Intelligent hook lifting robot for railway marshalling station

Abstract

The invention discloses an intelligent hook lifting robot system for a railway marshalling station and a method of the intelligent hook lifting robot system. The system comprises a placing robot (1), a recycling robot (2), a transferring robot (3), an executing robot (4) and a common robot running track (5). The placing robot (1) is responsible for putting the executing robot (4) to a train hook lifting position; the executing robot (4) completes hook lifting and keeps hook protection until the vehicle leaves the opening; the recovery robot (2) is responsible for taking back the execution robot (4); and the transfer robot (3) transfers the execution robot (4) between the recovery robot and the placement robot to form circulation. Through multi-robot collaborative operation and monorail circulation, the problems that in the prior art, adaptability is poor, and continuous operation efficiency is low are solved, and efficient and continuous hook lifting operation of train couplers of various types is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of railway transportation automation, in particular to an intelligent lifting hook robot system for a railway marshalling station and a working method. BACKGROUND

[0002] The railway marshalling station is the core hub of the railway freight transport network, and undertakes the key task of train disassembly and recombination. The lifting hook operation, i.e. lifting the train hook wrench (train lifting hook rod) to separate the vehicles, is a key link in the train disassembly process, which directly affects the efficiency of marshalling and the safety of transportation. At present, the lifting hook operation of the railway marshalling station mainly relies on manual operation or single-function automatic equipment, which has the following outstanding problems: Poor operation adaptability: the types of railway vehicles in China are diverse, the specifications and forms of train hooks and train lifting hook rods are different, and some old vehicles have complex working conditions such as train hook deformation and component binding. The existing lifting hook equipment is mostly single-function, which is difficult to adapt to the complex working conditions of the diverse specifications of train hooks of railway vehicles in China, the deformation or binding of train hooks of some old vehicles, and the insufficient compatibility of lifting hooks for different vehicle types, which may cause operation failure or equipment jamming.

[0003] Low continuous operation efficiency: the traditional lifting hook equipment lacks an efficient circulation mechanism, and after single lifting, it needs to be manually reset or the equipment returns by itself, resulting in long operation gaps and inability to meet the demand for continuous lifting in a short window (3-5 seconds) during the train running process (3-7 km / h) in the marshalling station, especially for long hook, medium hook and short hook continuous disassembly operation scenes according to the hook plan.

[0004] Lack of collaborative operation capability: the existing technology mainly relies on a single robot to complete the whole lifting hook process, and does not form a functional split and collaborative mechanism. In the environment with limited operation space (about 1.2 meters) and surrounding component interference, it is difficult to balance the lifting hook precision, hook stability and equipment recovery efficiency, and the operation continuity may be affected by action conflict or scheduling lag.

[0005] Device scheduling and adaptation conflict: the layout of the hump of different marshalling stations and the operation process are quite different, and the current single application scenario of the equipment cannot balance the customization and scale application, and the existing equipment lacks adaptability to various vehicle types and does not have the conditions for business operation.

[0006] Therefore, there is an urgent need in the field for an intelligent system and method with multi-robot collaborative operation capability, adaptation to various train hook types, and continuous and efficient lifting, to solve the deficiencies of the existing technology in adaptability, efficiency and business rationality. SUMMARY

[0007] (I) Invention purpose The present application aims to overcome the defects of the existing railway marshalling station hook lifting technology, and provides a railway marshalling station intelligent hook lifting robot system and a working method, which can improve the continuous working efficiency and the adaptability to different vehicle types and train hook types through multi-robot function splitting and collaborative work, realize the cyclic hook lifting work of long hook, middle hook and short hook according to the hook plan, and reduce the working cost and safety risk.

[0008] (II) Technical solutions To achieve the above-mentioned purpose, the present application adopts the following technical solutions: A railway marshalling station intelligent hook lifting robot, comprising: A placing robot for carrying and placing an execution robot to a train hook lifting position; A recycling robot for taking back the execution robot which has completed the work from the hook lifting position; A transfer robot for transferring the execution robot between the recycling robot and the placing robot to realize cyclic use; An execution robot for performing hook lifting and hook protection operations at the hook lifting position, and keeping the hook protection state after hook lifting until the vehicle is safely separated; A shared robot running track, and the placing robot, recycling robot and transfer robot are movably arranged on the track.

[0009] Further, the placing robot comprises a first track vehicle, a first track locking mechanism, a first collaborative manipulator, an execution robot storage area and an intelligent sensing part for sensing the train running speed and the position information required for work; the end of the first collaborative manipulator is provided with a grabbing mechanism for grabbing the execution robot.

[0010] Further, the recycling robot comprises a second track vehicle, a second track locking mechanism, a second collaborative manipulator and an execution robot recycling area; the end of the second collaborative manipulator is provided with a taking tool for grabbing the execution robot.

[0011] Further, the transfer robot comprises a third track vehicle, a third track locking mechanism, a third collaborative manipulator, an execution robot transfer storage area and a first and a second connecting mechanism for realizing the connected movement of the transfer robot with the placing robot and the recycling robot; the end of the third collaborative manipulator is provided with a taking tool for grabbing the execution robot.

[0012] Further, the execution robot comprises an adaptive clamping support device, a lifting rod mechanism and a hook lifting mechanism; the adaptive clamping support device is used for fixing on the train hook rod support; the lifting rod mechanism is used for lifting the train hook rod before hook lifting; and the hook lifting mechanism is used for rotating the train hook rod to complete the hook lifting action.

[0013] An intelligent uncoupling operation method for a railway marshalling station based on the above comprises the following steps: A parking step: the placing robot carries the execution robot along the robot running track according to the hook plan and train marshalling information, and accurately places and fixes the execution robot at the uncoupling position of the train; A hooking and protecting step: the execution robot completes the uncoupling operation at the uncoupling position and keeps protecting the uncoupling position until the train vehicle leaves the station; A recycling step: the recycling robot moves to the uncoupling position, grabs and recycles the execution robot that has completed the protecting operation; A transfer and circulation step: the transfer robot receives the recycled execution robot from the recycling robot and transfers it to the placing robot to realize the circulation use of the execution robot.

[0014] In the placing step, the placing robot dynamically adjusts its moving speed by sensing the train running speed and temporarily connects with the rear part of the train carriage through the first grabbing mechanism to stabilize its position.

[0015] In the hooking and protecting step, according to various uncoupling actions of the train uncoupling rod, the execution robot can choose to first perform the rod lifting operation through the rod lifting mechanism, then perform the uncoupling operation through the uncoupling mechanism, or directly perform the uncoupling operation through the uncoupling mechanism.

[0016] In the transfer and circulation step, the transfer robot realizes the connected movement with the placing robot or the recycling robot through the first magnetic attraction or grabbing tool and the second magnetic attraction or grabbing tool to complete the transfer of the execution robot.

[0017] (Three) beneficial effects Compared with the prior art, the present application has the following beneficial effects: Strong adaptability: through the self-adaptive clamping, rod lifting and uncoupling mechanism design of the execution robot, the parking and uncoupling of different specifications of train couplings can be compatible, and the working conditions of the deformation of part of old train couplings are also solved, thus solving the adaptability problem.

[0018] High continuous operation efficiency: the cooperative operation mode of the placing robot, the recycling robot and the transfer robot is adopted, the circulation flow of the execution robot is realized in combination with a single robot running track, manual intervention or equipment return waiting is not required, the operation gap is greatly shortened, and the continuous uncoupling demand of long couplings, medium couplings and short couplings in the marshalling station is met.

[0019] Job stability is excellent: the functions of each robot are clearly separated, precise positioning and movement are achieved through the robot running track, mutual interference during the operation process is avoided, and the execution robot is equipped with each machine hook position sensor and hook lifting rear hook protection, which can ensure the accuracy of the hook lifting action and the stability of the train car hook state after unlocking, reduce the failure rate and safety risk of operation.

[0020] Flexible layout: the design of single track simplifies the installation and debugging process, and the number of robots and track layout can be flexibly adjusted according to the layout of the marshalling station hump, the operation scale, and the application requirements of large hub station cluster operation and small marshalling station single device, thereby reducing the cost. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is the overall layout schematic diagram of the intelligent hook lifting robot of the railway marshalling station. Wherein 1 is a robot, 2 is a recycling robot, 3 is a transfer robot, 4 is an execution robot, 5 is a robot running track, and 6 is a train track.

[0022] Figure 2 is a structural schematic diagram of the robot in the present application. Wherein 5 is a robot running track, 11 is a mechanism for grabbing the tail of a train car, 12 is a first collaborative mechanical arm, 13 is a first collaborative mechanical arm end for grabbing an execution robot electromagnet or grabbing tool, 14 is an execution robot storage area, 15 is a first track car, and 16 is a first track locking mechanism for the robot.

[0023] Figure 3 is a structural schematic diagram of the recycling robot in the present application. Wherein 5 is a robot running track, 21 is a mechanism for grabbing the tail of a train car, 22 is a second collaborative mechanical arm, 23 is a second collaborative mechanical arm end for grabbing an execution robot electromagnet or grabbing tool, 24 is an execution robot recycling storage area, 25 is a second track car, and 26 is a second track locking mechanism for the recycling robot.

[0024] Figure 4 is a structural schematic diagram of the transfer robot in the present application. Wherein 5 is a robot running track, 31 is a taking and placing collaborative mechanical arm, 32 is a taking and placing collaborative mechanical arm end for grabbing an execution robot electromagnet or grabbing tool, 33 is an execution robot transfer storage area, 34 is a third track car, 35 is a third track locking mechanism for the transfer robot, 36 is a first connecting mechanism for moving with the robot, and 37 is a second connecting mechanism for moving with the recycling robot.

[0025] Figure 5 is a structural schematic diagram of the execution robot in the present application. Wherein 41 is a parked car clamping hook rod supporting device, 42 is a rod lifting mechanism, 43 is a hook lifting mechanism, 44 is an outer cover, and 45 is a magnetic attraction or grabbing positioning device.

[0026] Figure 6 Figure 1 is a schematic diagram of the robot executing the hook lifting rod operation of different specifications of trains. Wherein 7 is a train compartment, 4 is an execution robot, 72 is a train hook lifting rod, 41 is a parking clamping hook rod support device, 42 is a rod lifting mechanism, and 43 is a hook lifting mechanism.

[0027] Figure 7 Figure 2 is a schematic diagram of the robot executing the hook lifting operation of the train related parts. Wherein 6 is a train track, 7 is a train compartment, 71 is a train hook, 72 is a train hook lifting rod, and 73 is a hook lifting rod support. DETAILED DESCRIPTION

[0028] The technical solutions of the present application will be further described in detail below in combination with the drawings and specific embodiments. Those skilled in the art can understand that these embodiments are only used to explain the present application, and do not constitute a limitation on the protection scope of the present application.

[0029] First, the composition and core components of the intelligent hook lifting robot of the railway marshalling station of the present application are explained in detail. As shown in Figure 1 , the core of the intelligent hook lifting robot of the railway marshalling station of the present application is to build a cooperative operation composed of a placing robot 1, a recycling robot 2, a transfer robot 3, an execution robot 4 and a shared robot running track 5. The system is arranged along the train track 6, maintaining a safe distance from the train.

[0030] The placing robot 1 (see Figure 2 ) The placing robot 1 is a "launching unit" responsible for accurately deploying the execution robot 4 to the moving train. Its core components include: First track vehicle 15: as a mobile chassis, driven by a servo motor, can be high-precision positioning and speed tracking on the robot running track 5.

[0031] First cooperative manipulator 12: a multi-degree-of-freedom manipulator with a first grabbing mechanism 13 (such as an electromagnetic suction cup or an adaptive mechanical gripper) at the end, used for reliable grabbing and releasing the execution robot 4.

[0032] Execution robot storage area 14: a multi-position storage area with positioning and buffering functions, used for storing the execution robot 4 to be launched.

[0033] Intelligent sensing system (not shown separately in the figure): integrating vision cameras, laser radars and other sensors, used for real-time sensing of train speed, train compartment profile and three-dimensional coordinates of target hook lifting point.

[0034] First train car tail grabbing mechanism 11: a hydraulic or pneumatic driven clamp, which can be temporarily connected with the car tail during the delivery operation, to achieve synchronization with the train speed and stability of its own posture.

[0035] Robot placement and first track locking mechanism 16: when the robot is stationary, the mechanism (such as a pneumatic bolt or clamp brake) can firmly lock it on the track to prevent displacement due to vibration or external force, ensuring safe operation.

[0036] (2) Recycling robot 2 (see Figure 3 ) The recycling robot 2 is a "recycling unit" with similar structure but opposite function to the placement robot 1, mainly responsible for recycling the completed execution robot 4. It includes: Second track car 25, recycling robot and second track locking mechanism 26, collaborative robot arm end grabbing execution robot electromagnet or grabbing tool 23, second collaborative robot arm 22, execution robot recycling storage area 24 and second train car tail grabbing mechanism 21. The second track car 25 moves along the robot running track 5, and the track car driving mechanism provides power for it with a servo motor; the intelligent sensing part is used to sense the train speed, the position required for the operation and other information; the second collaborative robot arm 22 is used for precise grabbing and delivery of the execution robot 4; the execution robot recycling storage area 24 can store 8 execution robots 4; the second train car tail grabbing mechanism 21 is used to synchronize with the train speed and stabilize its own position when delivering the execution robot 4, and the recycling robot and the second track locking mechanism 26 are used to prevent derailment and overturning during operation to avoid safety accidents.

[0037] (3) Transfer robot 3 (see Figure 4 ) The transfer robot 3 is a "logistics hub" responsible for transferring the execution robot 4 between the placement area and the recycling area, forming a closed loop. It includes: Third track car 34, which runs back and forth in the designated transfer area of the robot running track 5.

[0038] Pick-and-place collaborative robot arm 31 and third grabbing mechanism 32: used for pick-and-place operation between execution robot storage areas.

[0039] Execution robot transfer storage area 33: used for temporary storage of execution robots 4 received from the recycling robot 2.

[0040] First and second connecting mechanisms 36 and 37: these mechanisms can be strong magnetic adsorption units or mechanical clamps, used to temporarily form a rigid connection (connected movement) with the placement robot 1 or the recycling robot 2 when transferring the execution robot, ensuring stability and accuracy during the transfer process.

[0041] The transfer robot and the third rail locking mechanism 35: used to lock itself during the transfer operation to prevent derailment, rollover and other safety accidents during the operation.

[0042] The execution robot 4 (see Figure 5 、 Figure 6 、 Figure 7 ) The execution robot 4 is the "end tool" that directly performs the hook task, and its design fully considers adaptability and reliability. It includes: The parking clamping hook rod support device 41: adopts an adaptive jaw design, which can adapt to different sizes and shapes of hook rod supports 73, and provides sufficient clamping force to fix on the moving train.

[0043] The rod lifting mechanism 42: located below the train hook rod 72. For the downward acting train hook or part of the special upward acting train hook, the train hook rod needs to be lifted to a certain angle before hooking, and this mechanism is responsible for completing this preliminary action.

[0044] The hooking mechanism 43: the core execution mechanism, usually driven by a rotary motor or a cylinder, used to hook or clamp the train hook rod 72 and make it rotate, finally completing the separation of the train hook 71.

[0045] Sensor system (integrated internally): including position sensors, force sensors, etc., used to detect the train hook state, train hook rod position, and feedback to the control system to adaptively adjust the clamping force, rod lifting height and hooking angle.

[0046] Magnetic or grabbing positioning device 45: matched with the grabbing mechanism of the mechanical arm, convenient for handling.

[0047] Cover 44: provides protection to ensure stable operation of the internal mechanism in harsh environments.

[0048] The parking clamping hook rod support device 41 is used to fix the parking on the train, the rod lifting mechanism 42 is below the train hook rod, and the hooking mechanism 43 drives the train hook rod 72 to rotate the hook; the execution robot 4 adapts to the operation requirements of various specifications of hooks, and the execution robot 4 clamps the hook rod support of various types of train cars, the rod lifting mechanism is below the train hook rod, the hooking mechanism drives the train hook rod to rotate the hook, which is suitable for various specifications of hooks with various distances from the train hook rod support. The clamping, rod lifting and hooking mechanisms adaptively adjust the operation stroke according to the train hook through the sensor.

[0049] Robot running track 5 The robot running track 5 is the "highway" of the entire system, providing a unified running reference and power (using contact rails to supply power or charge to each functional robot) for the placing robot 1, the recycling robot 2, the transfer robot 3 and the execution robot 4, and the layout of the robot running track 5 is strictly parallel to the train track 6 and maintains a safe distance to adapt to the space limitation and process requirement of the hump operation area.

[0050] II. Detailed explanation of the operation method The intelligent uncoupling operation method of the railway marshalling station based on the above-mentioned system is a multi-robot cooperative closed-loop process, comprising the following steps: Step one: placing the car The central control system issues task instructions to the placing robot 1 according to the received "hook plan".

[0051] The placing robot 1 takes out an execution robot 4 from its execution robot storage area 14 and moves along the robot running track 5, and the intelligent sensing system of the placing robot 1 continuously tracks the train speed to synchronize the first rail car 15 with the train.

[0052] When reaching the vicinity of the uncoupling point of the target car, the first clamping mechanism 11 is connected with the tail of the car to achieve stability. Then, the first collaborative mechanical arm 12 places the execution robot 4 accurately on the uncoupling rod support 73 under the guidance of the sensing system.

[0053] The uncoupling rod support device 41 of the execution robot 4 is automatically clamped, and the first collaborative mechanical arm 12 is released and retracted, and the placing robot 1 is unlocked and drives to the next operation point or waiting position.

[0054] Step two: uncoupling and protecting the hook After receiving the wireless instruction, the execution robot 4 fixed on the car starts the uncoupling process.

[0055] The sensor first judges the type of train coupler. If it is a lower-acting train coupler, the lifting mechanism 42 first acts to lift the train uncoupling rod 72 to a standby position.

[0056] Then, the uncoupling mechanism 43 acts to rotate the train uncoupling rod 72 to complete the separation of the train coupler 71.

[0057] After the uncoupling is completed, the uncoupling mechanism 43 does not reset immediately, but remains in a specific position (hook protection state) to prevent the train coupler from being reset accidentally during the separation of the vehicle, and only after confirming that the vehicle has been safely "off the port", the reset instruction is received.

[0058] Step three: recycling The recycling robot 2 moves to the position of the execution robot 4 that has completed the hook protection task according to the system scheduling, The second collaborative robot arm 22 accurately grasps the positioning device 45 of the execution robot 4 under the guidance of the perception system.

[0059] The parking clamping hook rod support device 41 of the execution robot 4 is automatically loosened, and then transferred and placed into the execution robot recycling storage area 24 by the second collaborative robot arm 22.

[0060] The recycling robot 2 carries the recycled execution robot 4 out of the work area and to the handover area with the transfer robot 3.

[0061] Step four: transfer cycle The transfer robot 3 moves to the docking point with the recycling robot 2. By temporarily connecting with the recycling robot 2 through the second connecting mechanism 37, the relative position is stabilized.

[0062] The pick-and-place collaborative robot arm 31 takes the execution robot 4 from the execution robot recycling storage area 24 of the recycling robot 2 and places it into the execution robot transfer storage area 33.

[0063] The transfer robot 3 is disconnected and moves to the docking point with the placement robot 1. It is temporarily connected with the placement robot 1 through the first connecting mechanism 36.

[0064] When the number of execution robots 4 reaches a certain number, the third track vehicle 34 is transported to the loading position of the placement robot 1, the first connecting mechanism 36 is connected with the placement robot 1, and the pick-and-place collaborative robot arm 31 transfers the execution robot 4 from the execution robot transfer storage area 33 to the execution robot storage area 14 of the placement robot 1.

[0065] At this point, a complete "placement-execution-recycling-supply" cycle is completed, and the execution robot 4 is ready for the next task. Best embodiment description

[0066] In a large railway marshalling station hump operation scene, a set of the system of the present application can be deployed on a track. The placing robot 1 and the recycling robot 2 are respectively located at both ends of the track, and the transfer robot 3 shuttles in the middle area. The system can manage 8 execution robots 4 simultaneously for cyclic operation. When facing mixed trains of different types, the execution robot 4 can automatically adjust the action parameters through its built-in sensors and adaptive algorithms, successfully cope with various train couplings, and show strong adaptability and high operation success rate. Multiple sets of placing robots 1, recycling robots 2 and transfer robots 3 can be configured according to the track to form a robot cluster. The placing robot 1, the recycling robot 2 and the transfer robot 3 can carry 8 execution robots 4 simultaneously for cooperative operation. The third track vehicle 34 of the transfer robot 3 can quickly shuttle between the placing robot 1 and the recycling robot 2, realizing efficient turnover of the execution robot 4. When facing different specifications of train couplings, the execution robot 4 can adaptively adjust the operating stroke of the clamping, lifting rod and hook lifting mechanism through the feedback of each coupling position sensor, ensuring the success rate of the hook lifting operation.

[0067] Through the above specific embodiments, those skilled in the art can clearly understand the structure, function and operation process of the present application, and can realize intelligent hook lifting operation in the railway marshalling station accordingly, significantly improving the operation efficiency and adaptability. The above describes the present application in combination with the preferred embodiments, which are only exemplary and serve only to illustrate. On this basis, various substitutions and improvements can be made to the present application, which all fall within the scope of protection of the present application.

Claims

1. A railway marshalling yard intelligent uncoupling robot, characterized in that, The system comprises: a placing robot (1) for carrying and placing an execution robot (4) to a train hooking position; a recovery robot (2) for retrieving the execution robot (4) that has completed a task from the hooking position; a transfer robot (3) for transferring the execution robot (4) between the recovery robot (2) and the placing robot (1); an execution robot (4) for performing hooking and protecting operations at the hooking position; and a shared robot running track (5) on which the placing robot (1), the recovery robot (2) and the transfer robot (3) are movably arranged.

2. The rail yard intelligent pusher robot of claim 1, wherein, The placing robot (1) comprises a first track vehicle (15), a placing robot and first track locking mechanism (16), a first collaborative robot arm (12), an execution robot storage area (14) and an intelligent sensing part for sensing the train running speed and the position information required for the task; the end of the first collaborative robot arm (12) is provided with a first grabbing mechanism (13) for grabbing the execution robot (4).

3. The rail yard intelligent pusher robot of claim 1, wherein, The recovery robot (2) comprises a second track vehicle (25), a recovery robot and second track locking mechanism (26), a second collaborative robot arm (22) and an execution robot recovery storage area (24); the end of the second collaborative robot arm (22) is provided with a grabbing tool (23) for grabbing the execution robot (4).

4. The rail yard intelligent pusher robot of claim 1, wherein, The transfer robot (3) comprises a third track vehicle (34), a transfer robot and third track locking mechanism (35), a pick-and-place collaborative robot arm (31), an execution robot transfer storage area (33) and a first and second connection mechanism (36, 37) for realizing the connection and movement of the transfer robot (3) with the placing robot (1) and the recovery robot (2); the end of the pick-and-place collaborative robot arm (31) is provided with a grabbing tool (32) for grabbing the execution robot (4).

5. The rail yard intelligent pusher robot of claim 1, wherein, The execution robot (4) comprises a parking clamping hook rod support device (41), a rod lifting mechanism (42) and a hooking mechanism (43); the parking clamping hook rod support device (41) is used for fixing on the train hook rod support; the rod lifting mechanism (42) is used for lifting the train hook rod before hooking; the hooking mechanism (43) is used for rotating the train hook rod to complete the hooking.

6. The intelligent car pulling operation method of a railway marshalling yard according to any one of claims 1 to 5, characterized in that, The system comprises the following steps: a placing step: the placing robot (1) carries the execution robot (4) along the robot running track (5) according to the hook plan and train marshalling information, and accurately places and fixes the execution robot (4) at the hooking position of the train; a hooking and protecting step: the execution robot (4) completes the hooking operation at the hooking position, and remains in the protecting state after hooking until the train vehicle leaves the station; a recovery step: the recovery robot (2) moves to the hooking position, grabs and recovers the execution robot (4) that has completed the protecting operation. The transfer robot (3) receives the recovered execution robot (4) from the recycling robot (2) and transfers it to the placement robot (1) to realize recycling of the execution robot (4).

7. The method of claim 6, wherein, In the placement parking step, the placement robot (1) dynamically adjusts its moving speed by sensing the train running speed, and temporarily connects with the rear of the train carriage by the first grabbing mechanism (13) to stabilize its position.

8. The method of claim 6, wherein, In the hook lifting and hooking step, for the down hook or up hook working condition, the execution robot (4) first performs the lifting rod operation through the lifting rod mechanism (42), and then performs the hook lifting operation through the hook lifting mechanism (43).

9. The method of claim 6, wherein, In the transfer and recycling step, the transfer robot (3) is connected with the placement robot (1) and / or the recycling robot (2) through the first connecting mechanism (36) and the second connecting mechanism (37) to realize connected movement, so as to complete the transfer of the execution robot (4).

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