The hook-lifting manipulator of a railway hump operation robot

Abstract

The hook-lifting manipulator of a hump operation robot disclosed by the present invention comprises a flipping mechanism, an inclined insertion mechanism, a hook-lifting mechanism and a Z-axis module. The flipping mechanism is arranged on the Z-axis module. The flipping mechanism is connected with an inclined insertion extension rod, the inclined insertion extension rod is connected with the inclined insertion mechanism, and the inclined insertion mechanism is connected with the hook-lifting mechanism. The inclined insertion mechanism includes an inclined insertion rotation center, a displacement sensor, an inclined insertion cylinder, a displacement sensor fixing plate, a hook-unhooking inclined insertion rod, a slide block embedded in the hook-unhooking inclined insertion rod, a hook rod contact plate, a displacement sensor guiding slide block, an inclined insertion contact support rod and a front-end connecting plate. The present invention belongs to the technical field of railway freight transportation. Specifically, it is a hook-lifting manipulator of a hump operation robot that mainly performs position movement through multiple cylinders and multiple sections of hook-unhooking arms, and completes a series of hook-unhooking actions by an independently designed closed-loop detection type hook-unhooking device at the front end, so as to realize automatic hook-unhooking operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of railway freight transportation, and particularly relates to a hook-lifting manipulator for a railway hump operation robot. Background Art

[0002] At present, all the hook-unhooking parts of railway freight marshalling yards in China are completed manually. The hook-unhooking workers walk along the hump pushing route, holding the freight waybill in one hand and performing the single-handed hook-unhooking action with the other hand. And a process of protecting the hook needs to be carried out for a certain distance. Finally, the hook-unhooking process is completed and recorded. The single-handed hook-unhooking work done manually is relatively complicated, and the work safety factor is relatively low. It is very easy to have safety accidents, and the safety guarantee for the marshalling hook-unhooking workers is relatively low. Then the whole hook-unhooking process is completed entirely by the feeling of the hook-unhooking workers. Counting the number of cars and recording the hook-unhooking are all completed relying on the record sheet in the hands of the hook-unhooking workers, and it is easy to have the phenomenon of wrong or missed hook-unhooking.

[0003] So far, there is no equipment suitable for the site for the automatic hook-unhooking part of railway humps. The main reasons are as follows: 1. The speed of the vehicle during the movement process is unstable; 2. There are a variety of vehicle types currently used in China, and the positions and shapes of the couplers are different; 3. The space at the coupler position is small.

[0004] The comprehensive research on railway hook-unhooking technologies at home and abroad shows that: the railway hook-unhooking technologies studied abroad are not applicable to domestic marshalling yard operations, and the domestic research results are not applicable to on-site requirements. Some achievements cannot be applied or widely used due to cost and technical reasons. Generally speaking, the existing hook-unhooking technologies have the following difficulties:

[0005] 1. The structural form of the vehicle coupler. The types of vehicles in China are complex, and the couplers of domestic vehicles have not been uniformly adjusted. As a result, the shapes of the coupler loops are different, and the positions of the couplers are different, which makes it impossible for the robot to complete the hook-unhooking operation through simple and repetitive operations.

[0006] 2. Different shapes of vehicle couplers. Some of the trains currently in use in domestic marshalling yards have certain damage to the coupler loops and certain deformation of the coupler shanks after long-term use, which makes it even more difficult for the robot to automatically unhook the coupler.

[0007] 3. Different running speeds of train vehicles. During the hook-unhooking process in the marshalling yard, it is very difficult to ensure the same speed of the trains. During the hook-unhooking operation, the operator needs to have the same speed as the train vehicle to perform the hook-unhooking operation. If the hook is unhooked too early, the hook tongue will automatically fall, and the vehicles cannot be separated.

[0008] 4. The single hook-lifting time is short. The running speed of the train during the hook-unhooking process is approximately 3 - 5 km / h, and the hook-unhooking distance is approximately 8 to 10 meters. As a result, the hook-unhooking worker needs to unhook the hook within a short time. It is difficult to use a robot to replace humans for hook-unhooking.

[0009] The number of carriages to be uncoupled from a train is complex. When a train enters a marshalling station, there are generally 15 - 25 carriages, and only 1 to 4 of them need to be uncoupled. Robots are required to identify and determine the positions of the carriages to be uncoupled. This situation poses certain technical difficulties for automatic uncoupling.

[0010] There are mainly three types of uncoupling devices in the prior art: the uncoupling device driven and installed at the coupler; the uncoupling device based on a four-bar linkage mechanism; and the uncoupling device for train tippler lines and heavy-haul lines. The above uncoupling devices have the following disadvantages:

[0011] 1. They are applicable to a relatively single type of vehicle and cannot be applied to multiple vehicle types. There are a very large number of vehicle types and coupler types currently in operation in China.

[0012] 2. Adding equipment to the train couplers themselves incurs too high costs because the total number of freight trains in operation in China is extremely large. Moreover, during the long-term movement of trains, there are many unstable factors, and it is not easy to ensure the stability of the products.

[0013] 3. They have a slow reaction speed and poor equipment safety. The hump uncoupling time is relatively short, and the equipment requires a relatively fast reaction speed. Summary of the Invention

[0014] In view of the above situation, to overcome the defects of the prior art, the present invention provides a hook-lifting manipulator for a railway hump operation robot, which mainly performs position movement through multiple cylinders and multiple sections of hook-uncoupling arms, and completes a series of hook-uncoupling actions with a self-designed closed-loop detection type hook-uncoupling device at the front end, thereby realizing automatic hook-uncoupling operation.

[0015] The technical solution adopted by the present invention is as follows: A hook lifting manipulator for a railway hump operation robot, comprising a flipping mechanism, an inclined insertion mechanism, a hook lifting mechanism, and a Z-axis module. The flipping mechanism is arranged on the Z-axis module. The flipping mechanism is connected with an inclined insertion extension rod. The inclined insertion extension rod is connected with an inclined insertion mechanism. The inclined insertion mechanism is connected with a hook lifting mechanism. The inclined insertion mechanism includes an inclined insertion rotation center, a displacement sensor, an inclined insertion cylinder, a displacement sensor fixing plate, a hook removing inclined insertion rod, a guide rail slider embedded in the hook removing inclined insertion rod, a hook rod contact plate, a displacement sensor guide rail slider, an inclined insertion contact support rod, and a front end connecting plate. The inclined insertion extension rod is connected with the inclined insertion rotation center. The inclined insertion cylinder is arranged on the upper end surface of the inclined insertion rotation center. The displacement sensor fixing plate is arranged on the inclined insertion cylinder. The displacement sensor is arranged on the displacement sensor fixing plate. The front end of the inclined insertion cylinder with a certain cylinder diameter is connected with the front end connecting plate. The hook removing inclined insertion rod is arranged on the front end connecting plate. A groove is arranged on the inner side wall of the hook removing inclined insertion rod. The guide rail slider embedded in the hook removing inclined insertion rod is arranged in the groove on the inner side wall of the hook removing inclined insertion rod. The displacement sensor guide rail slider is arranged on the guide rail slider embedded in the hook removing inclined insertion rod. The displacement sensor guide rail slider is arranged in an L shape. The hook rod contact plate is arranged at one end of the displacement sensor guide rail slider far from the front end connecting plate. The hook rod contact plate is connected with an inclined insertion contact support rod. A through hole is arranged at one end of the displacement sensor guide rail slider far from the guide rail slider embedded in the hook removing inclined insertion rod. The inclined insertion contact support rod is arranged through the through hole. The hook rod contact plate and the inclined insertion contact support rod form an inclined insertion contact part that directly contacts the train coupler. The displacement sensor is connected with a connecting plate. The connecting plate is arranged on the side of the displacement sensor guide rail slider close to the front end connecting plate.

[0016] Further, the hook lifting mechanism includes a hook lifting guide rail slider, a hook lifting cylinder, a hook lifting cylinder buffer rod, a hook lifting support plate, a hook lifting rod, a hook lifting sensor, a hook lifting knob screw, a link linkage guide rail slider, a front end connecting block of the telescopic rod, a rear end rotating connecting piece of the telescopic rod, a hook lifting connecting plate and a follower link. The hook lifting connecting plate is arranged on the front end connecting plate. The hook lifting cylinder and the hook lifting guide rail slider are arranged adjacent to each other. The hook lifting cylinder and the hook lifting guide rail slider are arranged on the outer side wall of the hook lifting connecting plate. The hook lifting support plate is arranged on the hook lifting guide rail slider and above the hook lifting cylinder. The front end of the outer diameter of the hook lifting cylinder is connected with a hook lifting cylinder buffer rod. The hook lifting cylinder buffer rod penetrates through the hook lifting support plate. The hook lifting rod is arranged on the hook lifting support plate. The hook lifting knob screw is arranged on the hook lifting support plate. The hook lifting rod is arranged on the hook lifting knob screw. One end of the hook lifting rod close to the displacement sensor is bent into an inclined inserted lengthened rod. The hook lifting rod is arranged in an L shape. The bent end of the hook lifting rod is connected with a rear end rotating connecting piece of the telescopic rod. The rear end rotating connecting piece of the telescopic rod is connected with a follower link. The follower link is connected with a front end connecting block of the telescopic rod. The front end connecting block of the telescopic rod is connected with a link linkage guide rail slider. The link linkage guide rail slider is arranged on the connecting plate. The hook lifting sensor is arranged on the hook lifting cylinder.

[0017] Further, a spring is provided at the telescopic part of the front end of the displacement sensor.

[0018] After adopting the above structure, the beneficial effects of the present invention are as follows: The hook lifting manipulator of the railway hump operation robot of the present invention realizes the compatibility of the uncoupling method. For the models and configurations with more marshalling stations, it can complete the uncoupling operation methods of different types of couplers; it realizes that the manipulator operates only when the train in the marshalling station needs to perform the uncoupling operation, and will not affect the normal operation of the trains in the marshalling station at other times; the uncoupling time is short, the equipment has a fast response speed, and has safety protection when encountering emergencies; the equipment realizes the light weight design as much as possible under the condition of meeting the stiffness and strength requirements for uncoupling; the uncoupling method is reasonable, meets all the requirements of the uncoupling operation, and can ensure the success rate of uncoupling. Description of the Drawings

[0019] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention, and do not constitute a limitation to the present invention.

[0020] Figure 1 It is a schematic diagram of the overall structure of the hook lifting manipulator of the railway hump operation robot of the present invention;

[0021] Figure 2 It is a schematic diagram of the inclined insertion mechanism structure of the hook lifting manipulator of the railway hump operation robot of the present invention;

[0022] Figure 3 For Figure 2 the enlarged view of part A of

[0023] Figure 4 This is a schematic diagram of the rotating and obliquely inserting center structure of the hook lifting manipulator of a railway hump operation robot according to the present invention.

[0024] In the attached drawings: 1. flipping mechanism, 2. oblique insertion mechanism, 3. hook lifting mechanism, 4. Z-axis module, 5. front-end connecting block of the telescopic rod, 6. rear-end rotating connecting piece of the telescopic rod, 7. hook lifting connecting plate, 8. follower connecting rod, 9. extended oblique insertion rod, 10. oblique insertion rotation center, 11. displacement sensor, 12. oblique insertion cylinder, 13. displacement sensor fixing plate, 14. hook unhooking oblique insertion rod, 15. embedded guide rail slider of the hook unhooking oblique insertion rod, 16. hook rod contact plate, 17. displacement sensor guiding rail slider, 18. oblique insertion contact support rod, 19. front-end connecting plate, 20. connecting plate, 21. hook lifting guiding rail slider, 22. hook lifting cylinder, 23. buffer support rod of the hook lifting cylinder, 24. hook lifting support plate, 25. hook lifting rod, 26. hook lifting sensor, 27. hook lifting knob screw, 28. connecting rod linkage guide rail slider, 29. spring. Specific embodiments

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0027] Such as Figures 1-4As shown, a hook-lifting manipulator of a railway hump operation robot, which includes a flipping mechanism 1, an inclined insertion mechanism 2, a hook-lifting mechanism 3 and a Z-axis module 4. The flipping mechanism 1 is arranged on the Z-axis module 4. The flipping mechanism 1 is connected with an inclined insertion extension rod 9. The inclined insertion extension rod 9 is connected with the inclined insertion mechanism 2. The inclined insertion mechanism 2 is connected with the hook-lifting mechanism 3. The inclined insertion mechanism 2 includes an inclined insertion rotation center 10, a displacement sensor 11, an inclined insertion cylinder 12, a displacement sensor fixing plate 13, a hook-unhooking inclined insertion rod 14, a hook-unhooking inclined insertion rod embedded guide rail slider 15, a hook rod contact plate 16, a displacement sensor guide rail slider 17, an inclined insertion contact support rod 18 and a front end connecting plate 19. The inclined insertion extension rod 9 is connected with the inclined insertion rotation center 10. The inclined insertion cylinder 12 is arranged on the upper end surface of the inclined insertion rotation center 10. The displacement sensor fixing plate 13 is arranged on the inclined insertion cylinder 12. The displacement sensor 11 is arranged on the displacement sensor fixing plate 13. The front end of the cylinder diameter of the inclined insertion cylinder 12 is connected with the front end connecting plate 19. The hook-unhooking inclined insertion rod 14 is arranged on the front end connecting plate 19. A groove is arranged on the inner side wall of the hook-unhooking inclined insertion rod 14. The hook-unhooking inclined insertion rod embedded guide rail slider 15 is arranged in the groove on the inner side wall of the hook-unhooking inclined insertion rod 14. The displacement sensor guide rail slider is arranged on the hook-unhooking inclined insertion rod embedded guide rail slider 15. The displacement sensor guide rail slider 17 is arranged in an L shape. The hook rod contact plate 16 is arranged at one end of the displacement sensor guide rail slider 17 away from the front end connecting plate 19. The hook rod contact plate 16 is connected with the inclined insertion contact support rod 18. A through hole is arranged at one end of the displacement sensor guide rail slider 17 away from the hook-unhooking inclined insertion rod embedded guide rail slider 15. The inclined insertion contact support rod 18 is arranged through the through hole. The hook rod contact plate 16 and the inclined insertion contact support rod 18 form an inclined insertion contact part that directly contacts the train coupler. The displacement sensor 11 is connected with a connecting plate 20. The connecting plate 20 is arranged on one side of the displacement sensor guide rail slider 17 close to the front end connecting plate 19;The hook lifting mechanism 3 includes a hook lifting guide rail slider 21, a hook lifting cylinder 22, a hook lifting cylinder buffer support rod 23, a hook lifting support plate 24, a hook rod 25, a hook sensor 26, a hook knob screw 27, a connecting rod linkage guide rail slider 28, a front end connecting block 5 of the telescopic rod, a rear end rotating connecting member 6 of the telescopic rod, a hook connecting plate 7 and a follower connecting rod 8. The hook connecting plate 7 is arranged on the front end connecting plate 19. The hook lifting cylinder 22 and the hook lifting guide rail slider 21 are arranged adjacent to each other. The hook lifting cylinder 22 and the hook lifting guide rail slider 21 are arranged on the outer side wall of the hook connecting plate 7. The hook lifting support plate 24 is arranged on the hook lifting guide rail slider 21 and above the hook lifting cylinder 22. The front end of the outer diameter of the cylinder of the hook lifting cylinder 22 is connected with the hook lifting cylinder buffer support rod 23. The hook lifting cylinder buffer support rod 23 penetrates through the hook lifting support plate 24. The hook rod 25 is arranged on the hook lifting support plate 24. The hook knob screw 27 is arranged on the hook lifting support plate 24. The hook rod 25 is arranged on the hook knob screw 27. One end of the hook rod 25 close to the displacement sensor 11 is bent obliquely and extended towards the extended rod 9. The hook rod 25 is arranged in an L shape. The bent end of the hook rod 25 is connected with the rear end rotating connecting member 6 of the telescopic rod. The rear end rotating connecting member 6 of the telescopic rod is connected with the follower connecting rod 8. The follower connecting rod 8 is connected with the front end connecting block 5 of the telescopic rod. The front end connecting block 5 of the telescopic rod is connected with the connecting rod linkage guide rail slider 28. The connecting rod linkage guide rail slider 28 is arranged on the connecting plate 20. The hook sensor 26 is arranged on the hook lifting cylinder 22; A spring 29 is arranged on the front end telescopic part of the displacement sensor 11.;

[0028] During actual use, the first part of this device to perform the operation is the inclined insertion part. When the Z-axis module 4 is in place, the inclined insertion cylinder 12 in the inclined insertion part starts to work and extends, driving the front connecting plate 19 fixed at the front end of the cylinder and the upper displacement sensor 11 to move forward. When the inclined insertion contact part touches the train coupler, since the train coupler is in a fixed state, after the inclined insertion contact plate touches it, it starts to move backward under the guiding action of the guide rail slider 15 embedded in the uncoupling inclined insertion rod. At the same time, due to the connection between the front end of the displacement sensor 11 and the inclined insertion contact part, the telescopic part starts to compress backward. Meanwhile, the displacement change amount feedback by the displacement sensor 11 is read in the control room to determine the depth of the coupler entry. After the operation is completed, the inclined insertion part retracts under the action of the inclined insertion cylinder 12, and the front end rebounds due to the spring pressure of the telescopic part of the displacement sensor 11 and returns to the initial position; when the inclined insertion part works, the inclined insertion cylinder 12 extends, the inclined insertion contact part contacts the train coupler, and the inclined insertion contact part starts to retract. Subsequently, the follower link 8 device connected to it drives the hook lifting rod 25 to rotate, preventing the hook lifting rod 25 from colliding with the coupler tongue part of the train car body due to the extension of the inclined insertion part. When the hook lifting rod 25 rotates a certain angle, the follower link 8 device slides with the rotating connector 6 at the rear end of the telescopic rod to ensure that the hook lifting rod 25 does not rotate too large an angle and affect the subsequent process operation. After the inclined insertion part is in place, the hook lifting cylinder 22 starts to work, and the cylinder extends to lift the entire hook lifting support plate 24. Hereby, the guide rails of the hook lifting guide rail slider 21 and the link linkage guide rail slider 28 are lifted together. After being lifted to the specified position, the uncoupling manipulator performs a flipping operation. When the carriages are separated and all operations are completed, the uncoupling manipulator returns to the initial position state and waits for the next command operation.

[0029] For the uncoupling manipulator of the railway hump operation robot of the present invention, its driving method is pneumatic cylinder, the control method is solenoid valve single-point control, and the air storage method uses an air storage tank. It is ensured that when there is a fault or other problems in the power system, the front manipulator can be quickly retracted to prevent accidents and improve safety.

[0030] In the uncoupling manipulator of the railway hump operation robot of the present invention, linear guide rails are added to the hook lifting part to play a role in guiding and bearing force, and the uncoupling platform is provided with a buffer mechanism to ensure the stability during the operation of the equipment.

[0031] In the uncoupling manipulator of the railway hump operation robot of the present invention, the overall uncoupling process is split into an inclined insertion part, a hook lifting part, and a flipping part to ensure that the manipulator can perform different uncoupling operations for different types of couplers. It ensures the diversity of the equipment and can meet the requirements of large varieties of train marshalling yards and complex types of couplers.

[0032] In the hook-lifting manipulator of a railway hump operation robot according to the present invention, the front end part adopts a complete closed-loop detection, including: the depth detection of the coupler entering the front-end device, the distance detection between the uncoupling lever and the train coupler loop, and the position detection between the uncoupling inclined insertion rod 14 and the hook lever. Thus, all data are provided when the coupler enters the front-end device, facilitating the detection of whether the current position meets the uncoupling condition, so that fine adjustment can be carried out, and the success rate of uncoupling is improved.

[0033] In the hook-lifting manipulator of a railway hump operation robot according to the present invention, the connecting part between the hook lever contact base and the hook lever contact plate 16 adopts a hinge mode, which can realize an angle transformation of 45 degrees to 60 degrees, ensuring that in the long-term working state, when an angle deviation occurs in the inclined insertion part during work, this angle problem can be adjusted to ensure the stability of the angle before contact. The service life of the equipment can be extended. The hook lever contact base surrounds the hook lever contact plate 16 to prevent the manipulator from exiting the coupler after completing the operation, and the coupler enters the empty space between the hook lever contact base and the hook lever contact plate 16, causing damage to the equipment.

[0034] In the hook-lifting manipulator of a railway hump operation robot according to the present invention, the displacement sensor 11 and the follower link 8 device are connected through a guide rail slider. By generating a force through contact with the train hook lever, the uncoupling lever rotates inward and moves an angle through the follower link 8 device, preventing the uncoupling lever from hitting the coupler loop and causing damage during the inclined insertion process.

[0035] In the hook-lifting manipulator of a railway hump operation robot according to the present invention, the inclined insertion cylinder 12 and the connecting plate 20 are connected to the inclined insertion extension rod 9 in an articulated manner, which can realize a rotation angle of 90 degrees, ensuring that the manipulator can safely retract when there is an obstruction.

[0036] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents. Generally speaking, if those of ordinary skill in the art are inspired by it and design similar structural modes and embodiments without creative work without departing from the purpose of the present invention, they should all fall within the protection scope of the present invention.

Claims

1. The hook-lifting manipulator of a railway hump operation robot, characterized in that: It includes a flipping mechanism, an inclined insertion mechanism, a hook lifting mechanism, and a Z-axis module. The flipping mechanism is arranged on the Z-axis module. The flipping mechanism is connected with an inclined insertion extension rod. The inclined insertion extension rod is connected with the inclined insertion mechanism. The inclined insertion mechanism is connected with the hook lifting mechanism. The inclined insertion mechanism includes an inclined insertion rotation center, a displacement sensor, an inclined insertion cylinder, a displacement sensor fixing plate, a hook-unhooking inclined insertion rod, a guide rail slider embedded in the hook-unhooking inclined insertion rod, a hook rod contact plate, a displacement sensor guiding rail slider, an inclined insertion contact support rod, and a front end connecting plate. The inclined insertion extension rod is connected with the inclined insertion rotation center. The inclined insertion cylinder is arranged on the upper end face of the inclined insertion rotation center. The displacement sensor fixing plate is arranged on the inclined insertion cylinder. The displacement sensor is arranged on the displacement sensor fixing plate. The front end of the inclined insertion cylinder with a certain cylinder diameter is connected with the front end connecting plate. The hook-unhooking inclined insertion rod is arranged on the front end connecting plate. A groove is arranged on the inner side wall of the hook-unhooking inclined insertion rod. The guide rail slider embedded in the hook-unhooking inclined insertion rod is arranged in the groove on the inner side wall of the hook-unhooking inclined insertion rod. The displacement sensor guiding rail slider is arranged on the guide rail slider embedded in the hook-unhooking inclined insertion rod. The displacement sensor guiding rail slider is arranged in an L shape. The hook rod contact plate is arranged at one end of the displacement sensor guiding rail slider away from the front end connecting plate. The hook rod contact plate is connected with the inclined insertion contact support rod. A through hole is arranged at one end of the displacement sensor guiding rail slider away from the guide rail slider embedded in the hook-unhooking inclined insertion rod. The inclined insertion contact support rod is arranged through the through hole. The hook rod contact plate and the inclined insertion contact support rod form an inclined insertion contact part that directly contacts the train coupler. The displacement sensor is connected with a connecting plate. The connecting plate is arranged on the side of the displacement sensor guiding rail slider close to the front end connecting plate.

2. The hook lifting manipulator of a railway hump operation robot according to claim 1, characterized in that: The hook lifting mechanism includes a hook lifting guide rail slider, a hook lifting cylinder, a hook lifting cylinder buffer support rod, a hook lifting support plate, a hook lifting rod, a hook lifting sensor, a hook lifting knob screw, a connecting rod linkage guide rail slider, a front end connecting block of the telescopic rod, a rear end rotating connection part of the telescopic rod, a hook lifting connecting plate, and a follower connecting rod. The hook lifting connecting plate is arranged on the front end connecting plate. The hook lifting cylinder and the hook lifting guide rail slider are arranged adjacent to each other. The hook lifting cylinder and the hook lifting guide rail slider are arranged on the outer side wall of the hook lifting connecting plate. The hook lifting support plate is arranged on the hook lifting guide rail slider and above the hook lifting cylinder. The front end of the outer diameter of the hook lifting cylinder is connected with the hook lifting cylinder buffer support rod. The hook lifting cylinder buffer support rod is arranged through the hook lifting support plate. The hook lifting rod is arranged on the hook lifting support plate. The hook lifting knob screw is arranged on the hook lifting support plate. The hook lifting rod is arranged on the hook lifting knob screw. One end of the hook lifting rod close to the displacement sensor is bent towards the inclined insertion extension rod. The hook lifting rod is arranged in an L shape. The bent end of the hook lifting rod is connected with the rear end rotating connection part of the telescopic rod. The rear end rotating connection part of the telescopic rod is connected with the follower connecting rod. The follower connecting rod is connected with the front end connecting block of the telescopic rod. The front end connecting block of the telescopic rod is connected with the connecting rod linkage guide rail slider. The connecting rod linkage guide rail slider is arranged on the connecting plate. The hook lifting sensor is arranged on the hook lifting cylinder.

3. The hook-lifting manipulator of a railway hump operation robot according to claim 2, characterized in that: A spring is arranged at the front end telescopic part of the displacement sensor.

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