopic sleeve-type rail lifting cylinders to the two boxes respectively. In the semi-cylindrical hole of the connecting rod, the second rail lifting device is formed, and the fifth square cylindrical fixed arm is symmetrically fixed on the two longitudinal beams of the rail car;

The reciprocating sleeper storage device is composed of a reciprocating device and a storage sleeper box. The storage sleeper box is provided with two rollers and several sleeper bins, wherein the left half of the sleeper bins is used to store the sleepers, and the right half of the sleeper bins Used to store bad sleepers.

The reciprocating device is composed of a base plate, a first series parallel four-bar mechanism, a second series parallel four-bar mechanism, a reciprocating drive device and a sixth laser displacement sensor;

The first series parallel four-bar mechanism is composed of a fixed crossbeam, two first swing rods, a first connecting rod, two second swing rods, a moving crossbeam and four bolts, and the first connecting rod is provided with a left-hand thread holes and two pairs of coaxial threaded blind holes, and the moving beam is equipped with two rollers;

The second series parallel four-bar mechanism has the same composition as the first series parallel four-bar mechanism, and the second connecting rod is provided with a right-hand threaded hole and two pairs of coaxial threaded blind holes, except that the aforementioned second connecting rod and the first The structural form of the connecting rod is different, and the structural form of all other parts is the same;

The reciprocating drive device is composed of double output shaft hydraulic motor, two elastic couplings, two single clevis supports, single clevis support, left-handed screw, first connecting rod, right-handed screw, second connecting rod Composed with a trailer, the right-handed screw is provided with a first journal and a second journal, the structure of the left-handed screw and the right-handed screw is the same, and the trailer is equipped with four rollers;

Connect the two first swing rods to the fixed beam respectively with hinges, the double clevis of the first swing rod and the double clevis of the second swing rod are coaxial with a pair of coaxial threaded blind holes on the left side of the first connecting rod, and the two bolts are respectively pre-tightened. Another double clevis of the first swing rod and another double clevis of the second swing rod are coaxial with a pair of coaxial threaded blind holes on the right side of the first connecting rod, and the two bolts are respectively pre-tightened so that the first swing rod and the second swing rod It is hingedly connected with the three components of the first connecting rod, and the two second swing rods are respectively hingedly connected with the moving beam to form the first serial parallel four-bar mechanism. Repeat the above assembly operation, and it is vertically symmetrical to the fixed beam and the moving beam. Surface assembly of the second series parallel four-bar mechanism;

Set the single clevis support on the second journal of the right-handed screw, the hydraulic motor with double output shafts is symmetrically fixed on the trailer, and the elastic coupling connects the first journal of the right-handed screw and the double output shaft hydraulically. The output shaft at the right end of the motor is fixedly connected, and then the single clevis support is sleeved on the second journal of the left-handed screw, and another elastic coupling connects the first journal of the left-handed screw with the left-end output shaft of the double output shaft hydraulic motor. Fixed connection, the two elastic couplings are fixed on the trailer, so that the left-handed screw is in coaxial contact with the left-handed threaded hole of the first connecting rod, and the right-handed screw is in coaxial contact with the right-handed threaded hole of the second connecting rod, and the rotation The output shaft of the hydraulic motor with double output shafts makes the left-handed screw screw into the left-handed threaded hole of the first connecting rod, and at the same time, the right-handed screw is screwed into the right-handed threaded hole of the second connecting rod to form the second driving device;

The bottom plate is fixed to the lower surface of the fixed beam, so that the two rollers of the moving beam and the four rollers of the trailer are respectively in contact with the upper surface of the bottom plate, and the sixth laser displacement sensor is symmetrically fixed on the side of the fixed beam to form a reciprocating motion device;

The bottom plate is fixedly connected to the rail car beam and the fifth square cylindrical fixed arm, and the storage sleeper box is fixed to the moving beam, so that the two rollers of the storage sleeper box are in contact with the upper surface of the bottom plate to form a reciprocating storage sleeper device;

The rigid hanger lifting device is composed of two telescopic cantilever beam devices, a telescopic beam device, a rigid hanger, two grasping and releasing sleeper devices and a seventh laser displacement sensor;

The telescopic cantilever beam device is composed of a first stepped square cylindrical fixed arm, a first stepped square cylindrical telescopic arm, a square cylindrical telescopic arm, a first multi-stage telescopic sleeve oil cylinder, a cantilever beam, an end plate, a cantilever and The eighth laser displacement sensor is composed of the first stepped square cylindrical fixed arm with a flange and a cylindrical shoulder, the first stepped square cylindrical telescopic arm with a flange and a cylindrical shoulder, and the square cylindrical telescopic arm with a flange disc and closed end, the first multi-stage telescopic sleeve oil cylinder is provided with a first flange, a first telescopic sleeve, a second telescopic sleeve and a second flange, and the cantilever beam is provided with a flange;

The end plate is symmetrically fixed to the first flange of the first multi-stage telescopic sleeve oil cylinder, and the square cylindrical telescopic arm is sleeved on the first multi-stage telescopic sleeve oil cylinder, so that the second method of the first multi-stage telescopic sleeve oil cylinder The blue plate is symmetrically fixed to the closed end of the square cylindrical telescopic arm, the first stepped square cylindrical telescopic arm is sleeved on the square cylindrical telescopic arm, and the first stepped square cylindrical fixed arm is sleeved on the first stepped square cylindrical telescopic arm. On the arm, the flange of the fixed arm of the first stepped square tube is fixed to the end plate, the flange of the cantilever beam is fixed to the closed end of the square cylindrical telescopic arm, the cantilever is fixed to the flange of the cantilever beam, and the eighth laser displacement sensor is fixed Connected to the cantilever to form a telescopic cantilever beam device;

The telescopic beam device is composed of a second stepped square cylindrical fixed arm, a second stepped square cylindrical telescopic arm, a third stepped square cylindrical telescopic arm, a second multi-stage telescopic sleeve type oil cylinder, an end cover and a push plate , the second stepped square cylindrical fixed arm is provided with a flange, a cylindrical shoulder and a long slot, the second stepped square cylindrical telescopic arm is provided with a first cylindrical shoulder, a second cylindrical shoulder and a long slot, and the third stepped square The cylindrical telescopic arm is provided with a cylindrical shoulder and two single earrings, and the second multi-stage telescopic sleeve oil cylinder is provided with a first flange, a first-stage telescopic sleeve, a second-stage telescopic sleeve and a second flange;

The end cover is symmetrically fixed to the first flange of the second multi-stage telescopic sleeve oil cylinder, and the third stepped square cylindrical telescopic arm is sleeved on the second multi-stage telescopic sleeve oil cylinder, so that the second multi-stage telescopic sleeve type The second flange of the oil cylinder is fixedly connected to the closed end of the third stepped square cylindrical telescopic arm, the second stepped square cylindrical telescopic arm is sleeved on the third stepped square cylindrical telescopic arm, and then the second stepped square cylindrical telescopic arm is fixed The arm is sleeved on the second stepped square cylindrical telescopic arm, so that the end cover is fixedly connected with the stepped square cylindrical fixed arm flange, and the push plate is fixedly connected with the closed end of the third stepped square cylindrical telescopic arm, and the seventh laser The displacement sensor is symmetrically fixed on the side of the second stepped square cylindrical fixed arm to form a telescopic beam device;

The rigid hanger is composed of an upper beam, two tie rods and a lower beam, the upper beam is provided with two double earrings, and the lower beam is provided with two round holes;

One end of the two tie rods is symmetrically fixed under the upper beam, and the other end of the two tie rods is symmetrically fixed on the lower beam to form a rigid hanger;

The catch and release sleeper device is composed of a fourth helical swing hydraulic motor, an elastic coupling and an inner wide-mouth nut. The fourth helical swing hydraulic motor is provided with a flange and an output shaft, and the inner wide-mouth nut is provided with a journal. ;

Insert the fourth helical oscillating hydraulic motor into the round hole of the lower beam, the flange of the fourth helical oscillating motor is fixed on the lower beam, and the third elastic coupling makes the output shaft of the fourth helical oscillating motor and the inner wide-mouth nut shaft The neck is fixed to form a catch and release sleeper device;

The two telescopic cantilever beam devices are symmetrically fixed on the two longitudinal beams of the rail car, and the second stepped square cylindrical fixed arm of the telescopic beam device is fixed under the cantilever of the two cantilever beams. The two single clevises of the three-step square cylindrical telescopic arm are connected with coaxial bolts to form a sleeper lifting device.

The beneficial effects of the present invention are:

1. Be able to quickly align the working device to the working position;

2. It can quickly discharge the stone ballast between the sleepers, and at the same time automatically remove the sand in the stone ballast;

3. It can quickly remove ballast on the outer side of the pillow;

4. It can quickly remove the ballast of the track bed under the rail;

5. It can realize the synchronous assembly and disassembly of four nuts, so that the pre-tightening force of the four nuts is consistent, the fatigue life of the bolts is improved, and the reliability of the connection between the sleeper and the rail is ensured;

6. The rotary sleeper and push-pull sleeper are integrated devices with compact structure, and the work efficiency of the rotary sleeper and push-pull sleeper is high;

7. Able to quickly lift and place sleepers;

8. It can quickly backfill the gravel to the sleepers on both sides of the replaced sleeper;

9. Can quickly repair the shape of road shoulder and ballast bed;

10. It can quickly tamp and shake the ballast backfilled into the replaced sleepers;

11. Able to adapt to the work of changing pillows on straight and curved railway sections;

12. It can realize automatic control, easy to operate, and high efficiency in pillow changing.

Description of drawings

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

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

Fig. 3 is a three-dimensional schematic view of the non-working state of the tamping and ballasting device of the present invention.

Fig. 4 is a three-dimensional schematic diagram of the working state of the tamping and ballasting device of the present invention.

Fig. 5 is an exploded perspective view of the first lifting drive device of the present invention.

Fig. 6 is an exploded perspective view of the first lifting follow-up balance support device of the present invention.

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

FIG. 8 is a partially enlarged schematic diagram of A in FIG. 7 .

Fig. 9 is a three-dimensional schematic diagram of the working state of the road shoulder and ballast bed shaping device of the present invention.

Fig. 10 is an exploded perspective view of the first telescopic driving device of the present invention.

Fig. 11 is an exploded perspective view of the second lifting drive device of the present invention.

Fig. 12 is an exploded perspective view of the second lifting follow-up balance support device of the present invention.

Fig. 13 is an exploded perspective view of the first bucket device of the present invention.

Fig. 14 is a three-dimensional schematic diagram of the stone-clearing working state of the grab stone-clearing device of the present invention.

Fig. 15 is a three-dimensional schematic diagram of the rock-collecting working state of the grab stone-clearing device of the present invention.

Fig. 16 is a three-dimensional schematic diagram of the working state of the grab stone clearing device of the present invention.

Fig. 17 is an exploded perspective view of the third lifting drive device of the present invention.

Fig. 18 is an exploded perspective view of the second lifting follow-up balance support device of the present invention.

Fig. 19 is an exploded perspective view of the first grab device of the present invention.

Fig. 20 is a three-dimensional schematic diagram of the rock-collecting working state of the ballast collecting and discharging device of the present invention.

FIG. 21 is a partially enlarged schematic diagram of B in FIG. 20 .

Fig. 22 is a three-dimensional schematic diagram of the working state of the stone ballast collecting and discharging device of the present invention.

Fig. 23 is a schematic perspective view of N-N section in Fig. 20 .

Fig. 24 is a three-dimensional schematic view of the working state of the stone-cleaning device at the pillow end of the present invention.

Fig. 25 is an exploded perspective view of the second telescopic driving device of the present invention.

Fig. 26 is an exploded perspective view of the fourth lifting drive device of the present invention.

Fig. 27 is an exploded perspective view of the fourth lifting follow-up balance support device of the present invention.

Fig. 28 is an exploded perspective view of the second grab device of the present invention.

Fig. 29 is a three-dimensional schematic diagram of the working state of the sprocket stone removal device of the present invention.

Fig. 30 is an exploded perspective view of the third telescopic driving device of the present invention.

Fig. 31 is an exploded perspective view of the fifth lifting drive device of the present invention.

Fig. 32 is an exploded perspective view of the fifth lifting follow-up balance support device of the present invention.

Fig. 33 is a three-dimensional schematic view of the sprocket stone removal device of the present invention.

Fig. 34 is an exploded perspective view of the sprocket stone removal assembly of the present invention.

Fig. 35 is an exploded perspective view of a chain link of the present invention.

Fig. 36 is a three-dimensional schematic diagram of the working state of the four-nut synchronous assembly and disassembly device of the sleeper according to the present invention.

Fig. 37 is an exploded perspective view of the sixth lifting drive device of the present invention.

Fig. 38 is an exploded perspective view of the sixth lifting and moving balance supporting device of the present invention.

Fig. 39 is an exploded perspective view of the nut mounting and dismounting device of the present invention.

Fig. 40 is a three-dimensional schematic diagram of the non-working state of the first rail lifting device, the rotary sleeper and the push-pull sleeper device of the present invention.

Fig. 41 is an exploded perspective view of the seventh lifting drive device of the present invention.

Fig. 42 is an exploded perspective view of the seventh lifting follow-up balance support device of the present invention.

Fig. 43 is an exploded perspective view of the lifting rail assembly of the present invention.

Fig. 44 is an exploded perspective view of the first beam telescopic driving device of the present invention.

Fig. 45 is an exploded perspective view of the first swinging device of the present invention.

Fig. 46 is an exploded perspective view of the grasping and turning pillow device of the present invention.

Fig. 47 is a three-dimensional schematic diagram of the working state of the first rail lifting device, the rotary sleeper and the push-pull sleeper device of the present invention.

Fig. 48 is a three-dimensional schematic view of the non-working state of the lifting sleeper device of the present invention.

FIG. 49 is a partially enlarged schematic diagram at point C in FIG. 48 .

Fig. 50 is a schematic perspective view of the working state of the second rail lifting device of the present invention.

Fig. 51 is an exploded perspective view of the second beam telescopic driving device of the present invention.

Fig. 52 is an exploded perspective view of the second swinging device of the present invention.

Fig. 53 is a schematic perspective view of the reciprocating device of the present invention.

Fig. 54 is a schematic perspective view of a storage sleeper box of the present invention.

Fig. 55 is a three-dimensional schematic view of the working state of the lifting and transporting sleeper device of the present invention.

Fig. 56 is an exploded perspective view of the telescopic cantilever beam of the present invention.

Fig. 57 is an exploded perspective view of the telescopic beam device of the present invention.

Fig. 58 is a left side view of Fig. 48 .

Fig. 59 is a partially enlarged schematic diagram of the part D in Fig. 58 .

detailed description

Please refer to Fig. 1 and Fig. 2, the present invention is made up of tamping ballast leveling device 1, road shoulder and ballast bed shaping device 2, grab stone clearing device 3, ballast collecting and discharging device 4, pillow end stone clearing device 5, chain Composed of tooth row stone device 6, four-nut synchronous assembly and disassembly device 7, first rail lifting device 8, rail transition and push-pull sleeper device 9, sleeper lifting device 15, generator 18, hydraulic system and control system box 19 and rail car 20 . The rail car is equipped with multiple casters 201 and two longitudinal beams 202, tamping ballast leveling device 1, road shoulder and ballast bed shaping device 2, grab stone cleaning device 3, ballast collecting and discharging device 4, pillow end stone cleaning device 5. Sprocket stone removal device 6, four-nut synchronous assembly and disassembly device 7, first rail lifting device 8, rail transition and push-pull sleeper device 9, sleeper lifting device 15, generator 18, hydraulic system and control system box 19 are set in On the two longitudinal beams 202 of the rail car, the rail car 20 is pulled by an engineering vehicle, the generator 18 provides power for the oil pump and the control system, and the hydraulic system and the control system box 19 are provided with a fuel tank, an oil pump, a hydraulic control system and an automatic control system ;

Please refer to Fig. 3 to Fig. 8, described tamping dregs leveling device 1 is made up of upper beam 11, first elevating device 12 and vibrating assembly 13, upper beam 11 is provided with two connecting plates 111, and connecting plate is provided with There are several bolt holes 1111;

The first lifting device 12 is composed of a first series parallel four-bar mechanism 121, a second series parallel four-bar mechanism 122, a first lifting drive device 123, a follow-up balance support device 124 and a first laser displacement sensor 125;

The first series parallel four-bar mechanism 121 is composed of a lower beam 1211, a first fork 1212, a second fork 1213, two third fork 1214, a first connecting rod 1215, four first bolts 1216 and an upper Composed of beams 11, the first connecting rod 1215 is provided with two pairs of coaxial threaded blind holes 12151 and left-handed threaded holes 12152;

The second series parallel four-bar mechanism 122 has the same composition as the first series parallel four-bar mechanism 121, and the second connecting rod 1225 is provided with two pairs of coaxial threaded blind holes 12251 and right-handed threaded holes 12252, except the aforementioned second connecting rod 1225 is different from the first connecting rod 1215 in structure, and all other parts are in the same structure;

The first lifting drive device 123 is composed of a hydraulic motor 1231 with double output shafts, two elastic couplings 1232, a left-handed screw 1233, a first connecting rod 1215, a right-handed screw 1234, a second connecting rod 1225 and two Composed of single clevis support 1235, right-handed screw 1234 is provided with first journal 12341 and second journal 12342, left-handed screw 1233 and right-handed screw 1234 have the same structure;

The follow-up balance supporting device 124 is composed of a plate-shaped upper beam 1240, a third series parallel four-bar mechanism 1241, a first strut 1242, a second strut 1243, a slide bar 1244, two slide blocks 1245, two It consists of a tower-shaped rigidity nonlinear spring 1246, two first hex nuts 1247, two second bolts 1248 and two third bolts 1249. A fixed disk 12441 is arranged on the slide rod 1244, and two polished rod sections are symmetrically arranged. 12442 and two threaded segments 12443; the slider 1245 is provided with a round hole 12451 and a pair of coaxial threaded blind holes 12452;

The third series parallel four-bar mechanism 1241 is composed of a plate-shaped upper crossbeam 1240, a lower crossbeam 1211, a fourth fork 12412, a fifth fork 12413, a sixth fork 12414, a seventh fork 12415, two second fork Composed of three connecting rods 12416 and two pin shafts 12417;

The first swing rod 1212 is hingedly connected to the lower cross beam 1211, the second swing rod 1213, the fourth swing rod 12412 and the lower cross beam 1211 are hingedly connected to each other, the first swing rod 1212 double clevis and the third swing rod 1214 double clevis It is coaxial with a pair of threaded blind holes 12151 on the left side of the first connecting rod 1215, and the two first bolts 1216 are pre-tightened so that the three components of the first swing rod 1212, the third swing rod 1214 and the first connecting rod 1215 are hingedly connected. The double clevis of the second swing rod 1213 and the double clevis of another third swing rod 1214 are coaxial with a pair of threaded blind holes 12151 on the right side of the first connecting rod 1215, and the two first bolts 1216 are pre-tightened so that the second swing rod 1213 and the other One third swing link 1214 and the first connecting rod 1215 are hingedly connected among the three components, and the two third swing links 1214 are hingedly connected with the upper beam 11 respectively to form the first series parallel four-bar mechanism 121, repeating the aforementioned assembly operations, and then Assembling the second series parallel four-bar mechanism 122 symmetrically to the vertical symmetry plane of the lower beam 1211 and the upper beam 11;

The single clevis support 1235 is sleeved on the second journal 12342 of the right-handed screw, the double output shaft hydraulic motor 1231 is symmetrically fixed on the plate-shaped upper beam 1240, and the elastic coupling 1232 connects the first shaft of the right-handed screw The neck 12341 is fixedly connected with the output shaft at the right end of the double output shaft hydraulic motor 1231, and then the single clevis support 1235 is sleeved on the second journal of the left-handed screw 1233, and another elastic coupling 1232 connects the first shaft of the left-handed screw 1233. The journal is fixedly connected to the output shaft at the left end of the double output shaft hydraulic motor 1231, and the two elastic couplings 1232 are fixedly connected to the plate-shaped upper beam 1240, so that the left-handed screw 1233 is in coaxial contact with the left-handed threaded hole 12152 of the first connecting rod , so that the right-handed screw 1234 is in coaxial contact with the second connecting rod right-handed threaded hole 12252, and the output shaft of the double output shaft hydraulic motor 1231 is rotated, so that the left-handed screw 1233 is screwed into the left-handed threaded hole 12152 of the first connecting rod, while right-handed The screw rod 1234 is screwed into the right-hand threaded hole 12252 of the second connecting rod to form the first lifting drive device 123;

Set the two tower-shaped rigidity nonlinear springs 1246 symmetrically on the two polished rod sections 12442 of the slide rod, and then set the two sliders 1245 on the two polished rod sections 12442 of the slide rod respectively, and the two hexagonal nuts 1247 respectively Make the two sliders 1245 properly compress the tower-shaped rigidity nonlinear spring 1246 respectively, and connect the fifth swing link 12413 with the lower beam 1211 hinge, so that the left earrings of the two second connecting rods 12416 are connected with the fourth swing link respectively. The double clevis of rod 12412, the double clevis of the sixth swing rod 12414 and a pair of threaded blind holes 12452 of the slider are coaxial, and the two second bolts 1248 are pre-tightened respectively, so that the fourth swing rod 12412, the sixth swing rod 12414 and the slider The three components of the block 1245 are hingedly connected, and the right single clevis of the two third connecting rods 12416 is coaxial with the double clevis of the fifth swing rod 12413 and the double clevis of the seventh swing rod 12415 respectively, and the two pin shafts 12417 respectively penetrate into the , so that the second link 12416, the fifth swing link 12413 and the seventh swing link 12415 are hingedly connected to form the third series parallel four-bar mechanism 1241;

The first strut 1242 clevis, the second strut 1243 clevis and a pair of threaded blind holes 12452 of the slider 1245 are coaxial, and the two third bolts 1249 are respectively pre-tightened, so that the first strut 1242, the second strut The rod 1243 and the slider 1245 are hingedly connected among the three components, and the sixth swing rod 12414, the seventh swing rod 12415 and the second support rod 1243 are respectively hingedly connected with the plate-shaped upper beam 1240 to form a dynamic balance supporting device 124;

The four third swing rods 1214 are hingedly connected to the upper beam 11, and the first laser displacement sensor 125 is symmetrically fixed under the upper beam 11; the first lifting device 12 is formed;

Described vibrating component 13 is made up of upper beam 11, several elastic connecting components 131, vibrating plate 132, eight vibrating rods 133, eight second hex nuts 134 and first high-frequency vibrating motor 135, elastically connected The assembly 131 is composed of bolts 1311, two coil springs 1312, washers 1313 and hex nuts 1314, and the vibrating plate 132 is provided with several bolt holes 1321 and eight round holes 1322;

Put the bolt 1311 through the bolt hole 1111 of the connecting plate of the square upper beam, set the coil spring 1312 on the bolt 1311, then pass through the bolt hole 1321 of the vibrating plate, and then set another coil spring 1312 on the bolt 1311, The gasket 1313 is sleeved on the bolt 1311, the hex nut 1314 is pre-tightened, the vibration plate 132 is elastically connected to the upper beam 11; The high-frequency vibration motor 135 is fixedly connected to the symmetrical position on the upper surface of the vibrating plate, and the lower beam 1211 is symmetrically connected to the two longitudinal beams 202 of the rail car to form a compacting and flattening device 1 .

Referring to Figures 9 to 13, the road shoulder and track bed modification device 2 is composed of a first upper beam assembly 21, a first telescopic drive device 22, a second lifting device 23 and a bucket device 24;

The first upper beam assembly 21 is composed of a first square cylindrical fixed arm 211, a first square cylindrical telescopic arm 212, a second laser displacement sensor 213 and a second ranging reference plate 214. The first square cylindrical The fixed arm 211 is provided with four double earrings 2111, and the first square cylindrical telescopic arm 212 is provided with two symmetrical grooves 2121, and the groove 2121 is provided with bolt holes 21211;

The first telescopic driving device 22 is composed of a first square cylindrical fixed arm 211, a hydraulic motor 231, an elastic coupling 232, a single clevis support 233, a screw rod 234, a square nut 235, a square slider 236, and a hexagonal nut. 237, two bolts 238 and the first square cylindrical telescopic arm 212 are formed, the screw rod 234 is provided with the first journal 2341, the second journal 2342 and the third journal 2343, and the square nut 235 is provided with two coaxial thread blind hole 2351;

The single clevis support 233 is sleeved on the second journal 2342 of the screw rod, the elastic coupling 232 connects the first journal 2341 of the screw rod with the output shaft of the hydraulic motor 231, and the square nut 235 is screwed onto the screw rod 234 at an appropriate position , the square slider 236 is sleeved on the third journal 2343 of the screw rod, the hex nut 237 is pre-tightened, and the first square cylindrical telescopic arm 212 is sleeved on it from the left end of the screw rod 234, so that the square nut 235 has two threaded blind holes 2352 It is coaxial with the two bolt holes 22211 of the second square cylindrical telescopic arm, and the two bolts 238 are pre-tightened. The first square cylindrical fixed arm 211 is sleeved on it from the right end of the hydraulic motor 231, and the hydraulic motor 231 is fixedly connected to the The upper surface of the inner hole of the first square cylindrical fixed arm 211 forms the first telescopic drive device 22, the square slider 236 forms a moving pair with the first square cylindrical telescopic arm 212, and the second laser displacement sensor 213 is fixedly connected to the first On the top of the square cylindrical fixed arm 211, the second ranging reference plate 214 is fixedly connected to the top of the first square cylindrical telescopic arm 212;

The second elevating device 23 and the first elevating device 12 have the same composition, except that the first square cylindrical fixed arm 211 and the upper beam 11 have different structural forms, and all other components have the same structural form;

Carry out the same assembly operation as that of the first lifting drive device 12, hinge-connect the four third swing rods 1214 to the first square cylindrical fixed arm 211, and securely connect the first laser displacement sensor 125 symmetrically to the first square cylindrical fixed arm. Below the arm 211; form the second lifting device 23;

The bucket device 24 is composed of a first bucket assembly 25, a boom 26 and a U-shaped boom 27, and the boom 26 is provided with a single clevis 261, a first double clevis 262, a second double clevis 263 and a flange Disk 264;

The first bucket assembly 25 is composed of a hydraulic cylinder 251, a strut 252, a connecting rod 253 and a bucket body 254. The free end of the piston rod of the hydraulic cylinder 251 is provided with a single clevis 2511, and the cylinder body is provided with a single clevis 2512; The strut 252 is provided with a double clevis 2521 and a single clevis 2522; the connecting rod 253 is provided with a single clevis 2531 and a double clevis 2532, and the bucket body 254 is provided with a first double clevis 2541 and a second double clevis 2542;

The single clevis 2512 of the cylinder body of the hydraulic cylinder is hingedly connected with the second double clevis 263 of the boom, and the single clevis 2522 of the support rod is hinged with the first double clevis 262 of the boom. The second double clevis 2542 is hingedly connected with the single clevis 261 of the boom, the single clevis 2531 of the connecting rod is hinged with the first double clevis 2541 of the bucket body, and the double clevis 2532 of the connecting rod and the double clevis of the support rod are hinged. The earring 2521 and the single ring 2511 of the piston rod of the hydraulic cylinder are coaxially penetrated into the pin shaft and hinged to form the first bucket assembly 25, and the U-shaped boom 27 is fixedly connected to the boom flange 264 to form the bucket device 24. The U-shaped suspender 27 is fixedly connected to the first square cylindrical telescopic arm 212 to form the road shoulder and ballast bed shaping device 2;

Please refer to Fig. 14 to Fig. 23, the described grab stone cleaning device 3 is made up of an upper beam 31, two third elevating devices 32 and eight first grab devices 33, and the upper beam 31 is provided with two longitudinal beams 311 and two cantilever longitudinal beams 312;

The composition of the third lifting device 32 and the first lifting device 12 is the same, except that the upper beam 31 of the third lifting device and the upper beam 11 of the first lifting device have different structural forms, and the structural forms of all other parts are the same;

Carry out the same assembly operation as that of the first lifting drive device 12, and connect the four third swing rods 1214 to the upper beam 31 by hinges respectively, and connect the first laser displacement sensor 125 to the bottom of the upper beam 31; the third lifting device 32 is formed ;

The first grab device 33 is composed of two second bucket assemblies 34 and a boom 35, and the boom 35 is symmetrically provided with two single clevis 351, two first double clevis 352, two second double clevis 353 and flange 354;

The second bucket assembly 34 has the same composition and structure as the first bucket assembly 25;

Connect the single clevis 2512 of the two hydraulic cylinders with the two second double clevis 353 of the boom coaxially through the pin shaft hinge, and the two single clevis 2522 of the support rod are respectively coaxial with the two first double clevis 352 of the boom Penetrating pin hinge connection, the second double clevis 2542 of the two bucket bodies is respectively connected with the two single clevis 351 of the boom coaxially penetrating pin hinge, and the two connecting rod single clevis 2531 is respectively connected with the first double clevis of the two bucket bodies. Clevis 2541 is coaxially penetrated into pin shaft hinge connection, and connecting rod double clevis 2532, strut double clevis 2521 and hydraulic cylinder piston rod single ring 2511 are coaxially penetrated into pin shaft hinge connection to form the first grab device 33, and eight The boom flanges 354 are symmetrically fixed to the two longitudinal beams 321 and the two cantilever longitudinal beams 322 of the upper beam, respectively, to form the grab stone cleaning device 3;

Described ballast collection and discharge device 4 is made up of CMOS image sensor 40, box body 41, two row stone doors 42, two stone collection doors 43, two row stone door driving devices 44, two stone collection door driving devices 45, crossbeam 46 , several second elastic connection assemblies 47, a second high-frequency vibration motor 48 and two end covers 49, the beam 46 is provided with several bolt holes 461, and the end cover 49 is provided with a sand discharge nozzle 491;

The box body 41 is provided with a bottom plate 411, an arrow-shaped box bottom 412, two first stone collection bins 413, a second stone collection bin 414, two square cylindrical holes 415, two gradually changing isosceles trapezoidal chute 416, Four first corrugations 417 and two second corrugations 418, several bolt holes 4111 are provided on the bottom plate 411, several sieve holes 4121 are provided on the arrow-shaped box bottom 412, and two symmetrical row Stone mouth 4131 and two stone-collecting mouths 4132, the second stone-collecting warehouse 414 is provided with two symmetrical row stone openings 4141 and two stone-collecting mouths 4142, and the upper and lower sides of the first convex groove 417 are provided with two symmetrical double earrings 4171, the second Convex corrugated 418 is provided with two symmetrical double earrings 4181 above and below, row stone gate 42 is provided with two first single earrings 421 and four second single earrings 422, and collection stone gate 43 is provided with two first single earrings 431, four a second single clevis 432 and six spill-proof plates 433;

The stone row door driving device 44 is composed of a stone row door driving hydraulic cylinder 441, a first push-pull rod 442 and a second push-pull rod 443. The first push-pull rod 442 is provided with a first double clevis 4421 and a second double clevis 4422. The second push-pull rod 443 is provided with a first double clevis 4431 and a second double clevis 4432;

The stone-collecting gate driving device 45 is composed of a stone-collecting gate driving hydraulic cylinder 451, a third push-pull rod 452 and a fourth push-pull rod 453, the third push-pull rod 452 is provided with a first double clevis 4521 and a second double clevis 4522, the second The four push-pull rods 453 are provided with a first double clevis 4531 and a second double clevis 4532;

The composition and structural form of the second elastic connecting component 47 and the first elastic connecting piece 131 are the same;

Paishimen drive hydraulic cylinder 441 piston rod single clevis, first push-pull rod, first double clevis 4421, second push-pull rod, first double clevis 4431 are coaxially penetrated into the pin shaft hinge connection to form Paishimen drive device 44, and set Shimen drive hydraulic pressure Oil cylinder 451, piston rod single clevis, third push-pull rod, first double clevis 4521, fourth push-pull rod, first double clevis 4531 are coaxially penetrated into pin shaft and hingedly connected to form Jishimen driving device 45;

Four second single clevises 422 of Paishimen 42 are respectively connected with the double clevises 4171 on the lower surface of the two first ribs 417 and the two double clevises 4181 below the second convex ribs 418 through coaxial pin shaft hinges. The four second single clevises 432 of 43 are hingedly connected with the double clevis 4171 on the upper surface of the two first ribs 417 and the two double clevises 4181 on the upper surface of the second rib 418 respectively;

The two stone gate drive hydraulic cylinders 441 are fixedly connected to the inner side walls of the two square cylindrical holes 415, and the two first push-pull rods and the second double clevis 4422 are inserted coaxially with the two first single clevis 421 of the stone gate respectively. Pin shaft hinge connection, two second push-pull rods, second double clevis 4432 are respectively connected with two first single clevis rings 421 of another stone door coaxially inserted into the pin shaft hinge connection, and two stone collection gate drive hydraulic cylinders 451 are fixedly connected to the On the outer side walls of the two square cylindrical holes 415, the second double clevis 4522 of the third push-pull rod is hingedly connected with the two first single clevis 431 of Jishimen respectively with the coaxial insertion pin, and the second double clevis of the two fourth push-pull rods The double clevis 4432 is hingedly connected with the two first single clevis 431 of the other row of stone gates respectively with a coaxial insertion pin, and the two end covers 49 are fixedly connected to the box body 41 respectively;

Put the bolt 1311 through the bolt hole 461 of the lower beam, set the coil spring 1312 on the bolt 1311, then pass through the bolt hole 4111 on the bottom plate of the box, and then set another coil spring 1312 on the bolt 1311, and set the gasket 1313 Set on the bolt 1311, the hex nut 1314 is pre-tightened, and the box body 41 is elastically connected to the beam 46; the second high-frequency vibration motor 48 is symmetrically fixed on the bottom plate 411 of the box body, and the beam 46 is symmetrically fixed on the two longitudinal rails of the rail car. On the beam 202, the CMOS image sensor 40 is fixedly connected under the beam 46 to form the ballast collecting and discharging device 4;

Please refer to Fig. 24 to Fig. 28, the described pillow end stone cleaning device 5 is composed of a second upper beam assembly 51, a second telescopic drive device 52, a fourth lifting device 53, a second grab device 54 and a U-shaped bar 55 composition;

The second upper beam assembly 51 has the same composition and structural form as the first upper beam assembly 21, and performs the same assembly operation as the first upper beam assembly 21 to form the second upper beam assembly 52;

The second telescopic drive device 52 is the same in composition and structural form as the first telescopic drive device 22, and performs the same assembly operation as the first telescopic drive device 22 to form the second telescopic drive device 52;

The fourth lifting device 53 and the first lifting device 12 have the same composition and structural form, and perform the same assembly operation as the first lifting device 12 to form the fourth lifting device 53;

Described second grabbing device 54 and the first grabbing device 33 form and the same structural form, carry out the assembly identical with the first grabbing device 33, form the second grabbing device 54;

Connect the boom flange 354 to the U-shaped rod 55, and then connect the U-shaped rod 55 to the first square cylindrical telescopic arm 212 to form the stone cleaning device 5 at the pillow end;

Please refer to FIG. 29 to FIG. 35 , the sprocket stone removal device 6 is composed of a third upper beam assembly 61 , a third telescopic drive device 62 , a fifth lifting device 63 and a sprocket stone removal assembly 64 ;

The third upper beam assembly 61 is composed of a second square cylindrical fixed arm 611, two second square cylindrical fixed arms 611, a third laser displacement sensor 613 and a third ranging reference plate 614. The second square The cylindrical fixed arm 611 is provided with four double earrings 6111, and the second square cylindrical fixed arm 611 is provided with two symmetrical grooves 6121, and the groove 6121 is provided with bolt holes 61211;

The third telescopic driving device 62 is composed of a second square cylindrical fixed arm 611, a double output shaft hydraulic motor 621, two elastic couplings 622, two single clevis supports 623, a left-handed screw rod 624, and a left-handed square nut. 625, right-handed screw rod 626, right-handed square nut 627, two square slide blocks 628, two hex nuts 629, four bolts 630 and two second square cylindrical fixed arms 611 are formed, and right-handed screw rod 626 is provided with the first A journal 6261, a second journal 6262 and a third journal 6263, the left-handed screw 624 and the right-handed screw 626 have the same structure, the right-handed square nut 627 is provided with two symmetrical coaxial blind threaded holes 6271, the left-handed square nut 625 has the same structure as the right-handed square nut 627, and the square slider 628 is provided with a shaft hole 6281;

The single clevis support 623 is sleeved on the second journal 6262 of the right-handed screw, and the elastic coupling 622 connects the first journal 6261 of the right-handed screw with the output shaft at the right end of the double-output-shaft hydraulic motor 621. The square nut 627 is screwed onto the right-handed screw rod 626 at an appropriate position, the square slider 628 is sleeved on the third journal 6263 of the right-handed screw rod, the hex nut 629 is pre-tightened, and the second square cylindrical telescopic arm 612 is sleeved from the right end of the right-handed screw rod 626. Set on it so that the bolt hole 61211 of the second square telescopic arm groove is coaxial with the threaded blind hole 6271 of the right-handed square nut, and the two bolts 630 are respectively screwed into the threaded blind hole 6271 of the right-handed square nut for pre-tightening, repeat The aforementioned assembly operation, the second single clevis support 623, left-handed screw rod 624, left-handed square nut 625, square slider 628, hex nut 629, elastic coupling 622, double output shaft hydraulic motor 621 and the second square cylindrical telescopic The arms 612 are integrated, and the second square cylindrical fixed arm 611 is sleeved on the two second square cylindrical fixed arms 611, so that the double output shaft hydraulic motor 621 is symmetrically fixed to the inner hole of the second square cylindrical fixed arm 611 On the upper surface, two single clevis supports 623 are fixedly connected to the upper surface of the inner hole of the second square cylindrical fixed arm 611 respectively, and the second laser displacement sensor 613 is symmetrically fixed on the second square cylindrical fixed arm 611. The distance reference plate 614 is fixedly connected to the second square cylindrical telescopic arm 611, and the square slider 628 of the third telescopic driving device forms a moving pair with the second square cylindrical telescopic arm 612;

The fifth lifting device 63 has the same composition as the first lifting device 12, except that the second square cylindrical fixed arm 611 and the upper beam 11 have different structural forms, and all other parts have the same structural form;

Carry out the same assembly operation as that of the first lifting device 12, hinge-connect the four third swing rods 1214 to the second square cylindrical fixed arm 611, and securely connect the first laser displacement sensor 125 to the second square cylindrical fixed arm 611 Below, form the fifth lifting device 63;

The chain tooth stone removal assembly 64 is composed of a double output shaft hydraulic motor 641, two elastic couplings 642, two chain tooth stone removal parts 643, a U-shaped bar 644, eight C-shaped bars 645 and a hanger 646. The U-shaped bar 644 is provided with two circular flanges 6441 and square flanges 6442, the C-shaped bar 645 is provided with a first flange 6451 and a second flange 6452, and the hanger 646 is provided with two A first flange 6461 and eight second flanges 6462;

The sprocket stone removal part 643 is composed of square beam 6431, sprocket wheel 6432, sprocket wheel axle 6433, induction wheel 6434, induction wheel axle 6435, four load-bearing wheels 6436, four load-bearing wheel axles 6437, several sprockets The component 6438 is composed of several pin shafts 6439, and the square beam 6431 is provided with a first double clevis 64311, a second double clevis 64312 and four third double clevis 64313;

The first double clevis 64311 of the square beam is coaxial with the sprocket 6432, penetrates into the sprocket wheel shaft 6433 for hinge connection, the second double clevis 64312 of the square beam is coaxial with the inducer 6334, penetrates into the inducer wheel shaft 6435 for hinge connection, and the square beam The three pairs of clevis 64313 are coaxial with the load-bearing wheel 6436, and penetrate into the load-bearing wheel axle 6437 for hinge connection, so that the square beam 6431, the sprocket 6432, the induction wheel 6434 and the four load-bearing wheels 6436 are assembled into one;

The sprocket assembly 6438 is composed of a sleeve 64381 and a chain link 64382;

The chain link 64382 is composed of two bolts 64383, two nuts 64384, a chain plate 64385, a first chain plate 64388 and a second chain plate 64392, and the chain plate 64385 is provided with two bolt holes 64386 and several Equal strength sprocket 64387, the first chain plate 64388 is provided with the first single clevis 64389, the second single clevis 64390 and the third single clevis 64391, the second chain plate 64392 is provided with the first single clevis 64393, the second single clevis 64394 and The third single earring 64395;

Make the bolt hole 64386 of the sprocket plate coaxial with the second single clevis 64390 of the first chain plate, insert the bolt 64383, pre-tighten the nut 64384, and make the other bolt hole 64386 of the sprocket plate coaxial with the second single clevis 64394 of the second chain plate , penetrate the bolt 64383, and the nut 64384 is pre-tightened to form the chain link 64382. The first chain plate of the first chain link, the first single clevis 64389, the second chain link, the first chain plate, the third single clevis 64391, the sleeve 64381, The second chain link, the second chain plate, the third single clevis 64395 and the first chain link, the second chain plate, the first single clevis 64393 are hingedly connected by penetrating the pin 6439 coaxially, repeat the above operation until several chain links 64382 are hinged together Place the assembled square beam 6431, sprocket wheel 6432, induction wheel 6434 and four bearing wheels 6436 on it, put the first chain plate of the last chain link, the first single clevis 64389, the first chain link and the first chain plate The third single clevis 64391, the sleeve 64381, the first chain link, the second chain plate, the third single clevis 64393, and the last chain link, the second chain plate, the first single clevis 64395 are coaxially inserted into the pin shaft 6339 and hinged so that all the chain teeth The assembly 6438 is hinged to connect the annular integrated structure to form the sprocket row stone part 643,

The double output shaft hydraulic motor 641 double output shaft, two elastic couplings 642 and two sprocket wheel shafts 6433 are fixedly connected, and the U-shaped rod 644 square flange is fixedly connected on the third double output shaft hydraulic motor 641, eight The second flanges 6452 of the C-shaped rods are symmetrically fixed on the two square beams 6431 respectively, and the eight second flanges 6462 of the hanger are fixedly connected with the first flanges 6451 of the eight C-shaped rods respectively. The two circular flanges 6441 of the rod and the two first flanges 6461 of the hanger are respectively fixedly connected to the second square cylindrical telescopic arm 612 to form the sprocket stone removal device 6;

Please refer to Fig. 36 to Fig. 39, the four-nut synchronous assembly and disassembly device 7 of the sleeper is composed of an upper beam 71, a sixth lifting device 72 and two nut assembly and disassembly devices 73;

The sixth lifting device 72 is the same as the first lifting device 12. The lower beam 7111 in the sixth lifting device 72 is provided with five double clevis 71111 and two symmetrical long slots 71112, and the first fork 7212 is provided with There is a stepped hole 72121, except that the structure of the upper beam 71 of the sixth lifting device 72 and the upper beam 11 of the first lifting device 12 are different, and the structure of the lower beam 7211 of the sixth lifting device 72 and the lower beam 1211 of the first lifting device 12 are different. Different forms, the first fork 7212 of the sixth lifting device 72 and the first fork 1212 of the first lifting device 12 have different structural forms, and the structural forms of all other parts are the same;

Carry out the same assembling operation as that of the first lifting device 12, hinge-connect the four third swing rods 1214 to the upper beam 71, and fix the first laser displacement sensor 125 under the upper beam 71 to form the sixth lifting device 72;

The nut mounting and dismounting device 73 is composed of two suspension rods 731, a first helical swing hydraulic motor 732, an upper cover 733, a circular connecting plate 734, a first hex nut 735, an internal gear 736, and two drive shafts 737. , two gears 738, housing 739, two first thrust bearings 740, two second thrust bearings 741, two second hex nuts 742, two elastic couplings 743 and two inner wide-mouth magnetic plum blossoms Sleeve 744 is formed, the first helical swing hydraulic motor 732 is provided with flange plate 7321, and its output shaft is provided with circular shaft section 7322 and hexagonal column shaft section 7323, upper cover 733 is provided with shaft hole 7331, and circular connecting plate 734 is provided with There are hexagonal shaft holes 7341, the transmission shaft 737 is provided with a first journal 7371, a second journal 7372, a third journal 7373, a fourth journal 7374 and a threaded section 7375, and the housing 739 is provided with a flange 7391 and two A shaft hole 7392, and the inner wide-mouth magnetic plum blossom sleeve 744 is provided with a journal 7441;

Set the upper cover 733 on the circular shaft section 7322 of the output shaft of the first helical oscillating hydraulic motor, so that the upper cover 733 is firmly connected to the flange 7321 of the first helical oscillating hydraulic motor, and then set the circular connecting plate 734 on the first helical oscillating hydraulic motor. The hexagonal column shaft section 7323 of the output shaft of the spiral swing hydraulic motor, the first hex nut 735 is pre-tightened, the internal gear 736 is coaxially connected with the circular connecting plate 734, and the gear 738 is sleeved on the first journal 7371 of the transmission shaft and fixedly connected. The first thrust bearing 740 is sleeved on the second journal 7372 of the transmission shaft, the transmission shaft 737 passes through the shaft hole 7392 of the housing to make the first thrust bearing 740 contact with the housing 739, and the second thrust bearing 741 is sleeved on the second journal of the transmission shaft. On the three journals 7373, the second hex nut 742 is screwed on the threaded section 7375 of the transmission shaft for pre-tightening, and the elastic coupling 743 makes the fourth journal 7374 of the transmission shaft coaxially connected with the journal 7441 of the inner wide-mouth magnetic plum blossom sleeve. , the internal gear 736 is placed in the housing 739, the tooth surfaces of the two gears 738 are respectively in contact with the tooth surfaces of the internal gear 736, the upper cover 733 is fixedly connected with the housing flange 7391, and the two suspenders 731 One end of the two booms 731 is symmetrically fixed on both sides of the housing 739 to form a nut mounting and dismounting device 73. The other ends of the two suspenders 731 are symmetrically connected to the two sides of the upper beam 71, and the lower beam 7211 is fixed to the two longitudinal beams of the rail car. On the inner side of 202, the sleeper four-nut synchronous assembly and disassembly device 7 is formed;

Referring to Fig. 40 to Fig. 47, the first rail lifting device 8 is composed of an upper beam 81, a seventh lifting device 82 and a rail lifting assembly 83, and the upper beam 81 is provided with four double clevis 811;

The seventh lifting device 82 is the same as the first lifting device 12, except that the structure of the upper beam 81 of the seventh lifting device is different from that of the upper beam 11 of the first lifting device 12, and the structure of all other parts is the same;

Carry out the same assembly operation as the first lifting device 12, four third swing bars 1214 are hingedly connected with the upper beam 81, and the first laser displacement sensor 125 is fixedly connected under the upper beam 81 to form the seventh lifting device 82;

The rail lift assembly 83 is composed of two suspension rods 830, a third-party cylindrical fixed arm 831, a double output shaft hydraulic motor 832, two elastic couplings 833, two single clevis supports 834, a left-handed screw rod 835, The first box-shaped telescopic arm 836, the right-handed screw 837, the second box-shaped telescopic arm 838 and two rail lifting cylinders 839, the boom 830 is provided with a first flange 8301 and a second flange 8302, the third party The cylindrical fixed arm 831 is provided with two symmetrical semi-cylindrical holes 8311, the left-handed screw rod 835 is provided with a first journal 8351 and a second journal 8352, the right-handed screw rod 837 has the same structure as the left-handed screw rod 835, and the first box-type telescopic The arm 836 is provided with a semi-cylindrical hole 8361 and a left-handed transmission threaded hole 8362, the second box-shaped telescopic arm 838 is provided with a semi-cylindrical hole 8381 and a right-handed transmission threaded hole 8362, and the rail lifting cylinder 839 cylinder body is provided with an afterburner plate 8391, The free end of the piston rod is provided with a support plate 8392;

The single clevis support 834 is sleeved on the second journal 8352 of the left-handed screw, the left-handed screw 835 is screwed into the left-handed transmission threaded hole 8362 of the first box-shaped telescopic arm at an appropriate position, and the elastic coupling 833 makes the double output shaft hydraulic motor 832 left The side output shaft is coaxially fixed with the first journal 8351 of the left-handed screw, repeating the above-mentioned assembly operation, and the single clevis support 834, the right-handed screw 837, the second box-shaped telescopic arm 838, the elastic coupling 833 and the double output shaft The hydraulic motor 832 is assembled into one body, and the third-party cylindrical fixed arm 831 is sleeved on the first box-shaped telescopic arm 836 and the second box-shaped telescopic arm 838, so that the double output shaft hydraulic motor 832 is symmetrically fixed to the third-party cylindrical fixed arm. On the upper surface of the inner hole of the arm 831, two single clevis supports 834 are fixedly connected to the upper surface of the inner hole of the third cylindrical fixed arm 831, and two rail lifting cylinders 839 are respectively fixedly connected in the semi-cylindrical hole 8361 of the first box-shaped telescopic arm and the second box-shaped telescopic arm 8381 in the semi-cylindrical hole, so that the two rail lifting cylinders 839 are symmetrically arranged, and the two suspenders 830 and the second flange 8302 are symmetrically fixed on the third cylindrical fixed arm 831 to form a lifting rail Assemblies 83, two suspenders 830 and first flanges 8301 are symmetrically fixed to the side of the upper beam 81 to form the first rail lifting device 8.

The described turn sleeper and push-pull sleeper device 9 is composed of a first crossbeam telescopic assembly 90, a first crossbeam telescopic drive device 91, a first swing device 92, four first swing rods 93, grabbing and turn sleeper devices 94, four A first hex nut 96 and four bolts 97 are formed, and the first swing bar 93 is provided with a hexagonal prism hole single clevis 931 and a single clevis 932;

The first beam telescopic assembly 90 is composed of a fourth square cylindrical fixed arm 901, a fourth square cylindrical telescopic arm 902, a fourth laser displacement sensor 903 and a fourth distance measuring reference plate 904. The fourth square cylindrical The telescopic arm 902 is provided with a closed end 9021 and two symmetrical grooves 9022, and the groove 9022 is provided with a bolt hole 90221;

The fourth telescopic driving device 91 is composed of the same composition as the first telescopic driving device 22, except that the structure of the fourth square cylindrical fixed arm 901 and the first square cylindrical fixed arm 211 are different, and the structural forms of all other parts are the same ;

Carry out the same assembly operation as the first telescopic drive device 22 to form the fourth telescopic drive device 91, the fourth laser displacement sensor 903 is symmetrically fixed on the fourth square cylindrical fixed arm 901, and the fourth ranging reference plate 904 is fixedly connected On the fourth square cylindrical telescopic arm 902;

The first swing device 92 is composed of a first box body 921, a second helical swing hydraulic motor 922, an incomplete gear 923, two sector gears 924, two stepped shafts 925 and an embedded cover plate 926. The box body 921 is provided with two shaft holes 9211, a first limiting boss 9212 and a second limiting boss 9213, and the stepped shaft 925 is provided with a first journal 9251, a second journal 9252, a third journal 9253, The first hexagonal prism shaft section 9254 and the second hexagonal prism shaft section 9255, the embedded cover plate 926 is provided with two shaft holes 9261, a first limiting boss 9262 and a second limiting boss 9263;

The two sector gears 924 are sleeved and fixedly connected to the first shaft diameters 9251 of the two stepped shafts respectively, and the two stepped shafts 925 pass through the two shaft holes 9211 of the first box respectively, so that the second journal of the stepped shaft 925 9252 forms a rotating pair with the shaft hole 9211 of the first box body, and the incomplete gear 923 is sheathed and fixedly connected to the output shaft of the second helical swing hydraulic motor 922, and placed in the first box body 921, so that the incomplete gear 923 The gear teeth are respectively in contact with the teeth of the two sector gears 924 along the tooth width, the second helical swing hydraulic motor 922 is fixedly connected to the bottom plate of the first box body 921, and the two shaft holes 9261 of the embedded cover plate 926 are sleeved on the On the third journal 9253 of the two stepped shafts, the embedded cover plate 926 is fixedly connected with the first box body 921 to form the first swing device 92;

The grab and turn pillow device 94 is composed of the second box body 941, the third helical swing hydraulic motor 942, the hydraulic oil cylinder 943, the first thrust bearing 944, the second thrust bearing 945, the second hex nut 946, the piston 947, piston rod 948, stepped U-shaped bracket 949, first connecting rod 950, second connecting rod 951, two second swing rods 952, two rollers 953, end cap 954 and two mechanical claws 955 devices, the first The second box body 941 is provided with four symmetrical threaded holes 9411, the first circular hole section 9412, the fan-shaped hole section 9413, the second circular hole section 9414, the shaft sleeve section 9415 and the third circular hole section 9416, and the third helical swing motor The 942 output shaft is fixedly connected to the flange 9421, the flange 9421 is provided with a limiting fan-shaped boss 94211, the fan-shaped hole section 9413 is provided with a first limiting surface 94131 and a second limiting surface 94132, and the hydraulic cylinder 943 is provided with a flange 9431, the first journal 9432, the second journal 9433 and the third journal 9434; Clevis 9482, stepped U-shaped bracket 949 is provided with flange 9491, shaft hole 9492, two slot holes 9493, two pin holes 9494, four first single clevis 9495 and eight second single clevis 9496, first connecting rod 950 is provided with double clevis 9501 and single clevis 9502, the second connecting rod 951 is provided with two double clevis 9511, and the second swing bar 952 is provided with single clevis 9521, pin hole 9522 and double clevis 9523;

The mechanical claw 955 is composed of a stepped U-shaped bracket 949, four third swing rods 9551, two cylindrical springs 9552 and a pressing plate 9553. There are two first single earrings 95531 and four second single earrings 95532;

Align and securely connect the third helical swing hydraulic motor output shaft flange plate limiting fan-shaped boss 9421 with the hydraulic cylinder flange plate limiting fan-shaped boss 94311, and the first thrust bearing 944 is sleeved on the first journal of the hydraulic oil cylinder 9432 First, put the hydraulic cylinder into the stepped hole of the second box body 941, put the flange plate 9421 of the output shaft of the third helical swing hydraulic motor and the flange plate 9431 of the hydraulic cylinder body into the first round hole section 9413 of the second box body, so that The third helical swing hydraulic motor output shaft flange limit fan-shaped boss 94211 and the hydraulic cylinder flange limit fan-shaped boss 94311 are placed in the fan-shaped hole segment 9413, so that the left side of the two limit fan-shaped bosses and the fan-shaped The first limit surface 94131 of the hole section contacts, so that the first thrust bearing 944 is inserted into the second circular hole section 9414 of the second box body, and the third helical swing hydraulic motor 942 is fixedly connected to the bottom plate of the second box body 941, so that the end The cover 954 is fixedly connected with the second box body 941;

Set the second thrust bearing 945 on the third journal 9434 of the hydraulic cylinder, and place it into the third circular hole section 9416 of the second box body, the piston rod 948 passes through the shaft hole 9492 of the stepped U-shaped bracket, and the piston shaft hole 9471 is sleeved on the piston rod journal 9481, the second hexagonal nut 946 is pre-tightened, the piston 947 is placed in the cylinder barrel of the hydraulic cylinder 943, and the stepped U-shaped bracket flange 9491 is penetrated into the cylinder barrel of the hydraulic cylinder 943 for solid connection, so that The second shaft journal 9433 of the oil cylinder is hingedly connected with the second casing shaft sleeve section 9415, and the double clevis 9482 of the piston rod, the double clevis 9511 of the second connecting rod and the single clevis 9502 of the first connecting rod are coaxially inserted into the pin shaft and hingedly connected. The double clevis 9523 of the two swing rods is hingedly connected with the coaxial penetration pin of the roller 953, the pin hole 9522 of the second swing rod is hinged with the pin hole 9494 of the ladder U-shaped bracket through the coaxial penetration pin, and the double clevis of the first connecting rod 9501 and The second connecting rod double clevis 9511 is hingedly connected with the two second swing rod single clevis 9521 coaxially penetrating the pin;

Connect the double clevises 95511 of the four third swing rods 9551 with the four second single clevises 9496 of the stepped U-shaped bracket coaxially penetrated into the pin shaft hinges, and the other double clevis 95511 of the four third swing rods 9551 are respectively connected with the pressure plate Four second single clevises 95532 are coaxially penetrated into pin shaft hinges, one end of two cylindrical springs 9552 is fixedly connected with two first single clevises 9495 of the stepped U-shaped bracket respectively, and the other ends of two cylindrical springs 9552 are respectively connected with the pressure plate The two first single earrings 95531 are fixedly connected to form a mechanical claw 955. The tension of the two cylindrical springs 9552 makes the roller 953 hinged on the second swing rod 9523 always in contact with the pressure plate 9553. Repeat the aforementioned assembly operations to assemble another mechanical Claw 955 forms grabbing and turning pillow device 94;

Set the two first pendulum hexagonal prism hole single clevises 931 on the first hexagonal prism shaft section 9254 of the two stepped shafts respectively, pre-tighten the two first hexagonal nuts 96 respectively, and then place the other two first pendulums The single clevis 931 of the hexagonal prism hole is respectively sleeved on the second hexagonal prism shaft section 9254 of the two stepped shafts, and the other two first hexagonal nuts 96 are pre-tightened respectively so that one end of the four first swing rods 93 is respectively connected to the two ladders. The two ends of the shaft 925 are fixedly connected, the four first swing rod single clevises 932 are coaxial with the four threaded holes 9411 of the second box body respectively, and the four bolts 97 are pre-tightened respectively, so that the four first swing rods 93 are respectively connected to the second casing. The two boxes 941 are hinged to form a parallel parallel four-bar mechanism;

The first box body 921 is fixedly connected to the closed end 9021 of the fourth square cylindrical telescopic arm to form the rotating sleeper and push-pull sleeper device 9;

Referring to Fig. 48 to Fig. 59, the sleeper hoisting device 15 is composed of a second rail lifting device 150, a reciprocating storage sleeper device 160 and a rigid hanger lifting device 168;

The second rail lifting device 150 is composed of a second beam telescopic assembly 151, a second beam telescopic drive device 152, two second swing devices 153, eight swing rods 154, eight hex nuts 155, two box-type Connecting rod 156, eight bolts 157 and two telescopic sleeve type rail lifting cylinders 158 are formed, swing rod 154 is provided with hexagonal prism hole single clevis 1541 and single clevis 1542, box-shaped connecting rod 156 is symmetrically provided with four bolt holes 1561 and Semi-cylindrical hole 1562, telescopic sleeve type rail lifting oil cylinder 158 is provided with afterburner plate 1581, and the free end of piston rod is provided with support plate 1582;

The second beam telescopic assembly 151 is composed of a fifth square cylindrical fixed arm 1511, two fifth square cylindrical telescopic arms 1512, a fifth laser displacement sensor 1513 and a fifth ranging reference plate 1514. The cylindrical telescopic arm 1512 is provided with a closed end 15121 and two symmetrical grooves 15122, and the groove 15122 is provided with a bolt hole 15123;

The composition of the second crossbeam telescopic drive device 152 is the same as that of the third telescopic drive device 62, except that the fifth square cylindrical fixed arm 1511 and the second square cylindrical fixed arm 611 have different structural forms, and all other parts have the same structural form ;

Carry out the same assembly operation as the third telescopic drive device 62 to form the second beam telescopic drive device 152, the fifth laser displacement sensor 1513 is symmetrically fixed on the side of the fifth square cylindrical fixed arm 1511, and the fifth ranging reference plate 1514 is fixed Connected to the side of the fifth square cylindrical telescopic arm 1512;

The second swinging device 153 has the same composition and structural form as the first swinging device 92, and performs the same assembly operation as the first swinging device 92 to form the second swinging device 153;

Set the two hexagonal prism hole single clevises 1541 on the two swing rods respectively on the first hexagonal prism shaft section 9254 of the two stepped shafts, pretighten the two hexagonal nuts 155 respectively, and then install the other two hexagonal prism hole single clevis 1541 on the two swing rods respectively. Sleeved on the second hexagonal prism shaft section 9255 of the two stepped shafts, the other two hexagonal nuts 155 are respectively pre-tightened, so that one end of the four swing rods 154 is respectively fixedly connected with the two ends of the two stepped shafts 925, and the four swing rods The single clevis 1542 is coaxial with the four threaded holes 1561 of the box-shaped connecting rod, and the four bolts 157 are respectively pre-tightened, so that the four swing rods 154 are respectively hingedly connected with the box-shaped connecting rod 156 to form a parallel parallel four-bar mechanism;

The two box bodies 1531 are fixedly connected to the closed ends 15121 of the two fifth square cylindrical telescopic arms respectively, so that the two second swing devices 153 are arranged symmetrically, and the cylinder bodies of the two telescopic sleeve-type rail lifting cylinders 158 are fixedly connected respectively. In the semi-cylindrical holes 1562 of the two box-shaped connecting rods, the second rail lifting device 150 is formed, and the fifth square cylindrical fixed arm 1511 is symmetrically fixed on the two longitudinal beams 202 of the rail car;

The reciprocating storage sleeper device 160 is composed of a reciprocating device 161 and a storage sleeper box 167, the storage sleeper box 167 is provided with two rollers 1671 and several sleeper bins 1672, and the left half of the sleeper bins are used to store the sleepers , the right half of the sleeper warehouse is used to store bad sleepers.

The reciprocating device 161 is composed of a base plate 162, a first series parallel four-bar mechanism 163, a second series parallel four-bar mechanism 164, a reciprocating drive device 165 and a sixth laser displacement sensor 166;

The first series parallel four-bar mechanism 163 is composed of a fixed beam 1631, two first swing bars 1632, a first connecting rod 1633, two second swing bars 1634, a moving beam 1635 and four bolts 1636. A connecting rod is provided with a left-hand threaded hole 16331 and two pairs of coaxial threaded blind holes 16332, and the moving beam 1635 is provided with two rollers 16351;

The second series parallel four-bar mechanism 164 has the same composition as the first series parallel four-bar mechanism 163, and the second connecting rod 1643 is provided with a right-hand threaded hole 16431 and two pairs of coaxial threaded blind holes 16432, except for the aforementioned second The structural forms of the connecting rod 1643 and the first connecting rod 1633 are different, and the structural forms of all other parts are the same;

Described reciprocating drive device 165 is made of double output shaft hydraulic motor 1651, two elastic shaft couplings 1652, two single clevis bearings 1653, single clevis bearing 1653, left-handed screw rod 1654, first connecting rod 1633, right Rotary screw 1655, second connecting rod 1643 and trailer 1656 are composed of right-handed screw 1655 with first journal 16551 and second journal 16552, left-handed screw 1654 and right-handed screw 1655 have the same structure, and trailer 1656 is provided with Four rollers 16561;

The two first swing rods 1632 are hingedly connected to the fixed beam 1631 respectively, the double clevis of the first swing rod 1632 and the double clevis of the second swing rod 1634 are coaxial with a pair of coaxial threaded blind holes 16332 on the left side of the first connecting rod 1633, and the two The two bolts 1636 are respectively pre-tightened, the double clevis of another first swing rod 1632 and the double clevis of another second swing rod 1634 are coaxial with a pair of coaxial threaded blind holes 16332 on the right side of the first connecting rod 1633, and the two bolts 1636 are respectively pre-tightened. Tightly, the first swing bar 1632, the second swing bar 1634 and the first connecting rod 1633 are hingedly connected, and the two second swing bars 1634 are hingedly connected to the moving beam 1635 respectively to form a first serial parallel four-bar Mechanism 163, repeating the aforementioned assembly operations, and assembling the second series parallel four-bar mechanism 164 symmetrically to the vertical symmetry plane of the fixed beam and the moving beam;

Set the single clevis support 1653 on the second journal 16552 of the right-handed screw, the hydraulic motor 1651 with double output shafts is symmetrically fixed on the trailer 1656, and the elastic coupling 1652 connects the first journal of the right-handed screw 16551 is fixedly connected with the output shaft at the right end of the double output shaft hydraulic motor 1651, and then the single clevis support 1653 is sleeved on the second journal of the left-handed screw 1654, and another elastic coupling 1652 connects the first shaft of the left-handed screw 1654 The neck is fixedly connected with the left end output shaft of the double output shaft hydraulic motor 1651, and the two elastic couplings 1652 are fixedly connected on the trailer 1656, so that the left-handed screw 1654 is in coaxial contact with the left-handed threaded hole 16331 of the first connecting rod, so that the right The screw 1655 is in coaxial contact with the right-hand threaded hole 10231 of the second connecting rod, and the output shaft of the double output shaft hydraulic motor 1651 is rotated, so that the left-handed screw 1654 is screwed into the left-handed threaded hole 16331 of the first connecting rod, and at the same time, the right-handed screw 1655 is rotated into the right-hand threaded hole 10231 of the second connecting rod to form the second driving device 165;

The bottom plate 162 is fixed to the lower surface of the fixed beam 1631, so that the two rollers 16351 of the moving beam and the four rollers of the trailer are respectively in contact with the upper surface of the bottom plate 162, and the sixth laser displacement sensor 166 is symmetrically fixed on the side of the fixed beam 1631, Form the reciprocating device 161;

The bottom plate 162 is fixedly connected to the rail car 20 beam and the fifth square cylindrical fixed arm 1511, and the storage sleeper box 167 is fixed to the moving beam 1635, so that the two rollers 1671 of the storage sleeper box are in contact with the upper surface of the bottom plate 162, forming reciprocating storage sleeper device 160;

Described rigid hanger hoisting device 168 is made up of two telescopic cantilever beam devices 169, telescopic beam device 170, rigid hanger 171, two grasping and releasing sleeper devices 172 and the 7th laser displacement sensor 173;

The telescopic cantilever beam device 169 is composed of the first stepped square cylindrical fixed arm 1691, the first stepped square cylindrical telescopic arm 1692, the square cylindrical telescopic arm 1693, the first multi-stage telescopic sleeve type oil cylinder 1694, and the cantilever beam 1695. , an end plate 1696, a cantilever 1697 and an eighth laser displacement sensor 1698, the first stepped square cylindrical fixed arm 1691 is provided with a flange 16911 and a cylindrical shoulder 16912, and the first stepped square cylindrical telescopic arm 1692 is provided with a flange 16921 and tube shoulder 16922, square tube-shaped telescopic arm 1693 is provided with flange 16931 and closed end 16932, the first multi-stage telescopic sleeve oil cylinder 1694 is provided with the first flange 16941, the first telescopic sleeve 16942, the second Telescopic sleeve 16943 and second flange 16944, cantilever beam 1695 is provided with flange 16951;

The end plate 1696 is symmetrically fixed to the first flange 16941 of the first multi-stage telescopic sleeve oil cylinder, and the square cylindrical telescopic arm 1693 is sleeved on the first multi-stage telescopic sleeve oil cylinder 1694, so that the first multi-stage telescopic sleeve oil cylinder The second flange 16944 of the oil cylinder is symmetrically fixed to the closed end of the square cylindrical telescopic arm 16932, the first stepped square cylindrical telescopic arm 1692 is sleeved on the square cylindrical telescopic arm 1693, and the first stepped square cylindrical fixed arm 1691 sets It is installed on the first stepped square cylindrical telescopic arm 1692, so that the fixed arm flange 16911 of the first stepped square cylinder is fixedly connected to the end plate 1696, and the cantilever beam flange 16951 is fixedly connected to the closed end 16932 of the square cylindrical telescopic arm. 1697 is fixedly connected to the cantilever beam flange 16951, and the eighth laser displacement sensor 1698 is fixedly connected to the cantilever 1697 to form a telescopic cantilever beam device 169;

The telescopic crossbeam device 170 is composed of the second stepped square cylindrical fixed arm 1701, the second stepped square cylindrical telescopic arm 1702, the third stepped square cylindrical telescopic arm 1703, the second multi-stage telescopic sleeve type oil cylinder 1704, the end The cover 1705 and the push plate 1706 are composed. The second stepped square cylindrical fixed arm 1701 is provided with a flange 17011, a cylindrical shoulder 17012 and a long slot 17013. The second stepped square cylindrical telescopic arm 1702 is provided with a first cylindrical shoulder 17021, The second cylinder shoulder 17022 and the long slot hole 17023, the third stepped square cylinder telescopic arm 1703 is provided with cylinder shoulder 17031 and two single clevis 17032, the second multi-stage telescopic sleeve type oil cylinder 1704 is provided with the first flange 17041, The first-stage telescopic sleeve 17042, the second-stage telescopic sleeve 17043 and the second flange 17044;

The end cover 1705 is symmetrically fixed to the first flange 17041 of the second multi-stage telescopic sleeve oil cylinder, and the third stepped square cylindrical telescopic arm 1703 is sleeved on the second multi-stage telescopic sleeve oil cylinder 1704, so that the second multi-stage telescopic sleeve oil cylinder 1704 The second flange 17044 of the first-stage telescopic sleeve type oil cylinder is fixedly connected with the closed end of the third stepped square cylindrical telescopic arm 1703, and the second stepped square cylindrical telescopic arm 1702 is sleeved on the third stepped square cylindrical telescopic arm 1703, and then Set the second stepped square cylindrical fixed arm 1701 on the second stepped square cylindrical telescopic arm 1702, so that the end cover 1705 is fixedly connected with the stepped square cylindrical fixed arm flange 17011, and the push plate 1706 is fixedly connected to the third At the closed end of the stepped square cylindrical telescopic arm 1703, the seventh laser displacement sensor 173 is symmetrically fixed to the side of the second stepped square cylindrical fixed arm 1701 to form a telescopic beam device 170;

The rigid hanger 171 is composed of an upper beam 1711, two pull rods 1712 and a lower beam 1713, the upper beam 1711 is provided with two double earrings 17111, and the lower beam 1713 is provided with two round holes 17131;

One end of the two pull rods 1712 is symmetrically fixed under the upper beam 1713, and the other end of the two pull rods 1712 is symmetrically fixed above the lower beam 1713 to form a rigid hanger 171;

The catch and release sleeper device 172 is composed of a fourth helical oscillating hydraulic motor 1721, a third elastic coupling 1722 and an inner wide-mouth nut 1723. The fourth helical oscillating hydraulic motor 1721 is provided with a flange 17211 and an output shaft 17212. , the inner wide-mouth nut 1723 is provided with a journal 17231;

Insert the fourth helical swing hydraulic motor 1721 into the round hole 17131 of the lower beam, the fourth helical swing motor flange 17211 is fixed on the lower beam 17132, and the third elastic coupling 1722 makes the output shaft of the fourth helical swing motor 17212 It is fixedly connected with the inner wide-mouth nut journal 17231 to form a grasping and releasing sleeper device 172;

The two telescopic cantilever beam devices 169 are symmetrically fixed on the two longitudinal beams 202 of the rail car, and the second stepped square cylindrical fixed arm 1701 of the telescopic beam device is fixed below the two cantilever beams 169 cantilever arms. Earrings 17111 are respectively connected with two single earrings 17032 coaxial bolts of the third stepped square cylindrical telescopic arm to form sleeper hoisting device 15 .

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

1. Stone cleaning and screening work: mark the outer bolts of the sleeper to be replaced with engine oil, and when the engineering vehicle pulls the rail car to run near the sleeper to be replaced, the image information collected by the CMOS image sensor will be automatically recognized by the graphic recognition system to stop the engineering vehicle. At the position where the CMOS image sensor is coaxial with the engine oil marking bolt, the first grab device in the second row is located between the sleepers on both sides of the sleeper to be replaced. At the position shown in Figure 1, the oil pump starts to work, and the high-pressure oil makes the third lifting drive double The output shaft hydraulic motor starts to rotate in the forward direction, drives the left-handed screw and the right-handed screw to start forward synchronous rotation, respectively pushes the first connecting rod and the second connecting rod to move synchronously in parallel, so that the symmetrically arranged first serial parallel four-bar mechanism and the second Two parallel four-bar mechanisms in series and two upper and lower pairs of swing rods swing back and forth synchronously. The third lifting device is supported by the second row of the first grabbing device to descend. It is measured by the first laser displacement sensor and the third lifting drive double output shaft hydraulic motor. The displacement signal is used to control the third lifting drive double output shaft hydraulic motor and the two hydraulic cylinders of the grab bucket. When the grab bucket is close to the ballast between the sleepers on both sides of the sleeper to be replaced, the piston rods of the two cylinders of the grab bucket start to retract. Pull the two connecting rods to move respectively, so that the two symmetrically arranged buckets swing back to the maximum opening relative to the single clevis of the boom, and the piston rods of the two oil cylinders of the grab bucket stop moving. When the bucket teeth touch the ballast, the first The three-lift drive double-output shaft hydraulic motor stops forward rotation. At the position shown in Figure 14, the piston rods of the two oil cylinders of the grab bucket start to protrude, and the two connecting rods are respectively pushed to move, so that the two symmetrically arranged buckets are relatively single-handed to the boom. The earrings swing towards each other, so that the grab gradually closes to grab the ballast between the sleepers, the piston rods of the two oil cylinders of the grab stop extending, and at the same time, the high-pressure oil makes the third lifting drive double output shaft hydraulic motor start to reverse rotation, driving the left-handed screw and the right-hand screw. The screw starts to rotate in reverse and synchronously, respectively pulling the first connecting rod and the second connecting rod to move synchronously and translationally, so that the symmetrically arranged first series parallel four-bar mechanism and the second series parallel four-bar mechanism and the upper and lower pairs of swing bars are synchronized with each other. Swing, the third lifting device supports the second row of the first grab device to rise to the position shown in Figure 15, and the piston rods of the two Jishimen drive hydraulic cylinders start to extend synchronously, respectively pushing the two third push-pull rods and the two fourth push-pull rods. The push-pull rod makes the two stone-collecting gates swing synchronously to the position shown in Figure 15, the two stone-collecting gates drive the piston rod of the hydraulic cylinder to stop extending, the second high-frequency vibration motor starts to work, the box starts to vibrate, and the pistons of the two hydraulic cylinders of the grab bucket The rods start to retract synchronously, respectively pull the two connecting rods to move, so that the two buckets slowly open to the maximum opening, the piston rods of the two hydraulic cylinders of the grab stop retracting, and the ballast in the grab falls to the two buckets. The stone-collecting gate slides down into the stone-collecting warehouse along the two stone-collecting gates. The vibration of the box makes the sand and soil in the ballast in the stone-collecting warehouse separate into two gradually changing isosceles trapezoidal chutes through the sieve holes at the bottom of the arrow-shaped box. One gradual isosceles trapezoidal chute slides to the two end cover sand discharge nozzles, and when the ballast in the grab bucket completely slides down into the rock collection chamber, the two stone collection gates drive the hydraulic cylinder piston rods to start to retract synchronously, respectively pulling the two A third push-pull rod and two fourth push-pull rods make the two stone-collecting gates swing synchronously to the position shown in Figure 1, and the two stone-collecting gates drive the hydraulic cylinder to move The plug rod stops retracting, the second high-frequency vibration motor stops working, and at the same time, the piston rods of the two grab cylinders start to extend, respectively pushing the two connecting rods to move, so that the two symmetrically arranged buckets swing relative to the single clevis of the boom , the grab gradually closes;

2. Stone clearing work at the pillow end: the engineering vehicle pulls the rail car to the left, and automatically recognizes the number of bolt images on the outer rail of the sleeper rigid rail through the graphic recognition system, so that the rail car moves to the left by two sleeper distances, and the second grab device is located at the position to be replaced. Above the pillow end of the sleeper, the high-pressure oil makes the second telescopic driving hydraulic motor start to rotate forward, pushing the second square cylindrical telescopic arm support to move outward with the second grab device, and the second laser displacement sensor measures the difference between it and the second measuring device. The displacement signal from the reference plate is used to control the operation of the second telescopic drive hydraulic motor and the two hydraulic cylinders of the grab bucket. At the same time, the high-pressure oil makes the fourth lifting drive double output shaft hydraulic motor start to rotate forward, and the fourth lifting device supports the second The grab device descends, and the first laser displacement sensor measures its displacement signal with the fourth lifting drive double output shaft hydraulic motor to control the fourth lift drive double output shaft hydraulic motor and the two hydraulic cylinders of the grab bucket. When the bucket teeth are close to the ballast of the ballast bed at the pillow end, the piston rods of the two hydraulic cylinders of the grab bucket start to retract synchronously, and the two connecting rods are respectively pulled to move, so that the grab bucket opens to the maximum opening, and the piston rods of the two hydraulic cylinders of the grab bucket Stop retracting, when the grab bucket tooth touches the ballast, the fourth lifting drive double output shaft hydraulic motor stops forward rotation, the position shown in Fig. The movement of the two connecting rods makes the grab gradually close to grab the ballast, the piston rods of the two hydraulic cylinders of the grab stop extending, and at the same time, the high-pressure oil makes the fourth lifting drive double output shaft hydraulic motor start to reverse rotation, and the fourth lifting device supports The second grab device goes up, and at the same time, the high-pressure oil makes the second telescopic drive hydraulic motor start to rotate forward, and when the second square telescopic arm supports the second grab device to move outward to the top of the road shoulder, the fourth lift Drive the double output shaft hydraulic motor to stop the forward rotation, the second telescopic driving hydraulic motor stops the forward rotation, the piston rods of the two hydraulic cylinders of the grab bucket start to retract and respectively pull the two connecting rods to move, so that the grab bucket is gradually opened, and the grab bucket The ballast in the bucket slides to the road shoulder, and the piston rods of the two hydraulic cylinders of the grab bucket start to extend synchronously, respectively pushing the two connecting rods to move, so that the grab bucket is gradually closed. The second telescopic drive hydraulic motor and the fourth lift drive dual output The shaft hydraulic motor starts to rotate in reverse at the same time, the fourth lifting device supports the second grab device and moves to the position shown in Figure 1, the second telescopic drive hydraulic motor and the fourth lift drive double output shaft hydraulic motor stop reverse rotation, The stone cleaning work at the pillow end is over;

3. Stone removal work under the rails: the engineering vehicle pulls the rail car to the left, and automatically recognizes the number of bolt images on the outer rail of the sleeper rigid rail through the graphic recognition system, so that the rail car moves to the left by one sleeper spacing, and the sprocket stone removal device is located on the sleeper to be replaced. Above the sleepers on both sides, the high-pressure oil makes the third telescopic drive double output shaft hydraulic motor start to rotate forward, and drives the left-handed screw and the right-handed screw to rotate forward and synchronously, so that the left-handed square nut and the right-handed square nut respectively push the fixedly connected The two second square cylindrical telescopic arms are stretched out synchronously, so that the two second square cylindrical telescopic arms respectively support the two sprocket stone removal devices to move outward. The displacement signal of the plate is used to control the operation of the double output shaft hydraulic motor of the third telescopic drive and the double output shaft hydraulic motor of the sprocket rock removal assembly. , the third telescopic drive dual-output shaft hydraulic motor stops and stops forward rotation, and at the same time, the high-pressure oil causes the fifth lifting drive dual-output shaft hydraulic motor to start forward rotation, and the fifth lifting device supports two chain-tooth stone removal devices to descend. The first laser displacement sensor measures the displacement signal with the fifth lifting drive dual output shaft hydraulic motor to control the fifth lifting drive dual output shaft hydraulic motor and the double output shaft hydraulic motor of the sprocket stone removal assembly. When the sprocket stone discharge When the device touches the ballast, the fifth lift drives the double output shaft hydraulic motor to stop forward rotation, and the high pressure oil makes the double output shaft hydraulic motor of the sprocket stone removal assembly rotate forward, so that the two sprockets rotate forward and synchronously, and the sprocket drives Several sprocket assemblies connected by several hinges move, and the sprocket of the sprocket plate on the lower side of the sprocket removal device pushes the ballast it contacts to the outside of the ballast bed, and the high-pressure oil makes the third telescopic drive double output shaft hydraulic motor start Rotate in the opposite direction, drive the left-handed screw and the right-handed screw to rotate synchronously in reverse, so that the left-handed square nut and the right-handed square nut respectively pull the two second square cylindrical telescopic arms fixedly connected with them to retract synchronously, and the two second square tubes The telescopic arms respectively support two sprockets to move inwards, and the sprockets move inward until the sprockets of the sprocket plate at the front end contact the ballast under the rail, and the ballast will be gnawed into the sprockets one after another. Between the chain teeth of the two adjacent sprocket plates of the stone discharge device, the ballast is pushed to the outside of the ballast bed by the sprocket plates one after another. When the sprocket discharge device moves inward to the position shown in Figure 29, the stone discharge under the rail ends. The third The telescopic drive dual output shaft hydraulic motor stops forward rotation, and at the same time, the double output shaft hydraulic motor of the sprocket stone removal assembly stops forward rotation, and the third telescopic drive dual output shaft hydraulic motor starts forward rotation, so that the two second square cylinders The telescopic arms respectively support the two sprocket stone removal devices to move outward. When the sprocket stone removal device moves outward until the chain teeth of the inner sprocket plate leave the outer side of the lower flange of the rail, the third telescopic drive double output shaft hydraulic pressure The motor stops forward rotation, the high-pressure oil makes the hydraulic motor of the fifth lifting drive double output shaft start to reverse rotation, the fifth lifting device supports the two sprockets and the rock removal device is raised, and the high-pressure oil makes the third telescopic drive double output shaft The hydraulic motor starts to rotate in reverse, so that the two second square cylindrical telescopic arms respectively support the two sprocket stone removal devices to move inward. In the position shown in 1, both the third telescopic drive double output shaft hydraulic motor and the fifth lift drive double output shaft hydraulic motor stop reverse rotation, and the stone discharge work under the rail is completed;

4. Nut removal work: the engineering vehicle pulls the rail car to move to the left, and automatically recognizes the number of images of bolts on the outer rail of the sleeper rigid rail through the graphic recognition system, so that the rail car moves to the left by one sleeper spacing, and the four inner wide-mouth magnetic plum blossom sleeves are located in the waiting position. Replace the four bolts directly above the sleeper. The high-pressure oil makes the sixth lifting drive double output shaft hydraulic motor start to rotate forward. The sixth lifting device is supported by the two nut assembly and disassembly devices. It is measured by the first laser displacement sensor. With the displacement signal of the lower crossbeam, the sixth lift drives the double output shaft hydraulic motor and the first helical swing hydraulic motor to work. When the inner wide-mouth magnetic plum blossom sleeve is sleeved on the nut, the position shown in Figure 36, the sixth lift Drive the double output shaft hydraulic motor to stop forward rotation, the high-pressure oil makes the two first helical swing hydraulic motors start reverse synchronous rotation, drive the two circular connecting plates to respectively support the two internal gears to rotate in reverse, each internal gear At the same time, it meshes with two gears to drive the two transmission shafts to rotate, so that the four inner wide-mouth magnetic torx sleeves rotate in reverse and synchronously, and the four inner wide-mouth magnetic torx sleeves unscrew the four nuts synchronously, and the inner wide-mouth magnetic torx sleeves The magnetism of the sleeve makes the unscrewed nut stay in the inner wide-mouth magnetic plum blossom sleeve, the two first helical swing hydraulic motors stop reverse rotation, and at the same time, the high-pressure oil makes the sixth lifting drive double output shaft hydraulic motor start reverse rotation , the sixth lifting device supports the two nut assembly and disassembly devices and rises to the position shown in Figure 1, the sixth lifting drives the double output shaft hydraulic motor to stop reverse rotation, and the nut removal work is completed;

5. Pull out the bad sleeper work: the engineering vehicle pulls the rail car to move to the left, and automatically recognizes the number of bolt images outside the rigid rail of the sleeper through the graphic recognition system, so that the rail car moves to the left by one sleeper spacing, and the rotating sleeper and push-pull sleeper device is located at the position to be replaced. Right above the bad sleeper, the first rail lifting device is located right above the sleeper room on the right side of the bad sleeper. The high-pressure oil makes the first beam telescopic drive hydraulic motor start to rotate forward, the driving screw rotates forward, and the square nut pushes the fixed connection with it. The fourth square cylindrical telescopic arm is stretched out, and the fourth square cylindrical telescopic arm supports the first swing device and the grasping and turning pillow device to move outward, and the distance between it and the fourth distance measuring reference plate is measured by the fourth laser displacement sensor. The displacement signal is used to control the first beam telescopic drive hydraulic motor and the second helical swing hydraulic motor to work, the first swing device and the grasping and turning pillow device move outward to a proper position, and the first beam telescopic drive hydraulic motor stops forward rotation , the high-pressure oil makes the second helical swing hydraulic motor start to rotate forward, the incomplete gear meshes with the two sector gears for transmission, and the two stepped shafts drive the four first swing rods to swing forward, so that the second box supports the belt to grab When the two first swing rods contact the first limit boss, the second helical oscillating hydraulic motor stops forward rotation, and the middle position of the electromagnetic reversing valve makes the second helical oscillating hydraulic motor Keep the pressure, and at the same time, the high-pressure oil makes the first beam telescopic drive hydraulic motor start to reverse rotation, the drive screw rotates reversely, the square nut pulls the fourth square cylindrical telescopic arm fixedly connected with it to retract, and the fourth square cylindrical telescopic arm support The first swinging device and the grabbing and sleeper-turning device move inward. When the two pressure plates of the mechanical claw move inward to the appropriate positions on both sides of the sleeper to be replaced, the first beam stretches and drives the hydraulic motor to stop reverse rotation. High pressure The oil makes the piston rod of the hydraulic cylinder start to stretch out, pushing the first connecting rod and the second connecting rod to make the two symmetrically arranged second swing rods swing towards each other, and the roller hinged to the double clevis of the second swing rod presses the pressure plate, and the roller rolls The pressure plate overcomes the pulling force of the two cylindrical coil springs for translational movement, and the two parallel parallel four-bar mechanisms swing forward. When the two pressure plates clamp the sleeper, the middle position of the electromagnetic reversing valve keeps the pressure of the hydraulic cylinder;

The high-pressure oil makes the seventh lifting drive double output shaft hydraulic motor start to rotate forward, the seventh lifting device supports the first rail lifting device to descend, and the first laser displacement sensor measures the displacement signal between it and the double output shaft hydraulic motor to control The seventh lift drives the double output shaft hydraulic motor and the double output shaft hydraulic motor of the rail lifting assembly to work. The double output shaft hydraulic motor stops forward rotation, and the high-pressure oil makes the double output shaft hydraulic motor of the lifting rail assembly start to rotate forward, driving the left-handed screw and the right-handed screw to rotate forward synchronously, respectively pushing the two box-shaped telescopic arms to extend out synchronously , the two box-type telescopic arms support the rail lifting cylinder to move outward. When the cylinder body of the rail lifting cylinder is in contact with the side of the lower flange of the rail, the upper surface of the booster plate of the cylinder body of the rail lifting cylinder is in contact with the bottom of the rail, and the rail lifting component The double output shaft hydraulic motor stops forward rotation, and the high-pressure oil makes the piston rod of the rail lifting cylinder stretch out. When the support plate fixedly connected to the piston rod of the rail lifting cylinder contacts the ballast of the ballast bed and compacts it, the piston of the rail lifting cylinder As the rod continues to extend, the cylinder body of the rail lifting cylinder moves upward with the force plate to lift the rail, and the middle position of the electromagnetic reversing valve keeps the pressure of the rail lifting cylinder;

The high-pressure oil makes the third helical swing hydraulic motor start to rotate forward, so that the mechanical claw of the hydraulic cylinder supporting belt rotates forward, and the mechanical claw makes the sleeper rotate forward. When the flange plate of the third spiral swing hydraulic motor and the flange plate of the hydraulic cylinder When the fan-shaped boss contacts the second limit surface of the fan-shaped hole of the second box, the mechanical claw makes the sleeper rotate 90° forward, the third helical swing hydraulic motor stops the forward rotation, and the high-pressure oil makes the first beam stretch and drive the hydraulic motor Start to rotate in the forward direction, the fourth square cylindrical telescopic arm supports the first swing device and the grasping and turning sleeper device to move outward, and the mechanical claw pulls the bad sleeper to move outward. When the bad sleeper moves outward to its rear end surface and the front When the rear sides of the lower flanges of the rails are in the same plane, the hydraulic motor driven by the telescopic first beam stops forward rotation, and the high-pressure oil makes the third helical swing hydraulic motor start reverse rotation, so that the cylinder body of the hydraulic cylinder supports the mechanical claws to rotate reversely, and the mechanical The claws make the sleeper reverse rotation, when the third helical swing hydraulic motor flange and the hydraulic cylinder flange limit fan-shaped boss contact with the first limit surface of the fan-shaped hole of the second box, the mechanical claw makes the sleeper reverse rotation 90°, the position shown in Figure 47, the third helical swing hydraulic motor stops reverse rotation;

The high-pressure oil makes the piston rod of the hydraulic cylinder start to retract, pulling the first connecting rod and the second connecting rod to make the two symmetrically arranged second swing rods swing back, and under the tension of the two cylindrical coil springs, the two The pressure plate moves in translation, and the two parallel parallel four-bar mechanisms swing in reverse. When the two pressure plates are out of contact with the side of the sleeper, the piston rod of the hydraulic cylinder stops retracting;

The high-pressure oil makes the second helical swing hydraulic motor rotate in the reverse direction, the incomplete gear meshes with the two sector gears for transmission, the two stepped shafts drive the four first swing rods to swing in the opposite direction, the second box supports the grabbing and rotating pillow The device moves in translation, and when the two first swing rods contact the second limiting boss, the second helical oscillating hydraulic motor stops rotating, and the middle position of the electromagnetic reversing valve keeps the pressure of the second helical oscillating hydraulic motor;

The high-pressure oil makes the hydraulic motor for the telescopic drive of the first crossbeam start to reverse rotation, and the support belt of the fourth square cylindrical telescopic arm moves inward with the first swing device and the grasping and turning pillow device to the position shown in Figure 1, and the telescopic drive of the first crossbeam Hydraulic motor stops reverse rotation;

The high-pressure oil makes the piston rod of the rail lifting cylinder start to retract, and the piston rod pulls the support plate to move upward, and the rail falls to the original position, pressing the sleeper to be replaced so that its upper surface is parallel to the lower surface of the two rails, and the rail lifting cylinder The piston rod retracts to the dead center,

The high-pressure oil makes the double output shaft hydraulic motor of the rail lifting assembly start to rotate in reverse, driving the left-handed screw and the right-handed screw to rotate in reverse and synchronously, pulling the two box-shaped telescopic arms to retract synchronously, and the two box-shaped telescopic arms to support the rail lifting cylinder Moving inward, when the force plate is out of contact with the rail, the double output shaft hydraulic motor of the first rail lifting assembly stops reverse rotation;

The high-pressure oil makes the seventh lifting drive double output shaft hydraulic motor start to reverse rotation, the seventh lifting device supports the first rail lifting device to rise, when the first rail lifting device rises to the position shown in Figure 1, the seventh lifting drive double output The shaft hydraulic motor stops reverse rotation, and the work of pulling out the bad sleeper is completed;

6. Lifting of bad sleepers: the engineering vehicle pulls the rail car to move to the left, and automatically recognizes the number of bolt images on the outer side of the sleeper rigid rail through the graphic recognition system, so that the rail car moves to the left for six sleeper spacings, and the second rail lifting device is located at the position to be replaced. Right above the space between the adjacent sleepers on the right side of the sleeper, at the position shown in Figure 48, the high-pressure oil makes the second beam telescopically drive the double output shaft hydraulic motor to start to rotate forward, so that the left-handed square nut and the right-handed square nut respectively push the two The fifth square cylindrical telescopic arms extend out synchronously, and the two fifth square cylindrical telescopic arms respectively support the two second swing devices and the telescopic sleeve-type rail lifting cylinders to move outward synchronously. The fifth laser displacement sensor measures its Use the displacement signal of the fifth ranging reference plate to control the operation of the second beam telescopically driving the double output shaft hydraulic motor and the second helical swing motor, when the two second swing devices and the telescopic sleeve type rail lifting cylinder move outward position, the second beam telescopically drives the double output shaft hydraulic motor to stop forward rotation, and it starts to reverse rotation, so that the left-handed square nut and the right-handed square nut respectively pull the two fifth cylindrical telescopic arms fixedly connected with them to retract synchronously, The two fifth square cylindrical telescopic arms respectively support the two second swing devices and the telescopic sleeve-type rail lifting cylinders to move inward synchronously, and at the same time the second helical swing hydraulic motor starts to rotate forward, the incomplete gear and the two sector gears Engagement transmission, two stepped shafts drive four swing rods to swing forward, the box-shaped connecting rod supports the telescopic sleeve type rail lifting cylinder for translational movement, when the two swing rods contact the first limit boss, the second helical The swing hydraulic motor stops forward rotation, and the middle position of the electromagnetic reversing valve keeps the pressure of the second helical swing hydraulic motor. When the second swing device and the telescopic sleeve type rail lifting cylinder move inward to the When the outer side of the lower flange of the rail is in contact, the upper surface of the booster plate of the telescopic sleeve type rail lifting cylinder body contacts the lower side of the rail, and the second beam telescopically drives the double output shaft hydraulic motor to rotate in reverse;

The high-pressure oil makes the reciprocating motion drive the double output shaft hydraulic motor to rotate in the forward direction, respectively pushes the first connecting rod and the second connecting rod to move synchronously, so that the symmetrically arranged first series parallel four-bar mechanism and the second series parallel four-bar mechanism Each two pairs of swing rods swing back synchronously, so that the two pairs of second swing rods pull the moving beam to move to the left, and the moving beam supports the storage sleeper box to move to the left, and the sixth laser displacement sensor measures the distance between it and the double output shaft hydraulic motor. The displacement signal is used to control the reciprocating motion to drive the double output shaft hydraulic motor to work. When the storage sleeper box moves to the left until the storage bad sleeper bin is located directly under the pick-and-place sleeper device, the reciprocating motion drives the double output shaft hydraulic motor to stop forward rotation, reciprocating The motion driving device is supported by the trailer to move freely left and right;

The high-pressure oil makes the second-stage telescopic sleeve of the second multi-stage telescopic sleeve cylinder start to extend along with the first-stage telescopic sleeve, pushing the third-step square cylindrical telescopic arm to extend, and the third-step square cylindrical telescopic arm support The rigid hanger moves outward. When the third stepped square cylindrical telescopic arm stretches out to its shoulder and contacts the second shoulder of the second stepped square cylindrical telescopic arm, the second stage of the first multi-stage telescopic sleeve cylinder The telescopic sleeve starts to stretch out, and the telescopic arm of the third step is pushed out by the telescopic sleeve of the first stage, and the telescopic arm of the third step is pulled by the telescopic arm of the second step, and the telescopic arm of the second step is stretched out. The displacement sensor measures the displacement signal between it and the push plate to control the work of the second multi-stage telescopic sleeve type oil cylinder. When the two inner wide-mouth nuts of the catch and release sleeper device are coaxial with the two inner bolts on the top of the bad sleeper that has been pulled out from the sleeper , the second-stage telescopic sleeve of the second multi-stage telescopic sleeve oil cylinder stops extending;

The high-pressure oil makes the sleeve of the first multi-stage telescopic sleeve oil cylinder start to retract step by step, the second square cylindrical telescopic arm and the first stepped square cylindrical telescopic arm start to retract sequentially, and the rigid hanger supports the catch and release sleeper device The seventh laser displacement sensor measures the displacement signal between it and the lower beam to control the work of the first multi-stage telescopic sleeve oil cylinder. When the two inner wide-mouth nuts are close to the two bolts on the inner side of the sleeper, the high-pressure oil makes the two The fourth helical oscillating hydraulic motor starts to rotate in the forward direction, so that the two inner wide-mouth nuts rotate forward. When the two inner wide-mouth nuts are screwed on the two inner bolts on the sleeper, the fourth helical oscillating hydraulic motor rotates forward to the maximum. Corner, the position shown in Figure 55, the fourth helical swing hydraulic motor stops forward rotation, and the first-stage sleeve of the first multi-stage telescopic sleeve oil cylinder stops retracting;

The high-pressure oil makes the second-stage telescopic sleeve of the telescopic sleeve type rail lifting cylinder extend out with the first-stage telescopic sleeve, the first-stage telescopic sleeve moves to the maximum stroke, and the second-stage telescopic sleeve starts to extend. After the support plate of the second-stage telescopic sleeve contacts the ballast of the ballast bed and compacts it, as the second-stage telescopic sleeve continues to extend, the cylinder body support belt of the telescopic sleeve type rail lifting cylinder moves upward , to make the rail jack up, and the middle position of the electromagnetic reversing valve keeps the pressure of the telescopic sleeve type rail lifting cylinder;

The high-pressure oil makes the second multi-stage telescopic sleeve cylinder start to extend the second-stage telescopic sleeve again, pushing the third-step square cylindrical telescopic arm to extend, and the third-step square-cylindrical telescopic arm pulls the second-step square-cylindrical telescopic arm The arm is stretched out, and the third-step square tube-shaped telescopic arm supports the rigid hanger and the catch-and-release sleeper device to move outward, and the grab-and-release sleeper device supports the outward movement of the bad sleeper. When the bad sleeper moves outward to its rear end surface and leaves the sleeper When the lower flange is in proper position, the second stage telescopic sleeve of the second multi-stage telescopic sleeve cylinder stops extending;

The high-pressure oil makes the first-stage sleeve of the first multi-stage telescopic sleeve oil cylinder start to extend, the supporting belt stretches out the second square cylindrical telescopic arm, and the rigid hanger supporting belt grabs and releases the sleeper device rises, when the second square cylindrical telescopic arm When the flange of the telescopic arm contacts the shoulder of the first stepped square cylindrical telescopic arm, the second-stage sleeve of the second multi-stage telescopic sleeve cylinder begins to protrude, and the second square telescopic arm pulls the first stepped square cylinder The telescopic arm extends out, and when the grabbing and releasing sleeper device rises to an appropriate height, the second-stage sleeve of the first multi-stage telescopic sleeve oil cylinder stops extending;

The high-pressure oil makes the second-stage telescopic sleeve of the second multi-stage telescopic sleeve cylinder start to retract, and pulls the third-step square cylindrical telescopic arm to retract, and the third-step square cylindrical telescopic arm supports a rigid hanger and grabs and releases the sleeper. The device moves inward. When the push plate contacts the second stepped square tube telescopic arm, the second stage telescopic sleeve retracts with the first stage telescopic sleeve, and the third step square tube telescopic arm retracts the push plate. The push plate pushes the second stepped square cylindrical telescopic arm to retract. When the sleeper moves inward to directly above the warehouse for storing bad sleepers, the first-stage telescopic sleeve of the second multi-stage telescopic sleeve cylinder stops retracting, and the high-pressure oil makes the first stage retract. The sleeve of a multi-stage telescopic sleeve type oil cylinder starts to retract step by step, and the grabbing and releasing sleeper device supports the bad sleeper to descend. The four helical oscillating hydraulic motors start to rotate in reverse synchronously, causing the two inner wide-mouth nuts to rotate in reverse. When the bad sleeper is released into the warehouse, the fourth helical oscillating hydraulic motor stops rotating in reverse. The sleeve starts to protrude step by step, the rigid hanger and the catch and release sleeper device rise to the position shown in Figure 1, and the work of lifting the bad sleeper is completed;

7. Lifting and placing the sleeper work: the high-pressure oil makes the reciprocating motion drive the double-output shaft hydraulic motor to start reverse rotation, and drives the left-handed screw and the right-handed screw to rotate in reverse synchronously, so that the left-handed square nut and the right-handed square nut are respectively pulled and aligned with each other. The fixedly connected first connecting rod and the second connecting rod move synchronously, so that two pairs of swing rods on the left and right of the symmetrically arranged two series parallel four-bar mechanisms swing synchronously towards each other, and the two pairs of second swing rods push the moving beam to move to the right. Move the crossbeam supporting belt to store the sleeper box to move to the right, when the stored sleeper box moves to the right until the stored sleeper bin is located directly under the catch and release sleeper device, the reciprocating motion drives the double output shaft hydraulic motor to stop the reverse rotation;

The high-pressure oil makes the sleeve of the first multi-stage telescopic sleeve type oil cylinder start to extend step by step, the rigid hanger supports the catch and release sleeper device to rise, and the catch and release sleeper device supports the sleeper to rise to an appropriate height. The first multi-stage telescopic sleeve type The first stage sleeve of the oil cylinder stops extending;

The high-pressure oil makes the first-stage telescopic sleeve and the second-stage telescopic sleeve of the second multi-stage telescopic sleeve oil cylinder stretch out in sequence, so that the third stepped square cylindrical telescopic arm supports the rigid hanger to move outward, and grabs and releases the sleeper. The device supports the sleeper and moves outward to the appropriate position, the first-stage telescopic sleeve of the second multi-stage telescopic sleeve oil cylinder stops extending, and the high-pressure oil makes the sleeve of the first multi-stage telescopic sleeve oil cylinder start to retract step by step. When the catch and release sleeper device supports the sleeper and lowers it to contact with the ballast bed, the high-pressure oil makes the first-stage sleeve of the first multi-stage telescopic sleeve oil cylinder stop retracting;

The high-pressure oil makes the second-stage telescopic sleeve of the second multi-stage telescopic sleeve type cylinder start to retract, the third stepped square-shaped telescopic arm supports the rigid hanger to move inward, and the grabbing and releasing sleeper device supports the sleeper to move inward to an appropriate position. Position, so that the sleeper penetrates under the rail, and when the rear end surface of the sleeper is in the same plane as the rear side of the lower flange of the front rail, the second-stage telescopic sleeve of the second multi-stage telescopic sleeve cylinder stops retracting;

The high-pressure oil makes the second-stage telescopic sleeve of the telescopic sleeve-type rail lifting cylinder retract, the second-stage telescopic sleeve retracts to the dead point, the second-stage telescopic sleeve starts to retract with the first-stage telescopic sleeve, and the second-stage The telescopic sleeve pulls the support plate to retract, the rail falls to the original position, presses the sleeper to be replaced so that the upper surface is parallel to the lower surface of the two rails, and the telescopic sleeve type rail lifting cylinder stops working;

The high-pressure oil makes the second beam telescopically drive the double-output shaft hydraulic motor to start to rotate forward, and the two seventh square cylindrical telescopic arms respectively support the two second swing devices and the telescopic sleeve-type rail lifting cylinder to move outward, when the telescopic sleeve When the booster plate of the type rail lifting cylinder is out of contact with the lower flange of the rail, the second beam telescopically drives the double output shaft hydraulic motor to stop forward rotation, and at the same time the second helical swing hydraulic motor starts to reverse rotation, and the incomplete gear and Two sector gears are meshed for transmission, two stepped shafts drive the four first swing rods to swing in the opposite direction, and the box-shaped connecting rod is supported by a telescopic sleeve-type rail lifting cylinder for translational movement. When the two first swing rods and the second limit When the boss touches, the second helical oscillating hydraulic motor stops rotating, the two second oscillating devices and the telescopic sleeve type rail lifting cylinder move to the position shown in Figure 1, and the middle position of the electromagnetic reversing valve keeps the second helical oscillating hydraulic motor pressure;

The high-pressure oil makes the fourth helical oscillating hydraulic motor start to reverse rotation. When the fourth helical oscillating hydraulic motor reverses to the maximum angle, the sleeper is released, and the fourth helical oscillating hydraulic motor stops reverse rotation. The first multi-stage telescopic sleeve type The sleeve of the oil cylinder starts to protrude step by step, and the rigid hanger belt catches and releases the sleeper device to rise to an appropriate height. The telescopic arm supports the rigid hanger and the catch-and-release sleeper device moves inward, the catch-and-release sleeper device moves to the position shown in Figure 1, the second-stage sleeve of the first multi-stage telescopic sleeve oil cylinder stops extending, and the second multi-stage The first-stage sleeve of the telescopic sleeve oil cylinder stops retracting, and the work of hoisting and placing the sleeper is completed;

8. Promote the sleeper work: the engineering vehicle pulls the rail car to move to the right, and automatically recognizes the number of bolt images on the outer side of the sleeper rigid rail through the graphic recognition system, so that the rail car moves to the right for six sleeper spacings, and the rotating sleeper and push-pull sleeper device is located on the good sleeper Above, the first rail lifting device is located directly above the sleeper space on the right side of the good sleeper. The high-pressure oil makes the first beam telescopic drive hydraulic motor start to rotate forward, making the fourth square cylindrical telescopic arm stretch out, and the fourth square cylindrical telescopic arm The first swinging device of the supporting belt and the grasping and turning pillow device move outward. When the fourth square cylindrical telescopic arm stretches out to the dead point, the first beam telescopically drives the hydraulic motor to stop forward rotation, and the high-pressure oil makes the second spiral The oscillating hydraulic motor rotates in the forward direction, and the second box support belt grabbing and rotating pillow device do translational movement. When the two first oscillating rods contact the first limit boss, the second helical oscillating hydraulic motor stops rotating, and the electromagnetic The neutral position of the reversing valve maintains the pressure of the second helical swing hydraulic motor;

The high-pressure oil makes the first beam telescopic drive hydraulic motor start to reverse rotation, when the two pressure plates of the mechanical claw move inward to the appropriate position on both sides of the replaced sleeper, the position shown in Figure 47, the first beam telescopic drive hydraulic motor stops Reverse rotation, the high-pressure oil makes the piston rod of the hydraulic cylinder start to extend, when the two pressure plates clamp the sleeper, the piston rod of the hydraulic cylinder stops extending, and the middle position of the electromagnetic reversing valve keeps the pressure of the hydraulic cylinder;

The high-pressure oil makes the seventh lifting drive double-output shaft hydraulic motor start to rotate forward, and the seventh lifting device supports the first rail lifting device to descend. When the lower surface is in the same plane, the seventh lift drives the double output shaft hydraulic motor to stop forward rotation, and the high pressure oil makes the double output shaft hydraulic motor of the rail lift assembly start to rotate forward. When the cylinder body of the rail lift cylinder contacts the side of the lower flange of the rail , the upper surface of the booster plate of the rail lifting cylinder body is in contact with the bottom of the rail, the hydraulic motor with dual output shafts of the rail lifting assembly stops forward rotation, and the high-pressure oil makes the piston rod of the rail lifting cylinder stretch out, so that the rail is lifted up, and the electromagnetic reversing valve The middle position maintains the pressure of the rail lifting cylinder;

The high-pressure oil makes the third helical swing hydraulic motor start to rotate forward, the mechanical claw makes the sleeper rotate forward 90°, the third helical swing hydraulic motor stops forward rotation, and the high-pressure oil makes the first beam telescopic drive hydraulic motor start reverse rotation, The mechanical claw pushes the good sleeper to move inward, so that when the good sleeper moves inward to the position shown in Figure 1, the first beam telescopically drives the hydraulic motor to stop reverse rotation, and the high-pressure oil makes the third helical swing hydraulic motor start reverse rotation. The claw makes the sleeper reversely rotate 90°, and the third helical swing hydraulic motor stops the reverse rotation;

The high-pressure oil makes the piston rod of the hydraulic cylinder start to retract. When the two pressure plates of the mechanical claw are out of contact with the sleeper, the piston rod of the hydraulic cylinder stops retracting. The high-pressure oil makes the second helical swing hydraulic motor reverse rotation. When the two first When the swing rod is in contact with the second limiting boss, the second helical oscillating hydraulic motor stops rotating, and the neutral position of the electromagnetic reversing valve keeps the pressure of the second helical oscillating hydraulic motor;

The high-pressure oil makes the hydraulic motor driven by the telescopic movement of the first crossbeam start to rotate in the opposite direction, so that the first swinging device and the grasping and turning pillow device of the fourth square cylindrical telescopic arm move inward to the position shown in Figure 1, and the first crossbeam stretches and retracts. Drive the hydraulic motor to stop reverse rotation;

The high-pressure oil makes the piston rod of the rail lifting cylinder start to retract, the rail falls to the original position, the piston rod of the rail lifting cylinder retracts to the dead point, and the high-pressure oil makes the double output shaft hydraulic motor of the rail lifting assembly start to reverse rotation, when the rail lifting cylinder cylinder When the body reinforcement plate is out of contact with the rail, the double output shaft hydraulic motor of the rail lift assembly stops reverse rotation;

The high-pressure oil makes the seventh lifting drive double output shaft hydraulic motor start to reverse rotation, the seventh lifting device supports the first rail lifting device to rise to the position shown in Figure 1, the seventh lifting drive double output shaft hydraulic motor stops reverse rotation, Push the sleeper work to an end;

9. Nut installation work: the engineering vehicle pulls the rail car to the right, and the image information collected by the CMOS image sensor automatically recognizes the number of images of the outer bolt images of the sleeper rigid rail through the graphic recognition system, so that the rail car moves to the right by one sleeper spacing, leaving four The wide-mouth magnetic torx sleeves with nuts are respectively coaxial with the four bolts on the sleeper. The high-pressure oil makes the sixth lifting double output shaft hydraulic motor start to rotate forward, and the sixth lifting device is supported by two nut assembly and disassembly devices. When the nut in the inner wide-mouth magnetic torx sleeve contacts with the replaced sleeper bolt, the position shown in Figure 36, the sixth lifting double output shaft hydraulic motor stops forward rotation, and the high-pressure oil makes the two first helical swing hydraulic motors Start to rotate forward and synchronously, drive the two circular connecting plates to respectively support two internal gears to rotate forward, and each internal gear meshes with the two gears at the same time, driving the two transmission shafts to rotate, so that the four internal wide-mouth magnetic plums The sleeve rotates synchronously in the forward direction, the nuts in the four inner wide-mouth magnetic plum blossom sleeves are synchronously screwed into the four bolts of the sleeper and pre-tightened, the two first helical swing hydraulic motors stop forward rotation, and the high-pressure oil makes the sixth lifting double The output shaft hydraulic motor starts to rotate in reverse, the sixth lifting device supports two nut assembly and disassembly devices and rises to the position shown in Figure 1, the sixth lifting double output shaft hydraulic motor stops reverse rotation, and the installation of nuts is completed;

10. Ballast backfilling work: the engineering vehicle pulls the rail car to the right, and the image information collected by the CMOS image sensor automatically recognizes the number of images of the outer bolts of the sleeper rigid rail through the graphic recognition system, so that the rail car moves to the right for four sleeper spacings, and the stone The ballast collection and row device is located directly above the replaced sleeper, the second high-frequency vibration motor starts to work, and the piston rods of the hydraulic cylinders driven by the two stone row gates start to stretch out, respectively pushing the two first push-pull rods and the two second push-pull rods, so that The two stone discharge doors swing synchronously to the position shown in Figure 16. After the stone ballast in the stone collection bin has completely fallen between the sleepers on both sides of the replaced sleeper, the second high-frequency vibration motor stops working, and the two stone discharge doors drive the piston of the hydraulic cylinder. The rod starts to retract, respectively pull the two first push-pull rods and the two second push-pull rods to make the two stone discharge gates swing synchronously to the position shown in Figure 1, and the ballast backfilling work is completed;

11. Shoulder and ballast bed modification work: the engineering vehicle pulls the rail car to move to the right, and automatically recognizes the number of images of bolts on the outer rail of the sleeper rigid rail through the graphic recognition system, so that the rail car moves to the right by two sleeper distances, and the bucket device is located at the replaced Above the pillow end of the sleeper, the high-pressure oil makes the first telescopic drive hydraulic motor start to rotate forward, so that the first square cylindrical telescopic arm is stretched out, and the first square cylindrical telescopic arm supports the bucket device to move outward, and the second laser The displacement sensor measures the displacement signal between it and the second ranging reference plate to control the first telescopic drive hydraulic motor and bucket hydraulic cylinder, and at the same time, the high-pressure oil makes the second lifting drive double output shaft hydraulic motor start to rotate forward, and the second The lifting device lowers the bucket device with the support belt, and measures the displacement signal between it and the second lifting drive dual output shaft hydraulic motor through the first laser displacement sensor to control the second lifting drive dual output shaft hydraulic motor and the bucket hydraulic cylinder. When the bucket teeth of the bucket are close to the stone ballast on the road shoulder, the piston rod of the hydraulic cylinder of the bucket extends to push the connecting rod to move, so that the bucket swings forward at an appropriate angle, which is convenient for collecting excess stone ballast in the bucket when the road shoulder is modified. , when the bucket moves to the bottom angle of the road shoulder, the first telescopic drive hydraulic motor stops forward rotation, and the second lift drive double output shaft hydraulic motor stops forward rotation. At the position shown in Figure 9, the high-pressure oil makes the first telescopic drive The hydraulic motor starts to rotate in reverse, so that the first square cylindrical telescopic arm retracts, and the first square cylindrical telescopic arm supports the bucket to move inward. At the same time, the second lift drives the double output shaft hydraulic motor to start reverse rotation. The second The lifting device lifts the bucket device up, and the first telescopic drive hydraulic motor and the second lift drive double output shaft hydraulic motor start to rotate in reverse, so that the movement track of the bucket teeth is the waist line of the isosceles trapezoidal shoulder, Road shoulder modification, when the bucket moves until the bucket teeth reach the surface of the ballast bed, the second lifting drive dual output shaft hydraulic motor stops reverse rotation, the road shoulder modification is completed, the first telescopic drive hydraulic motor continues to reverse rotation, and the digging The movement trajectory of the bucket teeth is a straight line. At the same time, the piston rod of the hydraulic cylinder of the bucket is slowly retracted, and the connecting rod is pulled to move, so that the bucket slowly swings in the opposite direction, so that the stone ballast collected in the bucket is poured out to repair the bed at the pillow end. When the bucket teeth are close to the pillow end, the bucket hydraulic cylinder stops working, the second lift drives the double output shaft hydraulic motor to start reverse rotation, and when the second lift device lifts the bucket device up to the position shown in Figure 1, the first The first telescopic drive hydraulic motor stops the reverse rotation, the second lift drives the double output shaft hydraulic motor to stop the reverse rotation, and the track shoulder at the end of the replaced sleeper and the modification work of the track bed are completed;

12. Tamping and ballasting work: the engineering vehicle pulls the rail car to move to the right, and automatically recognizes the number of bolt images on the outer rail of the sleeper rail through the graphic recognition system, so that the rail car moves to the right by one sleeper spacing, and the second row of vibrating rods is located at the two sides of the replaced sleeper. Between the side sleepers, at the position shown in Figure 3, the high-pressure oil causes the first lift to drive the double output shaft hydraulic motor to start to rotate forward, the first lift device supports the vibrator assembly to descend, and the first lift is measured by the first laser displacement sensor. Drive the displacement signal of the double output shaft hydraulic motor to control the work of the first lifting and driving double output shaft hydraulic motor and the first high frequency vibration motor. When the free end of the vibrating rod approaches the ballast between the sleepers on both sides of the replaced sleeper, the first The high-frequency vibration motor starts to work, the vibrating plate drives the second row of vibrating rods to vibrate at high frequency, the first lifting device drives the double output shaft hydraulic motor to continue to rotate forward, and the first lifting device supports the second row of vibrating rods to insert the ballast into the ballast at an appropriate depth , the first lift drives the double output shaft hydraulic motor to stop forward rotation, the position shown in Figure 4, the first high-frequency vibration motor continues to work until the ballast between the sleepers on both sides of the replaced sleeper is compacted and vibrated, the first high-frequency vibration The motor stops working, the high-pressure oil makes the first lifting drive dual output shaft hydraulic motor start to reverse rotation, the first lifting device supports the vibrating assembly to rise to the position shown in Figure 1, and the first lifting drive double output shaft hydraulic motor stops reverse rotation Rotate, the oil pump stops working, and the work of tamping and leveling the ballast between the sleepers on both sides of the changed sleeper ends.

The first series parallel four-bar mechanism and the second series parallel four-bar mechanism in the lifting device make the corresponding upper beam and lower beam always parallel to adapt to the corresponding work of changing pillows on straight and curved rail sections; the third series parallel four-bar mechanism The mechanism makes the plate-shaped upper beam always parallel to the lower beam, so that the dynamic balance support device can adapt to the corresponding work of changing pillows on straight and curved rail sections; the first series parallel four-bar mechanism and the second series parallel four-bar mechanism are symmetrically arranged The four-bar mechanism makes the moving beam always parallel to the fixed beam, so that the storage sleeper box can move in translation; the elastic coupling and the inner wide-mouth nut can effectively adapt to the position deviation of the sleeper bolt, so that the inner wide-mouth nut can be easily screwed on the sleeper bolt; hydraulic pressure The synchronous valve in the system ensures that the sleeves of the two first multi-stage telescopic sleeve oil cylinders expand and contract synchronously; the rigid hanger prevents the sleeper from swinging during hoisting and improves the speed of hoisting the sleeper.

In the position shown in Figure 3, the compression of the two stiffness nonlinear springs in the dynamic balance support device is the smallest, and the elastic force is small. At this time, the angle between the sixth swing bar and the second strut that is symmetrically arranged and the upper beam is the largest. The force that the two springs act on the sixth swing bar and the second strut respectively through the two sliders is greater than its smaller elastic force, and the sixth swing bar and the second strut act on the vertical component of the force of the plate-shaped upper beam. The force is large, so that the follow-up balance support device bears the self-weight of the plate-shaped upper beam, the self-weight of the double output shaft hydraulic motor, the self-weight of the two first elastic couplings, the self-weight of the two single clevis supports and part of the self-weight of the two left and right screw rods The sum is balanced, and the dynamic balance support device is balanced with the lifting device. In the position shown in Figure 4, the compression of the two stiffness nonlinear springs is the largest, and the elastic force is the largest. The angle between the bar and the upper beam is the smallest, the force of the two springs acting on the sixth swing bar and the second swing bar respectively through the two sliders is less than the maximum elastic force, and the sixth swing bar and the second support bar act on the plate shape The vertical component force of the beam force is small, so that the dynamic balance support device bears the weight of the upper beam on the plate shape, the weight of the double output shaft hydraulic motor, the weight of two elastic couplings, the weight of two single clevis supports and two left and right rotations. The total weight of the parts of the screw is balanced to prevent the two screws from rotating left and right to bear the bending moment.

Claims (1)

1. A small railway maintenance machine with graphic recognition function, characterized in that: it is composed of a tamping ballast leveling device, a road shoulder and ballast bed shaping device, a grab stone cleaning device, a ballast collecting and discharging device, and a pillow end stone cleaning device , Sprocket stone removal device, four-nut synchronous assembly and disassembly device, first rail lifting device, rail transition and push-pull sleeper device, sleeper lifting device, generator, hydraulic system and control system box and rail car. The rail car is equipped with multiple casters and two longitudinal beams, tamping ballast leveling device, road shoulder and ballast bed shaping device, grab stone cleaning device, ballast collecting and discharging device, pillow end stone cleaning device, sprocket stone discharging device , Four-nut synchronous assembly and disassembly device, the first rail lifting device, rail transition and push-pull sleeper device, sleeper lifting device, generator, hydraulic system and control system box are set on the two longitudinal beams of the rail car, and the rail car is operated by an engineering car Traction, the generator provides power for the oil pump and control system, and the hydraulic system and control system box is equipped with a fuel tank, oil pump, hydraulic control system and automatic control system; The tamping and leveling device is composed of an upper beam, a first lifting device and a vibrating assembly, the upper beam is provided with two connecting plates, and the connecting plates are provided with several bolt holes; The first lifting device is composed of a first series parallel four-bar mechanism, a second series parallel four-bar mechanism, a first lifting drive device, a follow-up balance support device and a first laser displacement sensor; The first series parallel four-bar mechanism is composed of a lower crossbeam, a first fork, a second fork, two third fork, a first connecting rod, four first bolts and an upper crossbeam, the first connecting rod There are two pairs of coaxial threaded blind holes and left-handed threaded holes; The second series parallel four-bar mechanism is the same as the first series parallel four-bar mechanism. The second connecting rod is provided with two pairs of coaxial threaded blind holes and right-handed threaded holes. Except the aforementioned second connecting rod and the first connecting rod The structural form is different, and the structural form of all other parts is the same; The first lifting drive device is composed of a hydraulic motor with double output shafts, two elastic couplings, a left-handed screw, a first connecting rod, a right-handed screw, a second connecting rod and two single clevis supports. The helical screw is provided with a first journal and a second journal, and the structure of the left-handed screw and the right-handed screw is the same; The follow-up balance support device is composed of a plate-shaped upper beam, a third series parallel four-bar mechanism, a first strut, a second strut, a slide bar, two sliders, two tower-shaped stiffness nonlinear springs, Composed of two first hexagonal nuts, two second bolts and two third bolts, the slide rod is provided with a fixed disk, symmetrically provided with two polished rod sections and two threaded sections; the slide block is provided with round holes and A pair of coaxial threaded blind holes; The third series parallel four-bar mechanism is composed of a plate-shaped upper beam, a lower beam, a fourth swing link, a fifth swing link, a sixth swing link, a seventh swing link, two third connecting rods and two pins. Shaft composition; The first swing link is hinged to the lower crossbeam, the second swing link, the fourth swing link and the lower crossbeam are hingedly connected, and the double clevis of the first swing link and the double clevis of the third swing link are connected with the left side of the first link. The threaded blind hole is coaxial, and the two first bolts are pre-tightened, so that the first swing link, the third swing link and the first connecting rod are hinged between the three components, and the second swing link double clevis and another third swing link The double clevis is coaxial with a pair of threaded blind holes on the right side of the first connecting rod, and the two first bolts are pre-tightened to make the second swinging rod, the third swinging rod and the first connecting rod hingedly connected among the three components, and the two The third swing rods are respectively hingedly connected with the upper crossbeam to form the first series parallel four-bar mechanism, repeat the aforementioned assembly operation, and assemble the second series parallel four-bar mechanism on the vertical symmetry plane symmetrical to the lower crossbeam and the upper crossbeam; Set the single clevis support on the second journal of the right-handed screw, the double output shaft hydraulic motor is symmetrically fixed on the plate-shaped upper beam, and the elastic coupling connects the first journal of the right-handed screw and the double output shaft The output shaft at the right end of the hydraulic motor is fixedly connected, and then the single clevis support is sleeved on the second journal of the left-handed screw, and another elastic coupling connects the first journal of the left-handed screw with the left end of the double output shaft hydraulic motor. The shaft is fixedly connected, and the two elastic couplings are fixed on the plate-shaped upper beam, so that the left-handed screw is in coaxial contact with the left-handed threaded hole of the first connecting rod, and the right-handed screw is coaxial with the right-handed threaded hole of the second connecting rod. Contact, turn the output shaft of the dual output shaft hydraulic motor, so that the left-handed screw is screwed into the left-handed threaded hole of the first connecting rod, and at the same time, the right-handed screw is screwed into the right-handed threaded hole of the second connecting rod to form the first lifting drive device; Set two tower-shaped stiffness nonlinear springs symmetrically on the two polished sections of the slide bar, and then set two sliders on the two polished sections of the slide bar respectively, and pre-tighten the two hex nuts respectively, so that the two The sliders respectively make the tower-shaped rigidity nonlinear spring properly compressed, and the fifth swing link is hingedly connected with the lower beam, so that the left single clevis of the two second connecting rods is respectively connected with the double clevis of the fourth swing link and the double clevis of the sixth swing link. A pair of threaded blind holes of the earring and the slider are coaxial, and the two second bolts are respectively pre-tightened, so that the fourth swing link, the sixth swing link and the slider are hingedly connected, and the two third connecting rods are connected to each other. The single clevis on the right is coaxial with the double clevis of the fifth pendulum and the double clevis of the seventh pendulum respectively, and the two pin shafts penetrate respectively, so that the hinges between the second connecting rod, the fifth pendulum and the seventh pendulum are hinged. connected to form a third series parallel four-bar mechanism; The double clevis of the first strut, the double clevis of the second strut and a pair of threaded blind holes of the slider are coaxial, and the two third bolts are respectively pre-tightened, so that the first strut, the second strut and the slider are three The components are hingedly connected, and the sixth swing rod, the seventh swing rod and the second support rod are respectively hinged with the plate-shaped upper beam to form a dynamic balance support device; Connect the four third swing rods to the upper beam with hinges, and connect the first laser displacement sensor symmetrically to the bottom of the upper beam to form the first lifting device; The vibrating assembly is composed of an upper beam, several elastic connecting assemblies, a vibrating plate, eight vibrating rods, eight second hex nuts and a first high-frequency vibration motor, and the elastic connecting assembly consists of bolts, two screw Composed of springs, washers and hex nuts, the vibration plate is provided with several bolt holes and eight round holes; Put the bolt through the bolt hole of the connecting plate of the square upper beam, put the coil spring on the bolt, then pass through the bolt hole of the vibrating plate, then put another coil spring on the bolt, and the gasket on the bolt , the hexagonal nut is pre-tightened, the vibration plate and the upper beam are elastically connected; the vibrating rod passes through the round hole of the vibration plate, the second hexagonal nut is pre-tightened, the first high-frequency vibration motor is fixedly connected to the symmetrical position on the upper surface of the vibration plate, and the lower beam It is symmetrically fixed on the two longitudinal beams of the rail car to form a tamping and leveling device. The road shoulder and ballast bed shaping device is composed of a first upper beam assembly, a first telescopic drive device, a second lifting device and a bucket device; The first upper beam assembly is composed of a first square cylindrical fixed arm, a first square cylindrical telescopic arm, a second laser displacement sensor and a second distance measuring reference plate. The first square cylindrical fixed arm is provided with four two double earrings, the first square cylindrical telescopic arm is provided with two symmetrical grooves, and the grooves are provided with bolt holes; The first telescopic driving device is composed of a first square cylindrical fixed arm, a hydraulic motor, an elastic coupling, a single clevis support, a screw rod, a square nut, a square slider, a hex nut, two bolts and a first square Composed of cylindrical telescopic arms, the screw rod is provided with the first journal, the second journal and the third journal, and the square nut is provided with two coaxial threaded blind holes; Set the single clevis support on the second journal of the screw rod, the elastic coupling connects the first journal of the screw rod with the output shaft of the hydraulic motor, screw the square nut on the appropriate position of the screw rod, and set the square slider on the On the third journal of the screw rod, the hexagonal nut is pre-tightened, and the first square cylindrical telescopic arm is sleeved on it from the left end of the screw rod, so that the two threaded blind holes of the square nut are coaxial with the two bolt holes of the first square cylindrical telescopic arm , two bolts are pre-tightened, the first square cylindrical fixed arm is sleeved on it from the right end of the hydraulic motor, and the hydraulic motor is fixedly connected to the upper surface of the inner hole of the first square cylindrical fixed arm to form the first telescopic drive device. The square slider and the first square cylindrical telescopic arm form a moving pair, the second laser displacement sensor is fixedly connected to the first square cylindrical fixed arm, and the second ranging reference plate is fixedly connected to the first square cylindrical telescopic arm ; The composition of the second lifting device is the same as that of the first lifting device, except that the structure of the first square cylindrical fixed arm and the upper beam are different, and the structures of all other parts are the same; Carry out the same assembly operation as the first lifting drive device, connect the four third swing rods to the first square cylindrical fixed arm hinge, and connect the first laser displacement sensor symmetrically to the bottom of the first square cylindrical fixed arm; composition the second lifting device; The bucket device is composed of a first bucket assembly, a boom and a U-shaped boom, and the boom is provided with a single clevis, a first double clevis, a second double clevis and a flange; The first bucket assembly is composed of a hydraulic cylinder, a strut, a connecting rod and a bucket body. The free end of the piston rod of the hydraulic cylinder is provided with a single clevis, and the cylinder body is provided with a single clevis; the strut is provided with double clevis and Single clevis; the connecting rod is provided with a single clevis and double clevis, and the bucket body is provided with a first double clevis and a second double clevis; Connect the single clevis of the hydraulic cylinder body with the second double clevis of the boom coaxially through the pin shaft hinge, connect the single clevis of the support rod with the first double clevis of the boom coaxially through the pin shaft hinge, and connect the second double clevis of the bucket body with the The single clevis of the boom is hingedly connected with the coaxial penetration pin, the single clevis of the connecting rod is connected with the first double clevis of the bucket body with the coaxial penetration pin, and the double clevis of the connecting rod, the double clevis of the support rod and the single clevis of the hydraulic cylinder piston rod are the same. The shaft penetrates the pin shaft and is hinged to form the first bucket assembly. The U-shaped boom is connected to the boom flange to form a bucket device. The U-shaped boom is fixed to the first square cylindrical telescopic arm. , to form the road shoulder and ballast bed shaping device; The grab stone clearing device is composed of an upper beam, two third lifting devices and eight first grab devices, and the upper beam is provided with two longitudinal beams and two cantilever longitudinal beams; The composition of the third lifting device is the same as that of the first lifting device, except that the structure of the upper beam of the third lifting device is different from that of the first lifting device, and the structure of all other parts is the same; Carry out the same assembly operation as that of the first lifting drive device, connect the four third swing rods to the upper beam with hinges respectively, and fix the first laser displacement sensor under the upper beam to form the third lifting device; The first grab device is composed of two second bucket assemblies and a boom, and the boom is symmetrically provided with two single clevis, two first double clevis, two second double clevis and a flange; The composition and structural form of the second bucket assembly is the same as that of the first bucket assembly; The single clevis of the two hydraulic cylinders is hingedly connected with the two second double clevises of the boom respectively coaxially penetrated into the pin shaft, and the two single clevises of the support rod are respectively coaxially penetrated into the pin shaft with the two first double clevises of the boom Hinge connection, the second double clevis of the two buckets is hingedly connected with the two single clevises of the boom respectively coaxially penetrated into the pin shaft, and the two single clevises of the two connecting rods are coaxially penetrated into the pin shaft with the first double clevis of the two bucket bodies respectively Hinge connection, double clevis of connecting rod, double clevis of support rod and single ring of piston rod of hydraulic cylinder are coaxially penetrated into pin shaft hinge connection to form the first grab device, and the eight boom flanges are symmetrically fixed to the upper beam respectively On two longitudinal beams and two cantilever longitudinal beams, a grab stone clearing device is formed; The ballast collection and discharge device is composed of a CMOS image sensor, a box body, two stone discharge gates, two stone discharge gates, two stone discharge gate drive devices, two stone discharge gate drive devices, a beam, and several second elastic connecting components , The second high-frequency vibration motor and two end covers, the beam is provided with several bolt holes, and the end cover is provided with sand discharge nozzles; The box body is provided with a base plate, an arrow-shaped box bottom, two first stone-collecting bins, a second stone-collecting bin, two square cylindrical holes, two gradually changing isosceles trapezoidal chutes, four first convex grooves and Two second convex grooves, several bolt holes on the bottom plate, several screen holes on the bottom of the arrow-shaped box, two symmetrical stone discharge ports and two stone collection ports in the first stone collection bin, and two stone collection ports in the second stone collection bin. There are two symmetrical stone row openings and two stone collection openings. There are two symmetrical double earrings on the upper and lower sides of the first convex groove, and two symmetrical double earrings on the upper and lower sides of the second convex groove. Single earrings and four second single earrings, Jishimen has two first single earrings, four second single earrings and six anti-spill plates; The stone row gate driving device is composed of a stone row gate drive hydraulic cylinder, a first push-pull rod and a second push-pull rod, the first push-pull rod is provided with a first double clevis and a second double clevis, and the second push-pull rod is provided with a first double earrings and second double earrings; The Jishimen driving device is composed of Jishimen driving hydraulic cylinder, a third push-pull rod and a fourth push-pull rod, the third push-pull rod is provided with a first double clevis and a second double clevis, and the fourth push-pull rod is provided with a first double earrings and second double earrings; The composition and structural form of the second elastic connecting component and the first elastic connecting piece are the same; Paishimen driving hydraulic cylinder piston rod single clevis, first push-pull rod, first double clevis, second push-pull rod, first double clevis are coaxially penetrated into the pin shaft hinge to form a Paishimen driving device, and Shimen driving hydraulic cylinder piston rod is single The clevis, the first double clevis of the third push-pull rod, and the first double clevis of the fourth push-pull rod are coaxially penetrated into the pin shaft and hinged to form the Jishimen driving device; The four second single clevises of Paishimen are respectively connected with the double clevises on the lower surface of the two first corrugations and the two double clevises below the second convex corrugations through coaxial pin hinges, and the four second single clevises of Jishimen The earrings are respectively connected with the double clevises on the upper surface of the two first ribs and the two double clevises on the upper surface of the second ribs through coaxial pin shaft hinge connection; The two stone gate drive hydraulic cylinders are fixedly connected to the inner side walls of the two square cylindrical holes, and the two first push-pull rods and the second double clevis are respectively connected with the two first single clevis coaxially inserted into the pin shaft hinge of the stone gate. , the two second push-pull rods and the second double clevis are hingedly connected with the two first single clevis of the other row of stone gates with coaxial insertion pins, and the two stone gate drive hydraulic cylinders are fixedly connected to the two square cylindrical holes. On the outer wall, the second double clevis of the two third push-pull rods are hingedly connected with the two first single clevises of Jishimen respectively with coaxial insertion pins, and the second double clevis of the two fourth push-pull rods are respectively connected with the second double clevis of another row of stone gates. The first single clevis is hingedly connected with the coaxial insertion pin, and the two end covers are fixedly connected to the box respectively; Put the bolt through the bolt hole of the lower beam, put the coil spring on the bolt, then pass through the bolt hole on the bottom plate of the box body, and then put another coil spring on the bolt, the gasket on the bolt, and the hex nut tight, the box and the beam are elastically connected; the second high-frequency vibration motor is symmetrically fixed to the bottom of the box, the beam is symmetrically fixed to the two longitudinal beams of the rail car, and the CMOS image sensor is fixed to the bottom of the beam to form a ballast Collecting device; The pillow end stone cleaning device is composed of a second upper beam assembly, a second telescopic drive device, a fourth lifting device, a second grab device and a U-shaped bar; The second upper beam assembly has the same composition and structural form as the first upper beam assembly, and performs the same assembly operation as the first upper beam assembly to form the second upper beam assembly; The second telescopic drive device has the same composition and structural form as the first telescopic drive device, and performs the same assembly operation as the first telescopic drive device to form the second telescopic drive device; The fourth lifting device has the same composition and structural form as the first lifting device, and performs the same assembly operation as the first lifting device to form the fourth lifting device; The second grab device has the same composition and structural form as the first grab device, and is assembled in the same way as the first grab device to form the second grab device; Connect the flange of the boom to the U-shaped rod, and then connect the U-shaped rod to the first square cylindrical telescopic arm to form a stone cleaning device at the pillow end; The sprocket stone removal device is composed of the third upper beam assembly, the third telescopic drive device, the fifth lifting device and the sprocket stone removal assembly; The third upper beam assembly is composed of a second square cylindrical fixed arm, two second square cylindrical fixed arms, a third laser displacement sensor and a third distance measuring reference plate, the second square cylindrical fixed arm is set There are four double earrings, and the second square cylindrical fixed arm is provided with two symmetrical grooves, and the grooves are provided with bolt holes; The third telescopic driving device is composed of a second square cylindrical fixed arm, a double output shaft hydraulic motor, two elastic couplings, two single clevis supports, a left-handed screw, a left-handed square nut, a right-handed screw, and a right-handed screw. Rotating square nuts, two square sliders, two hex nuts, four bolts and two second square cylindrical fixed arms, the right-handed screw is provided with a first journal, a second journal and a third journal, The left-handed screw and the right-handed screw have the same structure, the right-handed square nut is provided with two symmetrical coaxial blind threaded holes, the left-handed square nut and the right-handed square nut have the same structure, and the square slider is provided with a shaft hole; The single clevis support is sleeved on the second journal of the right-handed screw, and the elastic coupling connects the first journal of the right-handed screw with the output shaft at the right end of the double output shaft hydraulic motor, and the right-handed square nut is screwed on the right When the screw is in the proper position, the square slider is sleeved on the third journal of the right-handed screw, the hex nut is pre-tightened, and the second square-shaped telescopic arm is sleeved on it from the right end of the right-handed screw, so that the second square-shaped telescopic The bolt hole in the arm groove is coaxial with the threaded blind hole of the right-handed square nut. The two bolts are respectively screwed into the threaded blind hole of the right-handed square nut for pre-tightening. Square nuts, square sliders, hex nuts, elastic couplings, dual output shaft hydraulic motors and the second square cylindrical telescopic arm are integrated, and the second square cylindrical fixed arm is sleeved on the two second square cylindrical telescopic arms. On the arm, the double output shaft hydraulic motor is symmetrically fixed on the upper surface of the inner hole of the second square cylindrical fixed arm, and the two single clevis supports are respectively fixed on the upper surface of the inner hole of the second square cylindrical fixed arm, and the second laser The displacement sensor is symmetrically fixed on the second square cylindrical fixed arm, the second ranging reference plate is fixed on the second square cylindrical telescopic arm, and the square slider of the third telescopic drive device is formed with the second square cylindrical telescopic arm. Mobile vice; The composition of the fifth lifting device is the same as that of the first lifting device, except that the structure of the second square cylindrical fixed arm and the upper beam is different, and the structure of all other parts is the same; Carry out the same assembly operation as that of the first lifting device, connect the four third swing rods to the second square cylindrical fixed arm with hinges, and fix the first laser displacement sensor under the second square cylindrical fixed arm to form the fifth Lifting device; The chain tooth stone removal assembly is composed of a double output shaft hydraulic motor, two elastic couplings, two chain tooth stone removal parts, a U-shaped bar, eight C-shaped bars and a hanger. The U-shaped bar is equipped with Two circular flanges and square flanges, the C-shaped bar is provided with a first flange and a second flange, and the hanger is provided with two first flanges and eight second flanges; The sprocket stone removal part is composed of a square beam, a sprocket, a sprocket shaft, an induction wheel, an induction wheel shaft, four load-bearing wheels, four load-bearing wheel axles, several sprocket assemblies and several pin shafts, A first pair of earrings, a second pair of earrings and four third pair of earrings are arranged on the square beam; The first double clevis of the square beam is coaxial with the sprocket, penetrates into the sprocket wheel shaft and is hinged, the second double clevis of the square beam is coaxial with the induction wheel, penetrates into the induction wheel shaft and is hinged, the third double clevis of the square beam is connected with the load-bearing wheel Coaxial, penetrating into the load-bearing wheel axle hinge connection, so that the square beam, sprocket, induction wheel and four load-bearing wheels are assembled into one; The sprocket assembly is composed of a sleeve and a chain link; The chain link is composed of two bolts, two nuts, a chain plate, a first chain plate and a second chain plate. The chain tooth plate is provided with two bolt holes and several chain teeth of equal strength. The first chain The plate is provided with the first single clevis, the second single clevis and the third single clevis, and the second chain plate is provided with the first single clevis, the second single clevis and the third single clevis; Make the bolt hole of the sprocket plate coaxial with the second single clevis of the first chain plate, pass through the bolts, and pre-tighten the nuts, the other bolt hole of the sprocket plate is coaxial with the second single clevis of the second chain plate, pass through the bolts, nuts Pretighten, form the chain link, the first chain plate of the first chain link, the first single clevis, the second chain link, the first chain plate, the third single clevis, the sleeve, the second chain link, the second chain plate, the third single clevis Connect with the first chain link, the second chain plate, and the first single clevis coaxially through the pin shaft hinge, repeat the above operation until several chain links are hinged together, and assemble the integrated square beam, sprocket, induction wheel and four Put the load-bearing wheel on it, put the first chain plate of the last chain link, the first single clevis, the first chain link, the first chain plate, the third single clevis, the sleeve, the first chain link, the second chain plate, the third single clevis and The last chain link, the second chain plate, and the first single clevis are coaxially penetrated into the pin shaft for hinge connection, so that all the chain tooth components are hinged and connected with a ring-shaped integrated structure to form a chain tooth row stone component. The double output shaft hydraulic motor double output shaft, two elastic couplings and two sprocket wheel shafts are fixedly connected, the U-shaped rod square flange is fixed on the third double output shaft hydraulic motor, and the eight C-shaped rods The two flanges are respectively symmetrically fixed on the two square beams, the eight second flanges of the hanger are respectively fixedly connected with the first flanges of the eight C-shaped rods, and the two circular flanges of the U-shaped rod and the The two first flanges of the hanger are respectively fixedly connected to the second square cylindrical telescopic arm to form a sprocket stone removal device; The described sleeper four-nut synchronous assembly and disassembly device is composed of an upper beam, a sixth lifting device and two nut assembly and disassembly devices; The sixth lifting device has the same composition as the first lifting device. The lower beam in the sixth lifting device is provided with five double clevis and two symmetrical long slot holes, and the first swing rod is provided with a stepped hole. The upper beam of the sixth lifting device is different from the upper beam of the first lifting device, the lower beam of the sixth lifting device is different from the lower beam of the first lifting device, the first swing rod of the sixth lifting device and the first lifting The structure of the first pendulum of the device is different, and the structure of all other parts is the same; Carry out the same assembly operation as the first lifting device, connect the four third swing rods to the upper beam with hinges, and fix the first laser displacement sensor under the upper beam to form the sixth lifting device; The nut assembly and disassembly device is composed of two suspension rods, a first helical swing hydraulic motor, an upper cover, a circular connecting plate, a first hex nut, an internal gear, two transmission shafts, two gears, a housing, Composed of two first thrust bearings, two second thrust bearings, two second hex nuts, two elastic couplings and two inner wide-mouth magnetic plum blossom sleeves, the first helical swing hydraulic motor is provided with a flange The disc and its output shaft are provided with a circular shaft section and a hexagonal prism shaft section, the upper cover is provided with a shaft hole, the circular connecting plate is provided with a hexagonal shaft hole, and the transmission shaft is provided with a first journal, a second journal, and a third shaft. neck, the fourth journal and threaded section, the housing is provided with a flange and two shaft holes, and the inner wide-mouth magnetic plum blossom sleeve is provided with a journal; Set the upper cover on the circular shaft section of the output shaft of the first helical oscillating hydraulic motor, so that the upper cover is fixedly connected with the flange of the first helical oscillating hydraulic motor, and then set the circular connecting plate on the output shaft of the first helical oscillating hydraulic motor. The hexagonal prism shaft section of the shaft, the first hexagonal nut is pre-tightened, the internal gear and the circular connecting plate are coaxially fixed, the gear is sleeved on the first journal of the transmission shaft and fixed, and the first thrust bearing is sleeved on the second shaft of the transmission shaft. On the journal, the transmission shaft passes through the shaft hole of the housing to make the first thrust bearing contact with the housing, the second thrust bearing is sleeved on the third journal of the transmission shaft, and the second hex nut is screwed on the threaded section of the transmission shaft for pre-tightening , the elastic coupling makes the fourth journal of the transmission shaft coaxially fixed with the journal of the inner wide-mouth magnetic plum blossom sleeve, the inner gear is placed in the housing, and the tooth surfaces of the two gears are respectively connected to the teeth of the inner gear. Surface contact, the upper cover is fixedly connected to the flange of the shell, one end of the two suspenders is symmetrically fixed on both sides of the shell to form a nut assembly and disassembly device, and the other end of the two suspenders is symmetrically fixed to the two upper beams On the side, the lower beam is fixedly connected to the inner side of the two longitudinal beams of the rail car, forming a synchronous assembly and disassembly device for the four nuts of the sleeper; The first rail lifting device is composed of an upper beam, a seventh lifting device and a rail lifting assembly, and the upper beam is provided with four double earrings; The composition of the seventh lifting device is the same as that of the first lifting device, except that the structure of the upper beam of the seventh lifting device is different from that of the first lifting device, and the structure of all other parts is the same; Carry out the same assembly operation as the first lifting device, connect the four third swing rods to the upper beam with hinges, and fix the first laser displacement sensor under the upper beam to form the seventh lifting device; The rail lifting assembly is composed of two suspenders, a third cylindrical fixed arm, a double output shaft hydraulic motor, two elastic couplings, two single clevis supports, a left-handed screw, a first box-shaped telescopic arm, It consists of a right-hand screw, a second box-shaped telescopic arm and two rail lifting cylinders. The suspender is provided with a first flange and a second flange. The third cylindrical fixed arm is provided with two symmetrical semi-cylindrical holes. The left-handed screw has the first journal and the second journal, the right-handed screw and the left-handed screw have the same structure, the first box-shaped telescopic arm has a half-cylindrical hole and a left-handed transmission threaded hole, and the second box-shaped telescopic arm has a semi-cylindrical hole. Cylindrical hole and right-handed transmission threaded hole, a booster plate is provided on the cylinder body of the lifting rail cylinder, and a support plate is provided at the free end of the piston rod; Set the single clevis support on the second journal of the left-handed screw, screw the left-handed screw into the appropriate position of the left-handed transmission threaded hole of the first box-shaped telescopic arm, and the elastic coupling makes the left output shaft of the double output shaft hydraulic motor and the left-handed screw The first journal is coaxially fixed, repeat the above assembly operations, assemble the single clevis support, right-handed screw, the second box-shaped telescopic arm, elastic coupling and double output shaft hydraulic motor, and fix the third cylindrical The arm is sleeved on the first box-shaped telescopic arm and the second box-shaped telescopic arm, so that the double output shaft hydraulic motor is symmetrically fixed on the upper surface of the inner hole of the third cylindrical fixed arm, and the two single clevis supports are fixed on the second On the upper surface of the inner hole of the three-square cylindrical fixed arm, two rail-lifting cylinders are fixedly connected to the semi-cylindrical hole of the first box-shaped telescopic arm and the semi-cylindrical hole of the second box-shaped telescopic arm, so that the two rail-lifting cylinders are arranged symmetrically. The second flanges of the two suspenders are symmetrically fixed on the third cylindrical fixed arm to form a rail lifting assembly, and the first flanges of the two suspenders are symmetrically fixed to the side of the upper beam to form the first rail lifting device. The described rotating sleeper and push-pull sleeper device is composed of a first beam telescopic assembly, a first beam telescopic driving device, a first swing device, four first swing rods, a grasping and rotating sleeper device, and four first hexagonal nuts. and four bolts, the first swing rod is provided with a hexagonal prism hole single clevis and a single clevis; The first beam telescopic assembly is composed of a fourth square cylindrical fixed arm, a fourth square cylindrical telescopic arm, a fourth laser displacement sensor and a fourth distance measuring reference plate, and the fourth square cylindrical telescopic arm is provided with a closed end and two symmetrical grooves with bolt holes; The composition of the fourth telescopic driving device is the same as that of the first telescopic driving device, except that the structure of the fourth square cylindrical fixed arm is different from that of the first square cylindrical fixed arm, and the structural forms of all other parts are the same; Carry out the same assembly operation as the first telescopic driving device to form the fourth telescopic driving device, the fourth laser displacement sensor is symmetrically fixed on the fourth square cylindrical fixed arm, and the fourth ranging reference plate is fixed on the fourth square cylinder telescopic arm; The first oscillating device is composed of a first box body, a second helical oscillating hydraulic motor, an incomplete gear, two sector gears, two stepped shafts and an embedded cover plate. The first box body is provided with two shafts hole, the first limiting boss and the second limiting boss, the stepped shaft is provided with a first journal, a second journal, a third journal, a first hexagonal prism shaft section and a second hexagonal prism shaft section, embedded The type cover is provided with two shaft holes, a first limiting boss and a second limiting boss; The two sector gears are sleeved and fixedly connected to the first shaft diameters of the two stepped shafts respectively, and the two stepped shafts pass through the two shaft holes of the first box body respectively, so that the second journal of the stepped shaft and the first box body The shaft hole forms a rotating pair, and the incomplete gear is sleeved and fixedly connected to the output shaft of the second helical swing hydraulic motor, and placed in the first box, so that the teeth of the incomplete gear are respectively aligned with the teeth of the two sector gears. The tooth width contacts, the second helical swing hydraulic motor is fixedly connected to the bottom plate of the first box body, and the two shaft holes of the embedded cover plate are respectively sleeved on the third journal of the two stepped shafts, so that the embedded cover plate and the first A box is fixedly connected to form the first swing device; The grab and turn pillow device is composed of a second box, a third helical swing hydraulic motor, a hydraulic cylinder, a first thrust bearing, a second thrust bearing, a second hex nut, a piston, a piston rod, a stepped U-shaped The bracket, the first connecting rod, the second connecting rod, two second swing rods, two rollers, end caps and two mechanical claw devices, the second box is provided with four symmetrical threaded holes, the first round hole section, fan-shaped hole section, second circular hole section, bushing section and third circular hole section, the output shaft of the third helical swing motor is fixedly connected to the flange, the flange is provided with a limiting fan-shaped boss, and the fan-shaped hole section is provided with The first limiting surface and the second limiting surface, the hydraulic cylinder is provided with a flange, the first journal, the second journal and the third journal, the flange is provided with a limiting fan-shaped boss, and the piston is provided with a shaft hole , the piston rod is provided with a journal and double clevis, the stepped U-shaped bracket is provided with a flange, a shaft hole, two slot holes, two pin holes, four first single clevis and eight second single clevis, the first connecting The rod is provided with a double clevis and a single clevis, the second connecting rod is provided with two double clevises, and the second swing rod is provided with a single clevis, a pin hole and a double clevis; The mechanical claw is composed of a stepped U-shaped bracket, four third swing rods, two cylindrical springs and a pressure plate, the third and first swing rods are provided with two double earrings, and the pressure plate is provided with two first single ear rings and four second single earrings; Align and securely connect the third helical swing hydraulic motor output shaft flange limit fan-shaped boss with the hydraulic cylinder flange limit fan-shaped boss, the first thrust bearing is sleeved on the first journal of the hydraulic cylinder, and the hydraulic pressure The oil cylinder penetrates into the stepped hole of the second box, so that the output shaft flange of the third helical oscillating hydraulic motor and the flange of the hydraulic cylinder are placed in the first circular hole section of the second box, so that the output shaft of the third helical oscillating hydraulic motor The flange limit fan-shaped boss and the flange limit fan-shaped boss of the hydraulic cylinder are placed in the fan-shaped hole section, so that the left side of the two limit fan-shaped bosses is in contact with the first limit surface of the fan-shaped hole section. The thrust bearing is placed in the second circular hole section of the second box, so that the third helical swing hydraulic motor is fixedly connected to the bottom plate of the second box, and the end cover is fixedly connected with the second box; Sleeve the second thrust bearing on the third journal of the hydraulic cylinder so that it is inserted into the third round hole section of the second box body, the piston rod passes through the shaft hole of the stepped U-shaped bracket, and the piston shaft hole is sleeved on the piston rod shaft Neck, pre-tighten the second hex nut, put the piston into the cylinder barrel of the hydraulic cylinder, penetrate the flange of the stepped U-shaped bracket into the cylinder barrel of the hydraulic cylinder, and make the second journal of the oil cylinder and the second box sleeve section Hinge connection, the double clevis of the piston rod, the double clevis of the second connecting rod and the single clevis of the first connecting rod are coaxially penetrated into the pin shaft and hingedly connected, and the double clevis of the second swing rod is hingedly connected with the coaxial pin penetration of the roller, and the second The pin hole of the swing rod is connected with the pin hole of the stepped U-shaped bracket coaxially through the pin shaft hinge, and the double clevis of the first connecting rod and the double clevis of the second connecting rod are respectively coaxially penetrated into the pin shaft hinge with the single clevis of the second swing rod connect; Connect the double clevises of the four third swing rods with the four second single clevises of the stepped U-shaped bracket coaxially through the pin shaft hinges, and the other double clevises of the four third swing rods are connected with the four second single clevises of the pressure plate respectively. The earrings are coaxially penetrated into the pin shaft hinge connection, one end of the two cylindrical springs is respectively fixedly connected with the two first single earrings of the stepped U-shaped bracket, and the other ends of the two cylindrical springs are respectively fixedly connected with the two first single earrings of the pressure plate, To form a mechanical claw, the tension of the two cylindrical springs makes the roller hinged to the second swing rod always in contact with the pressure plate, repeat the aforementioned assembly operation, assemble another mechanical claw, and form a grasping and turning pillow device; Set the two single earrings of the hexagonal prism hole of the first swing rod respectively on the first hexagonal prism shaft section of the two stepped shafts, pre-tighten the two first hexagonal nuts respectively, and then insert the other two hexagonal prism holes of the first swing rod The single clevis is respectively sleeved on the second hexagonal prism shaft section of the two stepped shafts, and the other two first hexagonal nuts are respectively pre-tightened, so that one end of the four first swing rods is respectively fixedly connected with the two ends of the two stepped shafts, The four first swing rod single clevis are respectively coaxial with the four threaded holes of the second box body, and the four bolts are respectively pre-tightened, so that the four first swing rods are hingedly connected with the second box body respectively, forming a parallel parallel four-bar mechanism ; The first box is fixedly connected to the closed end of the fourth square cylindrical telescopic arm to form a rotating sleeper and a push-pull sleeper device; The sleeper lifting device is composed of a second rail lifting device, a reciprocating storage sleeper device and a rigid hanger lifting device; The second rail lifting device is composed of the second beam telescopic assembly, the second beam telescopic drive device, two second swing devices, eight swing rods, eight hex nuts, two box-type connecting rods, eight bolts It is composed of two telescopic sleeve-type rail lifting cylinders. The swing rod is equipped with a hexagonal prism hole with a single clevis and a single clevis. The box-shaped connecting rod is symmetrically equipped with four bolt holes and a semi-cylindrical hole. There is an afterburner plate and a support plate at the free end of the piston rod; The second beam telescopic assembly is composed of a fifth square cylindrical fixed arm, two fifth square cylindrical telescopic arms, a fifth laser displacement sensor and a fifth distance measuring reference plate. The fifth square cylindrical telescopic arm is designed It has a closed end, two symmetrical grooves, and the grooves are provided with bolt holes; The composition of the second beam telescopic driving device is the same as that of the third telescopic driving device, except that the structure of the fifth square cylindrical fixed arm and the second square cylindrical fixed arm are different, and the structural forms of all other parts are the same; Carry out the same assembly operation as the third telescopic drive device to form the second beam telescopic drive device, the fifth laser displacement sensor is fixed symmetrically to the side of the fifth square cylindrical fixed arm, and the fifth ranging reference plate is fixed to the fifth square The side of the cylindrical telescopic arm; The second oscillating device has the same composition and structure as the first oscillating device, and performs the same assembly operation as the first oscillating device to form the second oscillating device; Set the two hexagonal prism hole single clevises of the pendulum rods on the first hexagonal prism shaft section of the two stepped shafts respectively, pre-tighten the two hexagonal nuts respectively, and then set the other two hexagonal prism hole single clevises on the two swing rods respectively. The second hexagonal prism shaft section of the first stepped shaft, and the other two hexagonal nuts are respectively pre-tightened, so that one end of the four swing rods is respectively connected to the two ends of the two stepped shafts, and the single clevis of the four swing rods is connected to the box-shaped connecting rod four The four threaded holes are coaxial, and the four bolts are respectively pre-tightened, so that the four swing rods are respectively hinged with the box-shaped connecting rods to form a parallel parallel four-bar mechanism; Fix the two boxes to the closed ends of the two fifth square telescopic arms respectively, make the two second swinging devices symmetrical, and fix the two telescopic sleeve-type rail lifting cylinders to the two boxes respectively. In the semi-cylindrical hole of the connecting rod, the second rail lifting device is formed, and the fifth square cylindrical fixed arm is symmetrically fixed on the two longitudinal beams of the rail car; The reciprocating sleeper storage device is composed of a reciprocating device and a storage sleeper box. The storage sleeper box is provided with two rollers and several sleeper bins, wherein the left half of the sleeper bins is used to store the sleepers, and the right half of the sleeper bins Used to store bad sleepers. The reciprocating device is composed of a base plate, a first series parallel four-bar mechanism, a second series parallel four-bar mechanism, a reciprocating drive device and a sixth laser displacement sensor; The first series parallel four-bar mechanism is composed of a fixed crossbeam, two first swing rods, a first connecting rod, two second swing rods, a moving crossbeam and four bolts, and the first connecting rod is provided with a left-hand thread holes and two pairs of coaxial threaded blind holes, and the moving beam is equipped with two rollers; The second series parallel four-bar mechanism has the same composition as the first series parallel four-bar mechanism, and the second connecting rod is provided with a right-hand threaded hole and two pairs of coaxial threaded blind holes, except that the aforementioned second connecting rod and the first The structural form of the connecting rod is different, and the structural form of all other parts is the same; The reciprocating drive device is composed of double output shaft hydraulic motor, two elastic couplings, two single clevis supports, single clevis support, left-handed screw, first connecting rod, right-handed screw, second connecting rod Composed with a trailer, the right-handed screw is provided with a first journal and a second journal, the structure of the left-handed screw and the right-handed screw is the same, and the trailer is equipped with four rollers; Connect the two first swing rods to the fixed beam respectively with hinges, the double clevis of the first swing rod and the double clevis of the second swing rod are coaxial with a pair of coaxial threaded blind holes on the left side of the first connecting rod, and the two bolts are respectively pre-tightened. Another double clevis of the first swing rod and another double clevis of the second swing rod are coaxial with a pair of coaxial threaded blind holes on the right side of the first connecting rod, and the two bolts are respectively pre-tightened so that the first swing rod and the second swing rod It is hingedly connected with the three components of the first connecting rod, and the two second swing rods are respectively hingedly connected with the moving beam to form the first serial parallel four-bar mechanism. Repeat the above assembly operation, and it is vertically symmetrical to the fixed beam and the moving beam. Surface assembly of the second series parallel four-bar mechanism; Set the single clevis support on the second journal of the right-handed screw, the hydraulic motor with double output shafts is symmetrically fixed on the trailer, and the elastic coupling connects the first journal of the right-handed screw and the double output shaft hydraulically. The output shaft at the right end of the motor is fixedly connected, and then the single clevis support is sleeved on the second journal of the left-handed screw, and another elastic coupling connects the first journal of the left-handed screw with the left-end output shaft of the double output shaft hydraulic motor. Fixed connection, the two elastic couplings are fixed on the trailer, so that the left-handed screw rod is in coaxial contact with the left-handed threaded hole of the first connecting rod, and the right-handed screw rod is coaxially contacted with the right-handed threaded hole of the second connecting rod. The output shaft of the hydraulic motor with double output shafts makes the left-handed screw screw into the left-handed threaded hole of the first connecting rod, and at the same time, the right-handed screw is screwed into the right-handed threaded hole of the second connecting rod to form the second driving device; The bottom plate is fixed to the lower surface of the fixed beam, so that the two rollers of the moving beam and the four rollers of the trailer are respectively in contact with the upper surface of the bottom plate, and the sixth laser displacement sensor is symmetrically fixed on the side of the fixed beam to form a reciprocating motion device; The bottom plate is fixedly connected to the rail car beam and the fifth square cylindrical fixed arm, and the storage sleeper box is fixed to the moving beam, so that the two rollers of the storage sleeper box are in contact with the upper surface of the bottom plate to form a reciprocating storage sleeper device; The rigid hanger lifting device is composed of two telescopic cantilever beam devices, a telescopic beam device, a rigid hanger, two grasping and releasing sleeper devices and a seventh laser displacement sensor; The telescopic cantilever beam device is composed of a first stepped square cylindrical fixed arm, a first stepped square cylindrical telescopic arm, a square cylindrical telescopic arm, a first multi-stage telescopic sleeve oil cylinder, a cantilever beam, an end plate, a cantilever and The eighth laser displacement sensor is composed of the first stepped square cylindrical fixed arm with a flange and a cylindrical shoulder, the first stepped square cylindrical telescopic arm with a flange and a cylindrical shoulder, and the square cylindrical telescopic arm with a flange disc and closed end, the first multi-stage telescopic sleeve oil cylinder is provided with a first flange, a first telescopic sleeve, a second telescopic sleeve and a second flange, and the cantilever beam is provided with a flange; The end plate is symmetrically fixed to the first flange of the first multi-stage telescopic sleeve oil cylinder, and the square cylindrical telescopic arm is sleeved on the first multi-stage telescopic sleeve oil cylinder, so that the second method of the first multi-stage telescopic sleeve oil cylinder The blue plate is symmetrically fixed to the closed end of the square cylindrical telescopic arm, the first stepped square cylindrical telescopic arm is sleeved on the square cylindrical telescopic arm, and the first stepped square cylindrical fixed arm is sleeved on the first stepped square cylindrical telescopic arm. On the arm, the flange of the fixed arm of the first stepped square tube is fixed to the end plate, the flange of the cantilever beam is fixed to the closed end of the square cylindrical telescopic arm, the cantilever is fixed to the flange of the cantilever beam, and the eighth laser displacement sensor is fixed Connected to the cantilever to form a telescopic cantilever beam device; The telescopic beam device is composed of a second stepped square cylindrical fixed arm, a second stepped square cylindrical telescopic arm, a third stepped square cylindrical telescopic arm, a second multi-stage telescopic sleeve type oil cylinder, an end cover and a push plate , the second stepped square cylindrical fixed arm is provided with a flange, a cylindrical shoulder and a long slot, the second stepped square cylindrical telescopic arm is provided with a first cylindrical shoulder, a second cylindrical shoulder and a long slot, and the third stepped square The cylindrical telescopic arm is provided with a cylindrical shoulder and two single earrings, and the second multi-stage telescopic sleeve oil cylinder is provided with a first flange, a first-stage telescopic sleeve, a second-stage telescopic sleeve and a second flange; The end cover is symmetrically fixed to the first flange of the second multi-stage telescopic sleeve oil cylinder, and the third stepped square cylindrical telescopic arm is sleeved on the second multi-stage telescopic sleeve oil cylinder, so that the second multi-stage telescopic sleeve type The second flange of the oil cylinder is fixedly connected to the closed end of the third stepped square cylindrical telescopic arm, the second stepped square cylindrical telescopic arm is sleeved on the third stepped square cylindrical telescopic arm, and then the second stepped square cylindrical telescopic arm is fixed The arm is sleeved on the second stepped square cylindrical telescopic arm, so that the end cover is fixedly connected with the stepped square cylindrical fixed arm flange, and the push plate is fixedly connected with the closed end of the third stepped square cylindrical telescopic arm, and the seventh laser The displacement sensor is symmetrically fixed on the side of the second stepped square cylindrical fixed arm to form a telescopic beam device; The rigid hanger is composed of an upper beam, two tie rods and a lower beam, the upper beam is provided with two double earrings, and the lower beam is provided with two round holes; One end of the two tie rods is symmetrically fixed under the upper beam, and the other end of the two tie rods is symmetrically fixed on the lower beam to form a rigid hanger; The catch and release sleeper device is composed of a fourth helical swing hydraulic motor, an elastic coupling and an inner wide-mouth nut. The fourth helical swing hydraulic motor is provided with a flange and an output shaft, and the inner wide-mouth nut is provided with a journal. ; Insert the fourth helical oscillating hydraulic motor into the round hole of the lower beam, the flange of the fourth helical oscillating motor is fixed on the lower beam, and the third elastic coupling makes the output shaft of the fourth helical oscillating motor and the inner wide-mouth nut shaft The neck is fixed to form a catch and release sleeper device; The two telescopic cantilever beam devices are symmetrically fixed on the two longitudinal beams of the rail car, and the second stepped square cylindrical fixed arm of the telescopic beam device is fixed under the cantilever of the two cantilever beams. The two single clevises of the three-step square cylindrical telescopic arm are connected with coaxial bolts to form a sleeper lifting device.