Intelligent uncoupling robot for railway marshalling yard

Abstract

The application discloses a kind of railway marshalling station intelligent hook lifting robot system and method thereof, the system includes: placing robot (1), recycling robot (2), transfer robot (3), execution robot (4) and a shared robot running track (5);Placing robot (1) is responsible for the execution robot (4) to be placed to train hook lifting position;Execution robot (4) completes hook lifting and keeps guard hook until vehicle leaves mouth;Recycling robot (2) is responsible for retrieving execution robot (4);Transfer robot (3) shifts execution robot (4) between recycling and placing robot, forms circulation.The present application solves the problem of poor adaptability and low continuous operation efficiency of the prior art through multi-robot collaborative work and single-track circulation, realizes efficient and continuous hook lifting operation for various train types.

Description

Technical Field

[0001] This invention relates to the field of railway transportation automation technology, specifically to an intelligent hook-lifting robot system and its operation method for railway marshalling yards. Background Technology

[0002] Railway marshalling yards are core hubs of the railway freight network, undertaking the crucial tasks of train marshalling and reassembly. Coupling operations, which involve raising the train coupler lever (train coupler bar) to separate the cars, are a critical step in the train marshalling process, directly impacting marshalling efficiency and transportation safety. Currently, coupling operations in railway marshalling yards mainly rely on manual operation or single-function automated equipment, resulting in the following prominent problems:

[0003] Poor operational adaptability: my country's railway vehicles come in a wide variety of models, with train couplers and lifting rods having different specifications and shapes. Furthermore, some older vehicles have complex operating conditions such as deformed couplers and components requiring reinforcement. Existing coupler lifting equipment is mostly single-function and struggles to adapt to the diverse specifications of train couplers on Chinese railway vehicles, as well as the complex operating conditions of deformed or reinforced couplers on some older vehicles. It also lacks compatibility with coupler lifting and protection mechanisms for different vehicle models, easily leading to operational failures or equipment jamming.

[0004] Low efficiency of continuous operation: Traditional hooking equipment lacks an efficient circulation mechanism. After each hooking operation, manual reset or automatic return of the equipment is required. The long operation interval cannot meet the needs of continuous hooking during the short window (3-5 seconds) of train movement (3-7km / h) in marshalling yards. It is especially unsuitable for continuous unmarshalling and unmarshalling operations based on hooking plans for long, medium, and short hooks.

[0005] Lack of collaborative operation capability: Existing technologies mostly rely on a single robot to complete the entire hook lifting process, without forming a functional breakdown and collaborative mechanism. In environments with limited operating space (about 1.2 meters) and interference from surrounding components, it is difficult to balance hook lifting accuracy, hook protection stability and equipment recovery efficiency, and the continuity of operation is easily affected by action conflicts or scheduling delays.

[0006] Equipment scheduling and adaptation contradictions: Different marshalling yards have significant differences in hump layout and operation processes. Currently, it is difficult for single-application scenarios of equipment to simultaneously meet the needs of customized and large-scale applications. Moreover, existing equipment lacks adaptability to various train models and is not ready for business applications.

[0007] Therefore, there is an urgent need in this field for an intelligent system and method that has the ability to work collaboratively with multiple robots, adapts to various types of train couplers, and can achieve continuous and efficient coupler lifting, in order to solve the shortcomings of existing technologies in terms of adaptability, efficiency and operational rationality. Summary of the Invention

[0008] (a) Purpose of the invention

[0009] The purpose of this invention is to overcome the shortcomings of existing railway marshalling yard coupling technology and provide an intelligent coupling robot system and operation method for railway marshalling yards. By splitting the functions of multiple robots and cooperating with each other, the system improves the efficiency of continuous operation and the adaptability to different train models and train coupler types. It enables cyclic coupling operations of long, medium, and short hooks according to the coupling plan, thereby reducing operating costs and safety risks.

[0010] (II) Technical Solution

[0011] To achieve the above objectives, the present invention adopts the following technical solution:

[0012] A smart uncoupling robot for railway marshalling yards includes:

[0013] A robot is placed there to carry and deploy the execution robot to the train's coupling position.

[0014] A retrieval robot is used to retrieve the performing robot that has completed its task from the hook position;

[0015] A transfer robot is used to transfer the execution robot between the recycling robot and the placement robot to achieve recycling;

[0016] An execution robot is used to perform hook lifting and hook guarding operations at the hook lifting position, and to maintain the hook guarding state after hook lifting until the vehicle is safely separated;

[0017] A shared robot operating track on which the placement robot, retrieval robot, and transfer robot are movably positioned.

[0018] Furthermore, the placement robot includes a first railcar, a first rail locking mechanism, a first collaborative robotic arm, a storage area for the execution robot, and an intelligent sensing component for sensing the train's speed and the location information required for the operation; the end of the first collaborative robotic arm is provided with a gripping mechanism for grasping the execution robot.

[0019] Furthermore, the recycling robot includes a second railcar, a second rail locking mechanism, a second cooperative robotic arm, and an execution robot recycling area; the end of the second cooperative robotic arm is provided with a grasping tool for grabbing the execution robot.

[0020] Furthermore, the transfer robot includes a third railcar, a third rail locking mechanism, a third cooperative robotic arm, a transfer and storage area for the execution robot, and a first and a second connecting mechanism for enabling the transfer robot to move together with the placement robot and the retrieval robot; the end of the third cooperative robotic arm is provided with a tool for grasping the execution robot.

[0021] Furthermore, the execution robot includes an adaptive clamping support device, a lifting rod mechanism, and a hook lifting mechanism; the adaptive clamping support device is used to fix itself on the train hook lifting rod support; the lifting rod mechanism is used to lift the train hook lifting rod before hooking; and the hook lifting mechanism is used to rotate the train hook lifting rod to complete the hooking action.

[0022] A method for intelligent uncoupling operations in railway marshalling yards based on the above includes the following steps:

[0023] Deployment and parking steps: The placement robot, according to the hooking plan and train formation information, carries the execution robot along the robot's running track and accurately deploys and fixes the execution robot at the train's hooking position;

[0024] The hook lifting and protection procedure is as follows: The robot performs the hook lifting operation at the hook lifting position and protects the hook after lifting until the train car leaves the dock.

[0025] Recycling Step: The recycling robot moves to the hook position, grabs and recycles the execution robot that has completed the hook protection;

[0026] Transfer and recycling steps: The transfer robot receives the recycled execution robot from the recycling robot and transfers it to the placement robot to realize the recycling of the execution robot.

[0027] In the deployment and parking step, the placement robot dynamically adjusts its own movement speed by sensing the train's speed, and temporarily connects to the rear of the train carriage through the first gripping mechanism to stabilize its position.

[0028] In the hook lifting and protection step, depending on the hook lifting action of various trains, the execution robot can choose to first lift the lever through the lever lifting mechanism, then lift the hook through the hook lifting mechanism, or directly lift the hook through the hook lifting mechanism.

[0029] In the transfer cycle step, the transfer robot moves together with the placement robot or the retrieval robot through a first magnetic attraction or gripping tool and a second magnetic attraction or gripping tool to complete the transfer of the execution robot.

[0030] (III) Beneficial Effects

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] High adaptability: Through the adaptive gripping, hook lifting rod, and hook raising mechanism design of the execution robot, it can be compatible with the parking and hook raising of train couplers of different specifications, and at the same time, it can cope with the working conditions of coupler deformation of some old train cars, thus solving the compatibility problem.

[0033] High efficiency of continuous operation: It adopts a collaborative operation mode of placement robot, retrieval robot and transfer robot, combined with the single robot running track to realize the cyclic flow of execution robot, without the need for manual intervention or equipment return waiting, greatly shortening the operation interval and meeting the continuous unloading and marshalling needs of long hook, medium hook and short hook of marshalling station.

[0034] Excellent operational stability: Each robot has a clearly defined function and achieves precise positioning and movement through the robot's running track, avoiding mutual interference during the operation. In addition, the robots are equipped with position sensors for each hook and convenient hook protection after lifting, which can ensure the accuracy of the hook lifting action and the stability of the train's coupler after unlocking, reducing the failure rate and safety risks of the operation.

[0035] Flexible layout: The single-track design simplifies the installation and commissioning process, and the number of robots and track layout can be flexibly adjusted according to the hump layout and operation scale of the marshalling yard, taking into account the needs of cluster operations in large hub stations and the application of single equipment in small marshalling yards, thus reducing costs. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall layout of the intelligent hook-lifting robot in the railway marshalling yard according to the present invention. 1 represents the placement robot, 2 the retrieval robot, 3 the transfer robot, 4 the execution robot, 5 the robot's running track, and 6 the train track.

[0037] Figure 2 This is a schematic diagram of the robot placement structure in this invention. 5 represents the robot's running track, 11 represents the first mechanism for gripping the rear of the train carriage, 12 represents the first collaborative robotic arm, 13 represents the electromagnet or gripping tool at the end of the first collaborative robotic arm for gripping the robot, 14 represents the robot storage area, 15 represents the first track vehicle, and 16 represents the robot placement and locking mechanism with the first track.

[0038] Figure 3 This is a schematic diagram of the structure of the recycling robot in this invention. 5 represents the robot's running track, 21 represents the mechanism for gripping the rear of the second train carriage, 22 represents the second cooperative robotic arm, 23 represents the electromagnet or gripping tool at the end of the second cooperative robotic arm for gripping the robot, 24 represents the robot's recycling and storage area, 25 represents the second railcar, and 26 represents the locking mechanism between the recycling robot and the second track.

[0039] Figure 4 This is a schematic diagram of the transfer robot of the present invention. 5 represents the robot's running track, 31 is the collaborative picking and placing robotic arm, 32 is the electromagnet or grasping tool at the end of the collaborative picking and placing robotic arm for grasping the execution robot, 33 is the transfer and storage area for the execution robot, 34 is the third track vehicle, 35 is the locking mechanism between the transfer robot and the third track, 36 is the first linkage mechanism that moves together with the placement robot, and 37 is the second linkage mechanism that moves together with the retrieval robot.

[0040] Figure 5 This is a schematic diagram of the structure of the robot executing the present invention. 41 is a parking clamping hook support device, 42 is a lifting rod mechanism, 43 is a hook lifting mechanism, 44 is an outer cover, and 45 is a magnetic or gripping positioning device.

[0041] Figure 6 This is a schematic diagram illustrating the adaptation of the robot of the present invention to the operation of the hook-lifting rod of trains of different specifications. In the diagram, 7 represents the train carriage, 4 represents the robot, 72 represents the train hook-lifting rod, 41 represents the parking clamping hook-lifting rod support device, 42 represents the lifting mechanism, and 43 represents the hook-lifting mechanism.

[0042] Figure 7 This is a schematic diagram of the robot performing the present invention on relevant parts of a train during parking and uncoupling operations. In the diagram, 6 represents the train track, 7 represents the train car, 71 represents the train coupler, 72 represents the train uncoupling lever, and 73 represents the uncoupling lever support. Detailed Implementation

[0043] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Those skilled in the art will understand that these embodiments are only used to explain the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0044] I. Detailed Explanation of the Composition and Core Components of the Intelligent Coupling Robot for Railway Marshalling Yards of the Invention

[0045] like Figure 1 As shown, the core of the intelligent hook-lifting robot in railway marshalling yards of this invention lies in constructing a collaborative operation system consisting of a placement robot 1, a retrieval robot 2, a transfer robot 3, an execution robot 4, and a shared robot running track 5. The system is deployed along the train track 6, maintaining a safe distance from the train.

[0046] (a) Place robot 1 (see Figure 2 )

[0047] Placement robot 1 is the "deployment unit," responsible for precisely deploying execution robot 4 onto the moving train. Its core components include:

[0048] First track vehicle 15: As a mobile chassis, it is driven by a servo motor and can achieve high-precision positioning and speed tracking on the robot's running track 5.

[0049] First collaborative robotic arm 12: A multi-degree-of-freedom robotic arm with a first gripping mechanism 13 (e.g., an electromagnetic chuck or an adaptive robotic gripper) at its end for reliably gripping and releasing the execution robot 4.

[0050] Execution Robot Storage Area 14: A multi-compartment storage area with positioning and buffering functions, used to store execution robots 4 to be deployed.

[0051] Intelligent sensing system (not shown separately in the figure): integrates sensors such as vision cameras and lidar to perceive the train speed, carriage outline and the three-dimensional coordinates of the target lifting point in real time.

[0052] The first mechanism 11 for gripping the rear of the train carriage is a hydraulically or pneumatically driven clamp that can be temporarily connected to the rear of the carriage during deployment to achieve speed synchronization with the train and stability of its own posture.

[0053] The robot is placed in a first track locking mechanism 16: When the robot is stationary, this mechanism (such as a pneumatic pin or caliper brake) can securely lock it to the track to prevent displacement due to vibration or external force, thus ensuring operational safety.

[0054] (ii) Recycling Robot 2 (see) Figure 3 )

[0055] Recycling robot 2 is a "recycling unit," similar in structure to placement robot 1 but with the opposite function. Its primary responsibility is to retrieve completed tasks from execution robot 4. It includes:

[0056] The system comprises a second track vehicle 25, a recovery robot and a second track locking mechanism 26, an electromagnet or gripping tool 23 at the end of a collaborative robotic arm for grasping the execution robot, a second collaborative robotic arm 22, a robot recovery and storage area 24, and a rear mechanism 21 for the second gripping train carriage. The second track vehicle 25 moves along the robot's running track 5, and its drive mechanism uses a servo motor for power. The intelligent sensing unit is used to sense information such as the train's speed and the required position for the operation. The second collaborative robotic arm 22 is used to accurately grasp and deploy the execution robots 4. The robot recovery and storage area 24 can hold eight execution robots 4. The rear mechanism 21 for the second gripping train carriage is used to maintain the same speed as the train and stabilize its position when recovering the execution robots 4. The recovery robot and the second track locking mechanism 26 are used to prevent derailment and overturning accidents during operation.

[0057] (III) Transfer Robot 3 (see) Figure 4 )

[0058] Transfer robot 3 is the "logistics hub," responsible for transferring robots 4 between the placement and recycling areas, forming a closed loop. It includes:

[0059] The third track vehicle 34 runs back and forth in the transfer area designated by the robot's running track 5.

[0060] The collaborative robotic arm 31 and the third gripping mechanism 32 are used to perform pick-and-place operations between the robot storage areas.

[0061] Execution robot transit storage area 33: used to temporarily store execution robots 4 received from recycling robot 2.

[0062] First connecting mechanism 36 and second connecting mechanism 37: These mechanisms can be strong magnetic adsorption units or mechanical clamps, used to temporarily form a rigid connection (connected movement) with the placing robot 1 or the retrieval robot 2 when transferring the execution robot, to ensure the stability and accuracy of the transfer during the movement.

[0063] Transfer robot and third track locking mechanism 35: used to lock itself during transfer operations to prevent derailment, overturning and safety accidents during operation.

[0064] (iv) Execution Robot 4 (see Figure 5 , Figure 6 , Figure 7 )

[0065] Robot 4 is the "end-point tool" that directly performs the hook-lifting task, and its design fully considers adaptability and reliability. It includes:

[0066] Parking clamping hook support device 41: It adopts an adaptive gripper design, which can adapt to hook support 73 of different sizes and shapes, and provide sufficient clamping force to fix it on the moving train.

[0067] Lifting lever mechanism 42: Located below the train coupler lever 72. For lower-acting train couplers or some special upper-acting train couplers, the train coupler lever needs to be raised to a certain angle before coupler lifting. This mechanism is responsible for completing this preparatory action.

[0068] The lifting mechanism 43 is the core actuator, usually driven by a rotary motor or cylinder, used to hook or clamp the train lifting rod 72 and rotate it, ultimately completing the separation of the train coupler 71.

[0069] Sensor system (integrated internally): including position sensors, force sensors, etc., used to detect the status of train couplers and the position of train lifting rods, and feed back to the control system to adaptively adjust the clamping force, lifting rod height and lifting angle.

[0070] Magnetic or gripping positioning device 45: Matches the gripping mechanism of the robotic arm for easy handling.

[0071] Outer cover 44: Provides protection and ensures the stable operation of the internal mechanisms in harsh environments.

[0072] The parking clamping hook-lifting rod support device 41 is used to fix the vehicle on the train. The lifting rod mechanism 42 is located below the train hook-lifting rod and can be used to lift the rod before hooking. The hook-lifting mechanism 43 drives the train hook-lifting rod 72 to rotate and lift the hook. The execution robot 4 is adapted to the operation requirements of hooks of various specifications. The execution robot 4 clamps the hook-lifting rod support that is available in various types of train cars. The lifting rod hook is located below the train hook-lifting rod. Before hooking the lower hook or, in very few cases, the upper hook, the lifting rod operation should be performed first. The lifting rod hook drives the train hook-lifting rod to rotate and lift the hook. It is suitable for hook-lifting operations of various specifications at various distances from the train hook-lifting rod support. The clamping, lifting rod, and hook-lifting mechanisms adaptively adjust the operating stroke according to the train coupler through sensors.

[0073] (v) Robot running track 5

[0074] The robot running track 5 is the "highway" of the entire system, providing a unified operating benchmark and power (using a contact rail to power or charge each functional robot) for placing robot 1, recycling robot 2, transfer robot 3 and execution robot 4. 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 constraints and process requirements of the hump yard operation area.

[0075] II. Detailed Explanation of Work Methods and Procedures

[0076] The intelligent uncoupling operation method for railway marshalling yards based on the above system is a closed-loop process involving multi-robot collaboration, comprising the following steps:

[0077] Step 1: Deploy the parking vehicle

[0078] The central control system issues task instructions to the placement robot 1 based on the received "hook plan".

[0079] The placement robot 1 takes out an execution robot 4 from its execution robot storage area 14 and moves along the robot running track 5. Its intelligent sensing system continuously tracks the train speed, so that the first track car 15 is synchronized with the train.

[0080] Upon reaching the vicinity of the hook-up point of the target carriage, the first gripping mechanism 11 connects with the rear of the carriage to achieve stability. Subsequently, guided by the sensing system, the first collaborative robotic arm 12 precisely places the execution robot 4 onto the hook-up rod support 73.

[0081] The parking gripping hook support device 41 of the robot 4 automatically clamps, completing the parking process. The first collaborative robotic arm 12 releases and retracts, allowing the robot 1 to unlock and move to the next work point or waiting position.

[0082] Step 2: Lift and protect the hook

[0083] After receiving the wireless command, the stationary robot 4 starts the hook lifting procedure.

[0084] Its sensors first determine the type of train coupler. If it is a down-acting train coupler, the lifting mechanism 42 will act first to raise the train coupler lifting lever 72 to the ready position.

[0085] Subsequently, the lifting mechanism 43 operates, rotating the train lifting rod 72 to complete the separation of the train coupler 71.

[0086] After the coupling is completed, the coupling mechanism 43 does not immediately reset, but remains in a specific position (coupling protection state) to prevent the train coupler from accidentally resetting during the separation of the vehicles. It will only receive the reset command after confirming that the vehicles have safely "departed".

[0087] Step 3: Recycling

[0088] According to the system schedule, the recycling robot 2 moves along the robot running track 5 to the position of the execution robot 4, which has completed the hook protection task.

[0089] Guided by the sensing system, its second collaborative robotic arm 22 accurately grasps the positioning device 45 of the execution robot 4.

[0090] The parking gripping hook support device 41 of the execution robot 4 is automatically released, and then transferred by the second collaborative robotic arm 22 and placed in the execution robot recycling storage area 24.

[0091] The recycling robot 2, carrying the recycling execution robot 4, leaves the work area and heads to the handover area with the transfer robot 3.

[0092] Step 4: Transfer and Circulation

[0093] The transfer robot 3 moves to the docking point with the recycling robot 2. It is temporarily connected to the recycling robot 2 through the second connecting mechanism 37 to ensure relative position stability.

[0094] The collaborative robotic arm 31 takes the execution robot 4 from the execution robot recycling storage area 24 of the recycling robot 2 and puts it into the execution robot transfer storage area 33.

[0095] The transfer robot 3 detaches from the connecting body and moves to the docking point with the placement robot 1. It is temporarily connected to the placement robot 1 through the first connecting mechanism 36.

[0096] Once the set number of execution robots 4 is reached, the third railcar 34 transports them to the loading position of the placement robot 1. The first connecting mechanism 36 moves together with the placement robot 1, and the pick-and-place collaborative robotic 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.

[0097] At this point, a complete "deployment-execution-recovery-replenishment" cycle is completed, and Execution Robot 4 is ready to execute the next task.

[0098] III. Description of the Best Implementation

[0099] In a large railway marshalling yard hump yard operation scenario, one system of this invention can be deployed on a marshalling and demarcation line. Placement robot 1 and retrieval robot 2 are located at opposite ends of the track, while transfer robot 3 shuttles through the middle area. The system can simultaneously manage eight execution robots 4 for cyclical operations. When faced with trains of different types, execution robots 4, through their built-in sensors and adaptive algorithms, can automatically adjust their motion parameters to successfully handle various train couplers, demonstrating strong adaptability and a high success rate. Multiple sets of placement robots 1, retrieval robots 2, and transfer robots 3 can also be configured according to the track to form a robot cluster. Placement robots 1, retrieval robots 2, and transfer robots 3 can simultaneously carry eight execution robots 4 for collaborative operation. The third railcar 34 of transfer robot 3 can quickly shuttle between placement robots 1 and retrieval robots 2, achieving efficient turnover of execution robots 4. When facing train couplers of different specifications, execution robots 4 adaptively adjust the operating stroke of the clamping, lifting, and hook-lifting mechanisms based on feedback from the position sensors of each coupler, ensuring a high success rate for hook-lifting operations.

[0100] Through the above specific embodiments, those skilled in the art can clearly understand the structure, function, and operation process of the present invention, and can accordingly realize intelligent coupling operations in railway marshalling yards, significantly improving operational efficiency and adaptability. The present invention has been described above with reference to preferred embodiments, which are merely exemplary and illustrative. Based on these embodiments, various substitutions and improvements can be made to the present invention, all of which fall within the protection scope of the present invention.

Claims

1. An intelligent hook-lifting robot for railway marshalling yards, characterized in that, include: A placement robot (1) is used to carry and deploy the execution robot (4) to the train hook-up position. The placement robot (1) includes a first gripping mechanism (11) for gripping the rear of the train car, a first railcar (15), a placement robot and a first rail locking mechanism (16), a first cooperative robotic arm (12), an execution robot storage area (14), and an intelligent sensing part for sensing the train speed and the position information required for the operation. The end of the first cooperative robotic arm (12) is provided with a first gripping mechanism (13) for gripping the execution robot (4). A retrieval robot (2) is used to retrieve the completed execution robot (4) from the hook position. The retrieval robot (2) includes a second gripping mechanism (21) for gripping the rear of the train car, a second railcar (25), a retrieval robot and a second rail locking mechanism (26), a second cooperative robotic arm (22), and an execution robot retrieval and storage area (24). The end of the second cooperative robotic arm (22) is provided with a gripping tool (23) for gripping the execution robot (4). A transfer robot (3) is used to transfer the execution robot (4) between the recycling robot (2) and the placement robot (1). The transfer robot (3) includes a third railcar (34), a transfer robot and a third rail locking mechanism (35), a pick-and-place cooperative robotic arm (31), an execution robot transfer and storage area (33), and a first connecting mechanism (36) and a second connecting mechanism (37) for realizing the transfer robot (3) moving together with the placement robot (1) and the recycling robot (2). The end of the pick-and-place cooperative robotic arm (31) is provided with a gripping tool (32) for gripping the execution robot (4). An execution robot (4) is used to perform hook lifting and hook guarding operations at the hook lifting position. The execution robot (4) includes a parking clamping hook lifting rod support device (41), a lifting rod mechanism (42), and a hook lifting mechanism (43). The parking clamping hook lifting rod support device (41) is used to fix itself on the train hook lifting rod support. The lifting rod mechanism (42) is used to lift the train hook lifting rod before hook lifting. The hook lifting mechanism (43) is used to rotate the train hook lifting rod to complete the hook lifting. In addition, a shared robot running track (5) on which the placement robot (1), the recycling robot (2) and the transfer robot (3) are movably set.

2. The intelligent uncoupling robot for railway marshalling yards according to claim 1, characterized in that, The execution robot (4) includes a parking clamping hook rod support device (41), a lifting rod mechanism (42), and a hook lifting mechanism (43); the parking clamping hook rod support device (41) is used to fix it on the train hook rod support; the lifting rod mechanism (42) is used to lift the train hook rod before hooking; the hook lifting mechanism (43) is used to rotate the train hook rod to complete the hooking.

3. A method for operating an intelligent hook-lifting robot in a railway marshalling yard according to any one of claims 1 to 2, characterized in that, Includes the following steps: Placement and parking steps: The placement robot (1) carries the execution robot (4) along the robot running track (5) according to the hooking plan and train formation information. It grips the tail of the train car through the first gripping mechanism (11) and moves at the same speed as the train. The execution robot (4) is then accurately placed and fixed at the hooking position of the train. Hooking and hook protection steps: The execution robot (4) completes the hooking operation at the hooking position and maintains the hook protection state after hooking until the train car leaves the dock. Retrieval steps: The retrieval robot (2) moves to the hooking position, grips the tail of the train car through the second gripping mechanism (21) and moves at the same speed as the train. It then retrieves and retrieves the execution robot (4) that has completed the hook protection. Transfer and recycling steps: The transfer robot (3) receives the retrieved execution robot (4) from the retrieval robot (2) and transfers it to the placement robot (1) to realize the recycling of the execution robot (4).

4. The method according to claim 3, characterized in that, In the hook lifting and protection step, for the lowering or uppering hook working conditions, the execution robot (4) first performs the lifting operation through the lifting mechanism (42), and then performs the hook lifting operation through the hook lifting mechanism (43).

5. The method according to claim 3, characterized in that, In the transfer cycle step, the transfer robot (3) is temporarily rigidly connected to the placement robot (1) or the retrieval robot (2) through the first connecting mechanism (36) and the second connecting mechanism (37) to complete the transfer of the execution robot (4).

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