Coupler uncoupling and recoupling device, system and method for a railway vehicle

Abstract

The application discloses a train coupler uncoupling and recoupling device, system and method, wherein the device comprises a fixed support, a mechanical arm, a movable support and a telescopic assembly, and is arranged at the edge of a car transfer platform and cooperates with a heavy car shunting machine to complete uncoupling and recoupling operations; the system comprises a car transfer module, the car transfer module comprises a car transfer platform, the car transfer module is used for pulling a car compartment entering the car transfer platform to a position of an empty car line; a car shunting module, the car shunting module comprises a heavy car shunting machine, the heavy car shunting machine pushes a train car compartment in a car tippler out and sends the train car compartment into a corresponding position of the car transfer platform; and an uncoupling and recoupling module, the uncoupling and recoupling module is used for uncoupling and recoupling of a coupler. By reasonably configuring relative positions of various modules, the mechanical arm can avoid a large arm of the car shunting machine, approach at a proper time and complete operations in the case of occupying a small space, and is suitable for a car tippler system with various space, equipment and track conditions.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of train bulk cargo handling technology, and particularly relates to a train coupler uncoupling and recoupling device, system and method. BACKGROUND

[0002] The train coupler is used to realize the connection between the locomotive and the car or between the cars, and to transmit the traction force and impact force. In the domestic railway system, most of the automatic couplers are used. The so-called automatic coupler can automatically complete uncoupling when the coupler lifting rod is lifted and the car is pulled away by the locomotive. Conversely, when the coupler lifting rod and its tongue are pried open and collide with the closed coupler of another car, the automatic coupler can automatically complete coupling. More than half of the couplers cannot automatically open the tongue after the lifting rod is uncoupled, and the tongue needs to be manually pried open during uncoupling. The operation of uncoupling and prying open the tongue is commonly referred to as uncoupling and recoupling operation. After bulk cargo is transported to the station, the couplers between the cars need to be uncoupled, and then the cars enter the dumper to dump the cargo, and then the empty cars are transferred and coupled. The uncoupling and recoupling operation is a necessary prerequisite for the successful coupling of empty cars and empty trains (preceding empty car train). At present, coal is the main energy source in China. For example, power plants need a large amount of coal unloading. In addition, there are steel plants, storage and transportation centers, and other unloading areas. Due to the low cost and high efficiency of train bulk cargo transportation, it is widely used. Therefore, the uncoupling and recoupling operation is common in the train dumper system. At present, the manual uncoupling and recoupling operation is low in efficiency and the working environment of the staff is full of dust, which is harmful to health. In addition, the uncoupling and recoupling operation is operated in the running of the car and dumper system equipment, so the staff is in an extremely unsafe working environment.

[0003] In order to alleviate the above problems, there are currently automatic unhooking and hooking devices applied to the dumper system on the market. The devices are arranged at appropriate positions and realize the hooking function by using various hooking arm devices of the mechanical arm. The hooking arm approaches the car hook through pitching, telescoping and other structural types, pushes the plate into the car hook tongue to simulate the human hand to open the hook tongue. However, such devices cannot be applied to all working environments. For example, not all dumper systems have enough space to arrange such robot devices. In addition, due to the long length of the hooking arm, the pitching, scanning of the car hook, opening of the hook tongue and withdrawal take a long time, so the solution is to fix the unhooking and hooking device in a relatively small space to complete the work, innovatively develop the hooking process, eliminate the hooking operation arm structure, and achieve the goal of high efficiency. Based on this, the position arranged at the edge of the transfer table pit between the transfer table and the car mover is appropriate, which can meet all dumper scenes, but the problem arises: when the large arm of the car mover moves along the track, it will overlap with the working path of the unhooking and hooking device, thus causing interference and affecting the work. In addition, with the improvement of production and operation efficiency, double dumper and four dumper loading and unloading are widely used, that is, two, four or more tracks cooperate with multiple heavy car movers to work synchronously. In the double dumper and four dumper loading and unloading scene, at least two lines are parallel, and the train is usually a standard carriage. As shown in Figure 1 The hook handles are arranged at the right side of the head of the carriage and the left side of the tail of the carriage, which also requires the train unhooking and hooking device to be arranged on the same side of all lines. Therefore, in at least one of the lines, the large arm of the car mover and the unhooking and hooking device are adjacent on the same side of the line, which will cause interference and collision during the operation, affecting the operation and damaging the equipment. SUMMARY

[0004] In order to solve the above problems in the prior art, the present application provides an unhooking and hooking device for a train car hook, which is arranged at the edge of the transfer table and cooperates with the heavy car mover to complete the unhooking and hooking operation. The unhooking and hooking device comprises a fixed support, a mechanical arm, a moving support and a telescopic assembly. The height of the top of the fixed support to the ground is lower than the height of the bottom of the large arm of the heavy car mover to the ground. The mechanical arm comprises an unhooking mechanical hand, which can complete unhooking or hooking. The mechanical arm is arranged on the moving support, and the moving support supports the mechanical arm. The telescopic assembly is arranged on the top of the fixed support, and the moving support is arranged on the telescopic assembly. The telescopic assembly can drive the moving support to move in the horizontal plane.

[0005] Preferably, the telescopic assembly comprises a first push rod, a first driver, a sliding rail and a sliding block matched with the sliding rail. The sliding rail is arranged on the top of the fixed support and extends along the direction of the train track. The sliding block is arranged on the sliding rail, and the moving support is arranged on the sliding block. The first driver drives the first push rod to extend or retract along the extension direction of the sliding rail.

[0006] The uncoupling and recoupling device of the train coupler according to the embodiment of the present application can drive the moving support to move in the horizontal plane through the telescopic assembly, so that the whole device can be fixedly arranged at the edge of the car migration platform, without the need of a standby track and a large operation space, and the whole device does not need the driving equipment required when moving on the track, further reducing the occupied space of the uncoupling and recoupling device, and being universally applicable to the scene of bulk material loading and unloading; and the device no longer needs repeated track movement, reducing the overall energy consumption, and avoiding the problem of collision with the car during the uncoupling and recoupling process when moving synchronously with the car, and reducing the overall parts, reducing the cost, and reducing the maintenance cost.

[0007] According to the second embodiment of the present application, an uncoupling and recoupling system of a train coupler is provided, which comprises a car migration module, the car migration module comprising a car migration platform, the car migration module being used to pull the car entering the car migration platform to a position of an empty car line; a car pushing module, the car pushing module comprising a heavy car pushing machine, the heavy car pushing machine pushing the train car in the car dumper out and into the corresponding position of the car migration platform; and an uncoupling and recoupling module, the uncoupling and recoupling module being used for uncoupling and recoupling of the coupler.

[0008] Preferably, the uncoupling and recoupling module comprises an uncoupling and recoupling device and a pin lifting device, the uncoupling and recoupling device being fixedly arranged at the edge of the car migration platform, and the pin lifting device being arranged on the large arm of the heavy car pushing machine, the pin lifting device being capable of opening the front hook of the heavy car pushing machine.

[0009] Preferably, the pin lifting device comprises a support arranged on the large arm, a rocker arm, a second push rod and a second driver being arranged on the support, the second driver driving the second push rod to move the rocker arm, and the rocker arm being capable of opening the front hook.

[0010] The uncoupling and recoupling system of the train coupler according to the embodiment of the present application can realize that the mechanical arm can avoid the car pushing machine large arm, approach at the right time and complete the work in a small space by reasonably configuring the relative positions of the modules, and is suitable for various scenes with limited space, equipment and track conditions. In the scene with high production efficiency, there can be two, four or six lines, and this system can be directly used for each car dumper unloading line, copied and arranged, has universality, and greatly reduces the installation, debugging and maintenance costs. At the same time, it is also suitable for various uncoupling and recoupling position changes when the coupler position of different car types changes, and therefore is a system with high universality and flexibility.

[0011] According to the third embodiment of the present application, a method for uncoupling and recoupling operation of an uncoupling and recoupling system based on a train coupler is provided, comprising the following steps:

[0012] The front hook of the heavy car pushing machine collides with the rear hook of the car in the car dumper, and the front hook of the heavy car pushing machine grips the rear hook of the car;

[0013] The mobile support drives the mechanical arm to move away from the heavy car pusher main arm;

[0014] The heavy car pusher moves the train carriage from the dumper to the guide track of the car transfer platform;

[0015] The mobile support approaches the rear hook of the train carriage;

[0016] The mechanical arm performs the uncoupling and recoupling operation;

[0017] The heavy car pusher is separated from the train carriage;

[0018] The mechanical arm detects whether the knuckle is kept in an open state.

[0019] The mechanical arm performs the uncoupling and recoupling operation, including the following steps:

[0020] The mechanical arm identifies and locates the rear hook of the train carriage and lifts the lifting rod of the rear hook;

[0021] The rocker arm keeps the lifting rod in the lifted state and keeps the front hook closed;

[0022] The mechanical arm detects whether the knuckle is kept in an open state, including the following steps:

[0023] The heavy car pusher moves away from the train carriage by a preset distance;

[0024] The mechanical arm detects the actual distance between the train carriage and the pusher and determines whether the knuckle is pulled open;

[0025] When the actual distance is detected to be less than the preset distance, the pusher pushes the train carriage towards the mechanical arm, and the mechanical arm performs the uncoupling and recoupling operation again; when the actual distance is detected to be not less than the preset distance, the mechanical arm exits the operation area.

[0026] The uncoupling and recoupling operation method according to the embodiment of the present application can reasonably coordinate the sequence of each device, ensure the whole operation process to be compact and efficient, and ensure the quality of the operation; other beneficial effects refer to the foregoing system, which will not be described here.

[0027] It is to be understood that both the foregoing general description and the following detailed description are exemplary and intended to provide further explanation of the subject technology. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a schematic diagram of the coupler structure of the prior art train carriage;

[0029] Figure 2 It is a schematic diagram of the front structure of the uncoupling and recoupling device of the train coupler according to the embodiment of the present application;

[0030] Figure 3Fig. 4 is a side view of the extension of the uncoupling device of the train coupler according to the embodiment of the present application;

[0031] Figure 4 Fig. 5 is a side view of the retraction of the uncoupling device of the train coupler according to the embodiment of the present application;

[0032] Figure 5 Fig. 6 is a top view of the uncoupling system of the train coupler according to the embodiment of the present application;

[0033] Figure 6 Fig. 7 is a side view of the uncoupling system of the train coupler according to the embodiment of the present application;

[0034] Figure 7 Fig. 8 is a structure diagram of the heavy car pusher of the uncoupling system of the train coupler according to the embodiment of the present application. DETAILED DESCRIPTION

[0035] The preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings, and the present application will be further illustrated.

[0036] Firstly, the uncoupling device 31 of the train coupler according to the embodiment of the present application will be described in detail. Figures 1-4 The uncoupling device 31 of the train coupler according to the embodiment of the present application is used in the bulk transportation of train cars and other scenarios. In this embodiment, a symmetrical turn-back car dumper system is taken as an example for illustration.

[0037] As shown in Fig. 1, the uncoupling device 31 of the train coupler according to the embodiment of the present application is arranged at the edge of the car migration platform pit 11, and comprises a fixed support 21, a mechanical arm 22, a movable support 23 and an extension assembly 24. Figures 1-4 Specifically, as shown in Fig. 2, the fixed support 21 is arranged at the edge of the car migration platform pit 11, and the mechanical arm 22 is arranged on the fixed support 21.

[0038] Figures 1-4 ​As shown, the height of the top of the fixed support 21 to the ground is lower than the height of the bottom of the large arm 132 of the heavy car pusher 13 to the ground; the support of the entire device is met because the fixed support 21 does not displace relative to the ground and cannot be higher than the large arm 132 of the heavy car pusher 13, preventing collision between the fixed support 21 and the large arm 132 during the entire operation; the mechanical arm 22 comprises a decoupling hook mechanical hand 221 which can complete decoupling and recoupling of the hook; the mechanical arm 22 is arranged on the moving support 23 which supports the mechanical arm 22; the telescopic assembly 24 is arranged on the top of the fixed support 21, and the moving support 23 is arranged on the telescopic assembly 24, and the horizontal plane height of the moving support 23 is lower than the bottom height of the large arm 132 of the heavy car pusher 13 to realize overlapping operation and avoid collision; the telescopic assembly 24 can drive the moving support 23 to move in the horizontal plane, so that the entire device can be fixedly arranged at the edge of the car transfer platform, without the need for a spare track and a large operation space, and the entire device thus does not need the driving device for moving on the track and the operation device for uncoupling the hook, further reducing the occupied space of the decoupling and recoupling device 31, and being universally applicable to various layouts of the car dumper system; and the device has a small operation range, high system efficiency, and avoids collision with the car during the decoupling and recoupling process of the hook when the device moves synchronously with the car, reduces the overall parts, reduces the cost, and reduces the maintenance cost.

[0039] Preferably, the telescopic assembly 24 comprises a sliding rail 241, a first push rod 242 and a first driver, the sliding rail 241 is arranged on the top of the fixed support 21 and extends along the direction of the train track, the moving support 23 is arranged on the sliding rail 241, and the first driver drives the moving support 23 to move along the extension direction of the sliding rail 241; the sliding rail 241 can be embedded in the moving support 23 or the fixed support 21, further reducing the height of the entire device and the occupied space, especially for the bulk material loading and unloading scene of the double-row car dumper, the decoupling and recoupling device 31 and the heavy car pusher 13 are arranged on the same side of the line, and it is more necessary to avoid interference, and the collision between the mechanical arm 22 and the large arm 132 can be more flexibly avoided.

[0040] In use, as Figures 1-4The heavy vehicle shoveling machine 13 moves the empty compartment out of the car from above the tipping machine and moves toward the transfer platform, and the telescopic component 24 pushes the movable bracket 23 to extend outward, away from the arm 132 of the heavy vehicle shoveling machine 13, to ensure that the mechanical arm 22 can avoid the arm 132; when the heavy vehicle shoveling machine 13 pushes the car to the empty car line position of the transfer platform, the unhooking manipulator 221 identifies and locates the rear hook 12 of the car and completes the corresponding unhooking and re-hooking action. At this time, the mechanical arm 22 remains in the position when the unhooking is completed; the car is connected to the hook by the heavy vehicle shoveling machine 13 and is pushed in a controlled manner, which can be stably and accurately stopped at the specified position. When the front hook 131 of the heavy vehicle shoveling machine 13 retreats in the closed hook state, it will shove the rear hook 12 of the car to open the hook tongue. The heavy vehicle shoveling machine 13 opens the front hook 131 and completely disengages after the unhooking and re-hooking device 31 confirms that the re-hooking is successful, and moves toward the tipping machine again to re-tow the next car.

[0041] Above, refer to Figures 1-4 The present invention describes a train coupler unhooking and unhooking device 31, which can drive the mobile bracket 23 to move in the horizontal plane through the telescopic component 24, so that the entire device can be fixedly set on the edge of the car transfer platform without the need for spare tracks and a large operating space. The entire device does not require a driving device when moving on the track, further reducing the space occupied by the unhooking and unhooking device 31, and is generally applicable to various types of car tipping machine system scenarios; and the device no longer needs to move repeatedly on the track, reducing overall energy consumption, having a small operating range and high efficiency, and avoiding the problem of collision with the car body that often occurs during the unhooking and unhooking process when moving synchronously with the car body, and the overall number of parts is reduced, the cost is reduced, and the maintenance cost is reduced.

[0042] Secondly, combine Figures 5-7 A train coupler unhooking and unhooking system according to a second embodiment of the present invention is described, which is used in a bulk material transportation scenario in a train carriage.

[0043] like Figures 5-7 As shown in the figure, the hook-removing and hook-removing system mainly consists of a vehicle moving module, a vehicle shifting module and a hook-removing and hook-removing module.

[0044] Specifically, the car moving module includes a car moving platform, which is used to pull the carriage entering the car moving platform to the empty car line position; the car shifting module includes a heavy car shifting machine 13, which pushes the train carriage in the dumper out and sends it to the corresponding position of the car moving platform; the unhooking module is used for the unhooking operation of the coupler.

[0045] like Figure 5 As shown, the symmetrical arrangement of the return dumper system is used as an example for explanation. The hook system is applied to the first dumper unloading line and the second dumper unloading line respectively. The train is a standard carriage, such as Figure 1As shown, the uncoupling handles are arranged at the right side of the head of the car body and the left side of the tail of the car body. This also requires that if you want to be subject to site requirements, still achieve the uncoupling operation of the train in a small space, the uncoupling device 31 must be arranged at the edge of the transfer platform pit 11 between the transfer platform and the shunting machine, and arranged near the rear hook 12 of the tail of the car body to facilitate uncoupling, so that the uncoupling device 31 is not arranged in the first and second unloading lines left-right symmetrical. Therefore, for the second unloading line, the fire uncoupling device 31 is far away from the heavy car shunting machine 13, and the shunting machine can avoid interference with the uncoupling device 31 when moving along the track; for the first unloading line, the uncoupling device 31 is arranged between the train track and the shunting machine track, and the large arm 132 of the heavy car shunting machine 13 will overlap with the uncoupling device 31 in the operation path when moving along its track. Therefore, by setting the aforementioned uncoupling device 31 containing the moving bracket 23 and the telescopic mechanism, combined with the recognition and positioning function, interference and collision can be avoided, and the mechanical arm 22 can avoid the large arm 132 of the heavy car shunting machine 13, approach at the right time and complete the operation. The aforementioned system can be directly applied to the first and second dumper unloading lines. In the scene with higher production efficiency, there can be four or six lines. This system can be completely copied and arranged, and can be applied to all lines, has universality, and greatly reduces the installation, debugging and maintenance cost. At the same time, for different car types, when the position of the car hook changes, it can also adapt to various changes of the uncoupling position, so it is a system that can be applied to many scenes with site limitations and has high universality and flexibility.

[0046] Preferably, the uncoupling module includes an uncoupling device 31 and a pin lifting device 32. The uncoupling device 31 is fixedly arranged at the edge of the transfer platform pit 11, and the pin lifting device 32 is arranged on the large arm 132 of the heavy car shunting machine 13. The pin lifting device 32 opens the car hook when pushing the car, realizes the controlled and stable pushing and accurate stopping of the empty car, and opens the inside of the car hook with the uncoupling handle of the mechanical arm 22 while keeping the uncoupling state. At the same time, the front hook 131 of the heavy car shunting machine 13 is retracted by a certain distance to pry open the tongue of the car hook, so as to avoid the additional action of prying open the tongue, shorten the uncoupling operation time, and increase the efficiency of the whole operation process. After the mechanical arm 22 recognizes and determines that the recoupling is successful, the pin lifting device 32 opens the front hook and returns to continue the next empty car. Further, the pin lifting device 32 includes a bracket arranged on the large arm 132, a rocker arm 321, a second push rod 322 and a second driver arranged on the bracket. The second driver can be a linear motor or a cylinder. The second driver drives the second push rod 242 to move the rocker arm 321, and the rocker arm 321 can open the heavy car shunting machine front hook 131.

[0047] Next, the uncoupling device 31 will be described in detail. Figures 1-7The hook uncoupling and recoupling operation method of the train coupler based uncoupling and recoupling system according to the third embodiment of the present application comprises the following steps:

[0048] The front hook 131 of the heavy car shunting machine hits the rear hook 12 of the car in the dumper, and the front hook 131 of the heavy car shunting machine grips the rear hook 12 of the car;

[0049] The moving support 23 drives the mechanical arm 22 to move away from the large arm 132 of the heavy car shunting machine 13;

[0050] The heavy car shunting machine 13 moves the train car from the dumper to the guide rail of the car migration platform;

[0051] The moving support 23 approaches the rear hook 12 of the car;

[0052] The mechanical arm 22 performs the uncoupling and recoupling operation;

[0053] The heavy car shunting machine 13 is separated from the train car;

[0054] The mechanical arm 22 detects whether the hook tongue remains in the open state.

[0055] The mechanical arm 22 performs the uncoupling and recoupling operation, completes the handle hook lifting operation, and the heavy car shunting machine 13 remains in the closed hook state and retreats by a suitable distance to separate from the train car. At the same time, the hook tongue of the rear hook 12 of the train car is pulled open, the mechanical arm 22 detects whether the hook tongue is normally opened, and exits after confirming that the recoupling is completed. If it is detected that the uncoupling is not successful, the control system controls the heavy car shunting machine 13 to push the empty car again to implement the secondary process of repeated recoupling.

[0056] The mechanical arm 22 performs the uncoupling and recoupling operation, which comprises the following sub-steps:

[0057] The mechanical arm 22 identifies and positions the rear hook 12 of the car and lifts the lifting rod of the rear hook 12 of the car;

[0058] The rocker arm 321 keeps the lifting rod in the lifted state and keeps the front hook 131 in the closed state.

[0059] The mechanical arm 22 detects whether the hook tongue remains in the open state, which comprises the following sub-steps:

[0060] The heavy car shunting machine 13 moves away from the train car by a preset distance;

[0061] The mechanical arm 22 detects the actual distance between the train car and the heavy car shunting machine 13, and determines whether the hook tongue is pulled open;

[0062] When it is detected that the actual distance is less than the preset distance, the heavy car shunting machine 13 pushes the train car towards the mechanical arm 22, and the mechanical arm 22 performs the uncoupling and recoupling operation again. When it is detected that the actual distance is not less than the preset distance, the mechanical arm 22 exits the operation area.

[0063] The method for decoupling hook operation according to the embodiment of the application can reasonably match the sequence between devices, detect and ensure that the coupler knuckle is in the open state before completing the decoupling hook operation, ensure that the whole operation process is compact and efficient, and ensure the quality of operation completion.

[0064] In the description of the present application, it should be noted that, unless otherwise specified, the meaning of "a plurality of" is two or more than two; the terms "upper", "lower", "left", "right", "inner", "outer", "top", "bottom" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0065] It should be noted that in this specification, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or device. Without more limitations, the elements defined by the statement "contain" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0066] Although the content of the present application has been described in detail by the above preferred embodiments, it should be recognized that the above description should not be considered as a limitation on the present application. After reading the above content, various modifications and alternatives of the present application will be obvious to those skilled in the art. Therefore, the protection scope of the present application should be defined by the appended claims.

Claims

1. A coupling device for a train coupler, which is arranged at the edge of a shunting platform and cooperates with a heavy vehicle shunting machine to complete the coupling and uncoupling operation, characterized in that, The hook-removing device comprises: A fixed bracket, wherein the height from the top of the fixed bracket to the ground is lower than the height from the bottom of the boom of the heavy vehicle shifter to the ground; A robotic arm, comprising a hook-removing robot capable of removing and restoring the hook; A mobile bracket, the robotic arm is arranged on the mobile bracket, and the mobile bracket supports the robotic arm; A telescopic component is provided on the top of the fixed bracket, and the movable bracket is provided on the telescopic component. The telescopic component can drive the movable bracket to move in a horizontal plane.

2. The uncoupling device of a railway coupler according to claim 1, characterized in that, The telescopic assembly includes a first push rod, a first driver, a slide rail and a slider matching the slide rail. The slide rail is arranged on the top of the fixed bracket, and the slide rail extends along the direction of the train track. The slider is arranged on the slide rail, and the movable bracket is arranged on the slider. The first driver drives the first push rod to drive the movable bracket to extend or retract along the extension direction of the slide rail.

3. A train coupler unhooking and unhooking system, comprising: A car moving module, which includes a car moving platform and can pull the car entering the car moving platform to the empty car line position; The car shifting module includes a heavy car shifting machine, which pushes out the train car in the dumper and sends it to the corresponding position of the car transfer platform; A hook-removing and re-hooking module, which is used for removing and re-hooking the coupler; The hook-removing module includes the hook-removing device as described in claim 1 or 2, and further includes: a lifting and pinning device, the hook-removing device is fixed to the edge of the vehicle transfer platform, the lifting and pinning device is arranged on the arm of the heavy vehicle shunting machine, and the lifting and pinning device can open the front hook of the heavy vehicle shunting machine.

4. The knuckle system of claim 3, wherein, The pin lifting device includes a bracket arranged on the upper arm, and a rocker arm, a second push rod and a second driver are provided on the bracket. The second driver drives the second push rod to drive the rocker arm to move, and the rocker arm can open the front hook.

5. A method of uncoupling operation of a train coupler-based uncoupling and recoupling system, characterized by The train coupler unhooking and unhooking system is the train coupler unhooking and unhooking system according to claim 4, comprising the following steps: The front hook of the heavy vehicle shifting machine hits the rear hook of the vehicle compartment that has been dumped in the dumper, and the front hook of the heavy vehicle shifting machine and the rear hook of the vehicle compartment are gripped; The movable bracket drives the mechanical arm to move in a direction away from the large arm of the heavy vehicle shifting machine; The heavy vehicle shifting machine pushes the train carriages from the dumper to the track of the moving platform; The movable bracket approaches the rear hook of the carriage; The robotic arm performs hook removal and re-hooking operations; The heavy vehicle shifter was detached from the train car; The mechanical arm detects whether the hook knuckle remains open.

6. The uncoupling operation method of the train coupler-based knuckle pulling and replacing system according to claim 5, characterized in that, The robot arm performs the following sub-steps to perform the hook removal and re-hook operation: The mechanical arm identifies and locates the rear hook of the carriage and lifts the lifting rod of the rear hook; The rocker arm keeps the lifting rod in a lifted state and keeps the front hook closed.

7. The uncoupling operation method of the train coupler-based knuckle pulling and replacing system according to claim 5, characterized in that, The robot arm detects whether the hook tongue remains open and includes the following sub-steps: The heavy vehicle shifting machine moves a preset distance away from the train carriage; The mechanical arm detects the actual distance between the train carriage and the heavy vehicle shifting machine to determine whether the hook tongue is pulled apart; When the actual distance is detected to be less than the preset distance, the heavy car pushes the train carriage towards the direction of the mechanical arm, and the mechanical arm performs the hook picking and replacing operation again. When the actual distance is detected to be not less than the preset distance, the mechanical arm exits the working area.

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