A hook lifting mechanical arm of a railway hump operation robot

Abstract

The embodiment of the present invention provides a hook lifting manipulator for a railway hump operation robot, and relates to the field of railway operation robots. The hook lifting manipulator for the railway hump operation robot comprises: a base, a forearm section, a rear arm section, a manipulator and a third driving mechanism; the base is connected to the forearm section, the end of the forearm section away from the base is connected to the rear arm section, the end of the rear arm section away from the forearm section is connected to the manipulator, and the third driving mechanism is used to drive the manipulator to move. By controlling the rotation of the forearm section relative to the base, the forearm section will drive the rear arm section and the manipulator to move accordingly. At the same time, the rotation of the rear arm section will also drive the manipulator to perform more precise positioning to ensure that the manipulator is docked with the coupler handle. Next, the lifting module will push the manipulator upward to realize the hook lifting operation. The operation efficiency is significantly improved, the fatigue of the operator is reduced, and the accuracy and safety of the operation are enhanced.

Description

Technical Field

[0001] The invention relates to the field of railway operating robots, in particular to a hook lifting mechanical arm of a railway hump operating robot. Background Art

[0002] At present, the hump operation of marshalling yards in my country is completely dependent on manual work. The specific operation process is as follows: The hook operator determines the carriages that need to be hooked and the number of times to be unhooked according to the hook operation order sent by the railway control center. Then, the locomotive pushes the carriage to be unhooked into the hump operation platform. The locomotive controls the propulsion speed of the carriage through the three-color indicator light on the platform. After the hook operator locates the working carriage, he needs to move with the carriage and hold the hook handle to perform multiple bending operations. At the same time, the operator also needs to perform hook protection operations to ensure safety. At the separation point, the operator judges the separation position of the hook based on his own experience. After the carriage to be separated reaches the separation point, due to gravity and inertia, the carriage will slide along the slope to the marshalling yard entrance of the corresponding track.

[0003] The operation process involves multiple links and the working conditions are relatively complex. In addition, since the hump operation needs to be carried out uninterruptedly around the clock, the operators need to work in shifts, which leads to high fatigue intensity. In addition, the existing hook lifting robots have the problem of single action and are not suitable for other types of hook lifting manipulators. Therefore, a new type of hook lifting robot is urgently needed to improve the operation efficiency and reduce the fatigue intensity of operators. Summary of the invention

[0004] According to an embodiment of the present invention, a hook lifting mechanical arm of a railway hump operation robot is provided to solve the problems raised by the above-mentioned background technology.

[0005] In a first aspect of the present invention, a hook lifting mechanical arm of a railway hump operation robot is provided.

[0006] The hook lifting mechanical arm of the railway hump operation robot comprises: a base, a front arm section, a rear arm section, a manipulator and a third driving mechanism; the base is connected to the front arm section, one end of the front arm section away from the base is connected to the rear arm section, one end of the rear arm section away from the front arm section is connected to the manipulator, and the third driving mechanism is used to drive the manipulator to move.

[0007] Preferably, the forearm section includes: a first connecting arm and a first driving mechanism; the first connecting arm is rotatably connected to the base, and the first driving mechanism is connected to the first connecting arm for driving the first connecting arm to rotate.

[0008] Preferably, the first driving mechanism includes a first mounting seat, a first motor, a first reducer and a first flange shaft, the first mounting seat is fixedly connected to the base, the output end of the first motor is connected to the input end of the first reducer, the output end of the first reducer is connected to the first flange shaft, the first flange shaft extends into the first connecting arm and is fixedly connected to the first connecting arm.

[0009] Preferably, the rear arm section includes a second connecting arm and a second driving mechanism, the second driving mechanism is installed at an end of the first connecting arm away from the base, the second connecting arm is rotatably connected to an end of the first connecting arm away from the base, and the second driving mechanism is also connected to the second connecting arm for driving the second connecting arm to rotate.

[0010] Preferably, the second driving mechanism includes a second motor, a second reducer and a second flange shaft; the second motor and the second reducer are respectively fixedly mounted on the first connecting arm, the output end of the second motor is connected to the input end of the second reducer, the output end of the second reducer is connected to the second flange shaft, the second flange shaft passes through the first connecting arm and the second connecting arm, the second flange shaft is fixedly connected to the second connecting arm, and the second flange shaft is rotatably connected to the first connecting arm.

[0011] Preferably, the third driving mechanism includes a third motor, a third reducer, a connecting rod mechanism and a transmission assembly; the third motor and the third reducer are both installed on the base, the output end of the third motor is connected to the third reducer, the output end of the third reducer is connected to the connecting rod mechanism through the transmission assembly, and the end of the connecting rod mechanism away from the transmission assembly is connected to the manipulator.

[0012] Preferably, the transmission assembly includes a driving sprocket, a driven sprocket and a transmission chain, the driving sprocket is connected to the output end of the third reducer, the driven sprocket is connected to the connecting rod mechanism, and the driving sprocket and the driven sprocket are connected through the transmission chain.

[0013] Preferably, the connecting rod mechanism includes a shift rod, a first connecting rod, a second connecting rod and a connecting block; the shift rod is rotatably connected to the base, the driven sprocket is connected to the shift rod, the end of the shift rod away from the driven sprocket is connected to the first connecting rod, the connecting block is rotatably connected to the first connecting arm, the end of the first connecting rod away from the shift rod is rotatably connected to the connecting block, the second connecting rod is rotatably connected to the connecting block, and the end of the second connecting rod away from the connecting block is connected to the manipulator.

[0014] Preferably, the manipulator comprises a mounting structure and a gripping mechanism connected to the rear arm section, wherein the gripping mechanism is connected to the mounting structure and is used to limit the position of the coupler handle;

[0015] The gripping mechanism includes a main body, an angle bracket, a spring, a slider, a tension spring, a steering claw and a stopper; the main body is connected to the mounting structure, the angle bracket is fixedly mounted on the main body, the slider is slidably connected to the main body, and the stopper is fixedly connected to the slider; the spring is connected between the angle bracket and the slider, and the spring is used to provide an elastic force for the slider to move away from the angle bracket, the steering claw is rotatably connected to the main body, and the tension spring is connected between the slider and the steering claw.

[0016] Preferably, the manipulator further comprises an identification device, which comprises a bracket and an identification camera, and the identification camera is connected to the mounting structure via the bracket.

[0017] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0018] The present invention provides a hook-lifting mechanical arm of a railway hump operation robot. By controlling the rotation of the forearm section relative to the base, the forearm section will drive the rear arm section and the manipulator to perform corresponding movements. At the same time, the rotation of the rear arm section will also drive the manipulator to perform more precise positioning to ensure that the manipulator is docked with the coupler handle. Next, the lifting module will push the mechanical arm upward to achieve the hook-lifting operation. It significantly improves the operating efficiency, reduces the fatigue of the operator, and enhances the accuracy and safety of the operation. Its flexible adaptability enables it to cope with different types of carriages, supports uninterrupted operation around the clock, and reduces the risk of human errors and accidents. In addition, mechanized operation also reduces labor intensity and provides a safer working environment for operators. On the whole, the system not only improves the operating efficiency of the marshalling yard, but also optimizes working conditions.

[0019] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other features, advantages and aspects of the embodiments of the present invention will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0021] Figure 1 A schematic diagram of the three-dimensional structure of a hook lifting mechanical arm of a railway hump operation robot from a first perspective is shown according to an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of the three-dimensional structure of the hook lifting mechanical arm of the railway hump operation robot according to an embodiment of the present invention is shown in a second viewing angle;

[0023] Figure 3 A schematic plan view of the structure of a hook lifting mechanical arm of a railway hump operation robot according to an embodiment of the present invention is shown;

[0024] Figure 4 A schematic cross-sectional view of a hook lifting mechanical arm of a railway hump operation robot according to an embodiment of the present invention is shown;

[0025] Figure 5 A schematic diagram of the three-dimensional structure of a manipulator of a hook lifting manipulator arm of a railway hump operation robot according to an embodiment of the present invention is shown;

[0026] Figure 6 A schematic structural diagram showing the connection between the hook lifting mechanical arm and the lifting module of the railway hump operation robot according to an embodiment of the present invention;

[0027] Figure 7 A schematic diagram of the three-dimensional structure of the connection between the coupler handle and the coupler seat according to an embodiment of the present invention is shown.

[0028] Description of Reference Numerals

[0029] 1-base, 2-forearm section, 21-first connecting arm, 22-first driving mechanism, 221-first mounting seat, 222-first motor, 223-first reducer, 224-first flange shaft, 3-rear arm section, 31-second connecting arm, 32-second driving mechanism, 321-second motor, 322-second reducer, 323-second flange shaft, 4-manipulator, 41-installation structure, 42-gripping mechanism, 421-main body, 422-angle bracket, 423-spring, 424-slider, 42 5-tension spring, 426-steering claw, 427-block, 5-third driving mechanism, 51-third motor, 52-third reducer, 53-connecting rod mechanism, 531-shift rod, 532-first connecting rod, 533-second connecting rod, 534-connecting block, 535-swinging member, 54-transmission assembly, 541-driving sprocket, 542-moving sprocket, 543-transmission chain, 6-coupler handle, 7-identification device, 71-bracket, 72-identification camera, 8-lifting module, 9-coupler seat, 91-handle hole. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In addition, the term "and / or" in this article is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0032] like Figures 1 to 6 As shown, the hook lifting manipulator of the railway hump operation robot includes the following components: a base 1, a front arm section 2, a rear arm section 3, a manipulator 4 and a third driving mechanism 5. The base 1 is connected to the front arm section 2, the end of the front arm section 2 away from the base 1 is connected to the rear arm section 3, and the end of the rear arm section 3 away from the front arm section 2 is connected to the manipulator 4. The third driving mechanism 5 is used to drive the manipulator 4 to move.

[0033] In actual use, Figure 6 As shown, the base 1 is connected to the existing lifting module 8, and the lifting module 8 is connected to the walking mechanism. The lifting module 8 is used to adjust the height of the mechanical arm to meet the height requirements of different carriages; and the walking mechanism ensures that the mechanical arm keeps synchronous movement with the carriage in the walking state.

[0034] During the specific operation, by controlling the rotation of the front arm section 2 relative to the base 1, the front arm section 2 will drive the rear arm section 3 and the manipulator 4 to perform corresponding movements. At the same time, the rotation of the rear arm section 3 will also drive the manipulator 4 to perform more precise positioning to ensure that the manipulator 4 is docked with the coupler handle 6. Next, the lifting module will push the manipulator up to realize the hook lifting operation. It significantly improves the operating efficiency, reduces the fatigue of the operator, and enhances the accuracy and safety of the operation. Its flexible adaptability enables it to cope with different types of carriages, supports uninterrupted operation around the clock, and reduces the risk of human errors and accidents. In addition, mechanized operation also reduces labor intensity and provides a safer working environment for operators. On the whole, the system not only improves the operating efficiency of the marshalling yard, but also optimizes working conditions.

[0035] Among them, the lifting module is an existing automation equipment, which is widely used in industrial robots and mechanical arm systems to adjust the working height and position. Its main function includes achieving precise height adjustment through electric or hydraulic drive. The use method and working principle of the lifting module are technical means well known to those skilled in the art, and will not be described in detail here.

[0036] Specifically, the forearm section 2 includes a first connecting arm 21 and a first driving mechanism 22. The first connecting arm 21 is connected to the base 1 by rotation, so that it can rotate around the base 1. The first driving mechanism 22 is connected to the first connecting arm 21, and is used to drive the first connecting arm 21 to rotate.

[0037] The first driving mechanism 22 is composed of a first mounting seat 221, a first motor 222, a first reducer 223 and a first flange shaft 224. The first mounting seat 221 is fixedly connected to the base 1 to ensure the stability of the driving mechanism. The output end of the first motor 222 is connected to the input end of the first reducer 223 to transmit the power of the motor; and the output end of the first reducer 223 is connected to the first flange shaft 224. The first flange shaft 224 extends into the first connecting arm 21 and is fixedly connected thereto.

[0038] When the first motor 222 is started, the power of the motor is decelerated by the first reducer 223, and then transmitted to the first connecting arm 21 by the first flange shaft 224, causing it to rotate relative to the base 1. This design not only improves the stability and reliability of the drive, but also realizes the precise control of the forearm section 2, thereby improving the operating efficiency of the entire hook lifting robot arm.

[0039] Specifically, the rear arm section 3 includes a second connecting arm 31 and a second driving mechanism 32. The second driving mechanism 32 is installed at one end of the first connecting arm 21 away from the base 1, and the second connecting arm 31 is connected to the first connecting arm 21 at the end away from the base 1 by rotation. The second driving mechanism 32 is connected to the second connecting arm 31 and is responsible for driving the rotation of the second connecting arm 31.

[0040] The second driving mechanism 32 is composed of a second motor 321, a second reducer 322 and a second flange shaft 323. The second motor 321 and the second reducer 322 are respectively fixedly mounted on the first connecting arm 21 to ensure stability. The output end of the second motor 321 is connected to the input end of the second reducer 322 to form a power transmission path; at the same time, the output end of the second reducer 322 is connected to the second flange shaft 323. The second flange shaft 323 penetrates the first connecting arm 21 and the second connecting arm 31, and is fixedly connected to the second connecting arm 31, and is rotatably connected to the first connecting arm 21.

[0041] When the second motor 321 is started, the power of the motor is decelerated by the second reducer 322, and then transmitted to the second connecting arm 31 by the second flange shaft 323, causing it to rotate accordingly. This design not only realizes the precise control of the rear arm section 3, but also effectively improves the operational flexibility and efficiency of the hook lifting mechanical arm.

[0042] Specifically, the third driving mechanism 5 includes a third motor 51, a third reducer 52, a connecting rod mechanism 53 and a transmission assembly 54; the third motor 51 and the third reducer 52 are both installed on the base 1, the output end of the third motor 51 is connected to the third reducer 52, the output end of the third reducer 52 is connected to the connecting rod mechanism 53 through the transmission assembly 54, and the end of the connecting rod mechanism 53 away from the transmission assembly 54 is connected to the manipulator 4. The third motor 51 inputs power from the input end of the third reducer 52, the output end of the third reducer 52 drives the connecting rod mechanism 53 to move through the transmission assembly 54, and the connecting rod mechanism 53 drives the manipulator 4 to move.

[0043] The transmission assembly 54 includes a driving sprocket 541, a driven sprocket 542 and a transmission chain 543. The driving sprocket 541 is connected to the output end of the third reducer 52, the driven sprocket 542 is connected to the connecting rod mechanism 53, and the driving sprocket 541 and the driven sprocket 542 are connected through the transmission chain 543. The output end of the third reducer 52 drives the driving sprocket 541 to rotate, and the driving sprocket 541 drives the driven sprocket 542 to rotate through the transmission chain 543. The rotation of the driven sprocket 542 can drive the connecting rod mechanism 53 to operate.

[0044] The linkage mechanism 53 includes a lever 531, a first link 532, a second link 533 and a connecting block 534. The lever 531 is connected to the base 1 by rotation, and the driven sprocket 542 is connected to the lever 531. The end of the lever 531 away from the driven sprocket 542 is connected to the first link 532, and the connecting block 534 is connected to the first connecting arm 21 by rotation. The end of the first link 532 away from the lever 531 is connected to the connecting block 534 by rotation, and the second link 533 is also connected to the connecting block 534 by rotation, and the end away from the connecting block 534 is connected to the manipulator 4.

[0045] like Figure 3As shown, when the driven sprocket 542 rotates, the lever 531 is driven to rotate. The rotation of the lever 531 causes the first connecting rod 532 to swing, thereby driving the connecting block 534 to move. The movement of the connecting block 534 causes the second connecting rod 533 to swing, and the second connecting rod 533 is connected to the manipulator 4 through the swinging member 535, and is rotationally connected to the swinging member 535. The swinging member 535 is fixedly connected to the manipulator 4, so the swinging of the second connecting rod 533 directly drives the swinging member 535 to move, and finally realizes the adjustment of the manipulator 4 relative to the second connecting arm 31. Finally, the position of the manipulator 4 corresponds to the coupler handle 6 to ensure that the lifting operation is completed smoothly.

[0046] like Figure 7 As shown, in this embodiment, the coupler handle 6 takes the existing No. 17 coupler as an example. The coupler handle 6 is an L-shaped structure, one part of which is perpendicular to the ground, and the other part extends horizontally to the coupler, parallel to the ground. The gripping mechanism 42 can effectively grasp the vertical part of the coupler handle 6 through its mechanical structure, ensuring stability and reliability during the grasping process. The coupler handle 6 passes through the handle hole 91 on the coupler seat 9. The handle hole 91 is composed of a straight groove and a circle. The flat part of the coupler handle 6 extends into the straight groove. Since the flat part cooperates with the straight groove of the handle hole 91, it cannot rotate. The hook lifting operation requires lifting the coupler handle 6 upwards, so that the flat part moves from the straight groove to the circle, and the coupler handle 6 is rotated to complete the hook lifting operation.

[0047] Specifically, the manipulator 4 includes a mounting structure 41 connected to the rear arm section 3 and a gripping mechanism 42 . The gripping mechanism 42 is connected to the mounting structure 41 and is used to limit the coupler handle 6 .

[0048] In actual use, the movement of the mechanical arm drives the gripping mechanism 42 to move along a specified path through the mounting structure 41, and the gripping mechanism 42 performs a gripping action after it is aligned with the coupler handle 6. After the gripping is completed, the mechanical arm drives the mounting structure 41 and the gripping mechanism 42 to move up in a vertical direction to complete the hook lifting operation.

[0049] The gripping mechanism 42 includes a main body 421, an angle bracket 422, a spring 423, a slider 424, a tension spring 425, a steering claw 426 and a stopper 427; the main body 421 is connected to the mounting structure 41, the angle bracket 422 is fixedly mounted on the main body 421, the slider 424 is slidably connected to the main body 421, and the stopper 427 is fixedly connected to the slider 424; the spring 423 is connected between the angle bracket 422 and the slider 424, and the spring 423 is used to provide an elastic force for the slider 424 to move away from the angle bracket 422, the steering claw 426 is rotatably connected to the main body 421, and the tension spring 425 is connected between the slider 424 and the steering claw 426.

[0050] In the initial state, as shown in the figure, the steering claw 426 is flush with the main body 421. At this time, the steering claw 426 is in an open state, and the tension spring 425 is also in a relaxed state. In actual use, when the stopper 427 corresponds to the coupler handle 6, the mechanical arm drives the mounting structure 41 and the gripping mechanism 42 to move in the direction close to the coupler handle 6, and at the same time, the side of the steering claw 426 close to the slider 424 is fitted with the coupler handle 6. After the stopper 427 contacts the coupler handle 6, the gripping mechanism 42 continues to move, and then under the action of the coupler handle 6, the slider 424 slides on the main body 421, and the spring 423 is compressed. The sliding of the slider 424 will drive the tension spring 425 to stretch, and the tension spring 425 provides elastic force for the steering claw 426. Then, under the action of the tension spring 425, the steering claw 426 rotates, causing the end of the steering claw 426 away from the main body 421 to approach or contact the stopper 427. At this time, a gripping space for accommodating the coupler handle 6 is formed between the steering claw 426 and the stopper 427. Then, the lifting module 8 drives the mechanical arm to lift upward, so that the mechanical arm drives the coupler handle 6 to move upward to perform the hook lifting operation. After the hook lifting operation is completed, it is only necessary to control the installation structure 41 and the gripping mechanism 42 through the mechanical arm to move in the direction away from the coupler handle 6. Subsequently, under the action of the restoring force of the spring 423, the slider 424 slides in the direction away from the angle bracket 422, the tension spring 425 gradually recovers, and the steering claw 426 contacts the coupler handle 6 and returns to the initial state for the next use. In the process of positioning the coupler handle 6, the manipulator only needs to make the block 427 correspond to the coupler handle 6, and the block 427 is a plate structure, which makes it easy to make the coupler handle 6 on the side of the block 427 close to the steering claw 426. If the coupler handle 6 is bent or offset, the coupler handle 6 will also be on the side of the block 427, so as to capture and grip the coupler handle 6. This solves the problem that the existing manipulator cannot effectively align the coupler handle 6, resulting in grasping failure or inaccurate positioning.

[0051] Specifically, the manipulator 4 further includes an identification device 7, which includes a bracket 71 and an identification camera 72, and the identification camera 72 is connected to the mounting structure 41 through the bracket 71. In the actual operation process, the identification camera 72 first performs an initial identification, and obtains the spatial position, angle and surrounding environment of the coupler handle 6 through depth perception and three-dimensional modeling technology. After identifying the position of the coupler handle 6, the lifting module and the robot arm in the robot system will drive the manipulator 4 to move to the front of the coupler handle 6 according to the identified position information.

[0052] When the manipulator 4 approaches the coupler handle 6, the recognition camera 72 will perform secondary recognition to further detect the posture of the coupler handle 6 (such as angle, inclination, etc.) and obstacles on the movement path of the manipulator 4. At this time, the recognition camera 72 will analyze the interference on the path, such as whether there is a deformed ladder or other structural objects blocking the coupler handle 6. Based on these recognition results, the system can adjust the movement path of the manipulator 4 to ensure that it can approach the coupler handle 6 at the best angle, avoid interfering obstacles, and successfully complete the grasping operation.

[0053] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A hook lifting mechanical arm of a railway hump operation robot, characterized in that: include: A base (1), a front arm section (2), a rear arm section (3), a manipulator (4) and a third driving mechanism (5); the base (1) is connected to the front arm section (2), one end of the front arm section (2) away from the base (1) is connected to the rear arm section (3), one end of the rear arm section (3) away from the front arm section (2) is connected to the manipulator (4), and the third driving mechanism (5) is used to drive the manipulator (4) to move; The manipulator (4) comprises a mounting structure (41) connected to the rear arm section (3) and a gripping mechanism (42); the gripping mechanism (42) is connected to the mounting structure (41) and is used to limit the position of the coupler handle (6); The gripping mechanism (42) comprises a main body (421), an angle frame (422), a spring (423), a slider (424), a tension spring (425), a steering claw (426) and a stopper (427); the main body (421) is connected to the mounting structure (41); the angle frame (422) is fixedly mounted on the main body (421); the slider (424) is slidably connected to the main body (421); and the stopper (427) is fixedly connected to the slider (424); the spring (423) is connected between the angle frame (422) and the slider (424); the spring (423) is used to provide an elastic force for the slider (424) to move away from the angle frame (422); the steering claw (426) is rotatably connected to the main body (421); and the tension spring (425) is connected between the slider (424) and the steering claw (426).

2. The hook lifting mechanical arm of the railway hump operation robot according to claim 1, characterized in that: The forearm section (2) comprises: a first connecting arm (21) and a first driving mechanism (22); the first connecting arm (21) is rotatably connected to the base (1), and the first driving mechanism (22) is connected to the first connecting arm (21) and is used to drive the first connecting arm (21) to rotate.

3. The hook lifting mechanical arm of the railway hump operation robot according to claim 2, characterized in that: The first driving mechanism (22) comprises a first mounting seat (221), a first motor (222), a first reducer (223) and a first flange shaft (224); the first mounting seat (221) is fixedly connected to the base (1); the output end of the first motor (222) is connected to the input end of the first reducer (223); the output end of the first reducer (223) is connected to the first flange shaft (224); the first flange shaft (224) extends into the first connecting arm (21) and is fixedly connected to the first connecting arm (21).

4. The hook lifting mechanical arm of the railway hump operation robot according to claim 2, characterized in that: The rear arm section (3) comprises a second connecting arm (31) and a second driving mechanism (32); the second driving mechanism (32) is mounted on an end of the first connecting arm (21) away from the base (1); the second connecting arm (31) is rotatably connected to an end of the first connecting arm (21) away from the base (1); the second driving mechanism (32) is also connected to the second connecting arm (31) for driving the second connecting arm (31) to rotate.

5. The hook lifting mechanical arm of the railway hump operation robot according to claim 4, characterized in that: The second driving mechanism (32) comprises a second motor (321), a second reducer (322) and a second flange shaft (323); the second motor (321) and the second reducer (322) are respectively fixedly mounted on the first connecting arm (21); the output end of the second motor (321) is connected to the input end of the second reducer (322); the output end of the second reducer (322) is connected to the second flange shaft (323); the second flange shaft (323) passes through the first connecting arm (21) and the second connecting arm (31); the second flange shaft (323) is fixedly connected to the second connecting arm (31); and the second flange shaft (323) is rotationally connected to the first connecting arm (21).

6. The hook lifting mechanical arm of the railway hump operation robot according to claim 4, characterized in that: The third driving mechanism (5) comprises a third motor (51), a third reducer (52), a connecting rod mechanism (53) and a transmission assembly (54); the third motor (51) and the third reducer (52) are both mounted on the base (1); the output end of the third motor (51) is connected to the third reducer (52); the output end of the third reducer (52) is connected to the connecting rod mechanism (53) via the transmission assembly (54); and one end of the connecting rod mechanism (53) away from the transmission assembly (54) is connected to the manipulator (4).

7. The hook lifting mechanical arm of the railway hump operation robot according to claim 6, characterized in that: The transmission assembly (54) comprises a driving sprocket (541), a driven sprocket (542) and a transmission chain (543); the driving sprocket (541) is connected to the output end of the third reducer (52); the driven sprocket (542) is connected to the connecting rod mechanism (53); and the driving sprocket (541) and the driven sprocket (542) are connected via the transmission chain (543).

8. The hook lifting mechanical arm of the railway hump operation robot according to claim 7, characterized in that: The link mechanism (53) comprises a shifting rod (531), a first link (532), a second link (533) and a connecting block (534); the shifting rod (531) is rotatably connected to the base (1); the driven sprocket (542) is connected to the shifting rod (531); one end of the shifting rod (531) away from the driven sprocket (542) is connected to the first link (532); the connecting block (534) is rotatably connected to the first connecting arm (21); one end of the first link (532) away from the shifting rod (531) is rotatably connected to the connecting block (534); the second link (533) is rotatably connected to the connecting block (534); and one end of the second link (533) away from the connecting block (534) is connected to the manipulator (4).

9. The hook lifting mechanical arm of the railway hump operation robot according to claim 1, characterized in that: The manipulator (4) further comprises an identification device (7), wherein the identification device (7) comprises a bracket (71) and an identification camera (72), and the identification camera (72) is connected to the mounting structure (41) via the bracket (71).

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