CN116713981A - Track shoe grabbing device, track shoe grabbing system and track shoe grabbing method - Google Patents

Abstract

The application provides a track shoe grabbing device, a track shoe grabbing system and a track shoe grabbing method, wherein the track shoe grabbing device comprises: the fixed end of the manipulator is fixed at a preset position; a clamping member, the clamping member comprising: the mounting plate is arranged at the free end of the manipulator; the mounting box is arranged on the mounting plate; the two clamping plates are arranged on the mounting plate and are respectively positioned on two opposite sides of the mounting box, and each clamping plate is movably arranged along the direction close to or far from the mounting box so as to form a clamping space for clamping the track plate together with the mounting box; the shooting part is arranged on the mounting plate and comprises a camera which is arranged towards one side of the mounting plate far away from the manipulator and used for shooting the track shoe, so that the action of the clamping part is controlled according to the shooting result, and the problem that a large amount of manpower is required to be consumed in the moving process of the track shoe of the engineering truck in the prior art is solved.

Description

Track shoe grabbing device, track shoe grabbing system and track shoe grabbing method

Technical field

The present invention relates to the field of underground electromechanical technology, and specifically to a track shoe grabbing device, a track shoe grabbing system and a track shoe grabbing method.

Background technique

Engineering vehicles are the backbone of construction projects. Due to the use of engineering vehicles in the process of project transportation, excavation, emergency repair, and even combat, the progress of construction projects has been doubled and the required manpower and material resources have been greatly reduced.

Track shoes are the main component of engineering vehicles and are mainly used in the walking structure of engineering vehicles. During the use of engineering vehicles, the track shoes need to be disassembled and maintained.

The existing track pad maintenance method often requires maintenance personnel to disassemble and stack them together, and then transport them to the maintenance workshop. During the subsequent maintenance process, traditional spreaders need to be used to lift the track pads. If there are chaotically stacked tracks, During the lifting process, the track plates will slip off and be difficult to position and clamp. It is easy to injure maintenance personnel and eventually cause safety accidents. Moreover, the efficiency of moving the stacked track plates is poor and requires a lot of manpower.

Contents of the invention

The main purpose of the present invention is to provide a track shoe grabbing device, a track shoe grabbing system and a track shoe grabbing method to solve the problem in the prior art that the moving process of the track shoe of an engineering vehicle requires a large amount of manpower.

In order to achieve the above object, according to the first aspect of the present invention, a track shoe grabbing device is provided, including: a manipulator, the fixed end of the manipulator is fixed at a predetermined position; a clamping component, the clamping component includes: a mounting plate, A mounting plate is set on the free end of the manipulator; a mounting box, the mounting box is set on the mounting plate; two clamping plates, both of which are set on the mounting plate and are located on opposite sides of the mounting box, each clamping plate The plates are movably arranged in the direction close to or away from the installation box, so as to form a clamping space for clamping the track shoes together with the installation box; the camera component is arranged on the installation plate, and the camera component includes a camera component facing the installation plate. A camera is installed on the side away from the manipulator to photograph the track pads to control the movement of the clamping components based on the photographing results.

Further, the clamping component includes: two slide rails, both of which are fixed on the installation plate and located on opposite sides of the installation box; two slide blocks, and the two clamping plates are arranged on the two sides in one-to-one correspondence. On the two slide blocks, the two slide blocks are slidingly connected to the two slide rails in one-to-one correspondence.

Further, the clamping component includes two cylinders, the cylinders of the two cylinders are fixed in the installation box, and the free ends of the piston rods of the two cylinders respectively pass through the two box walls on opposite sides of the installation box and are connected with each other respectively. The two sliders are fixedly connected.

Further, the clamping component includes two buffer pads, the two buffer pads are arranged on the two clamping plates in one-to-one correspondence, and each buffer pad is located on a side of the corresponding clamping plate close to the installation box.

Further, the clamping component includes two friction pads, the two friction pads are arranged on the two buffer pads in one-to-one correspondence, and each friction pad is located on a side of the corresponding buffer pad close to the installation box.

Further, the clamping component includes a positioning rod, which is provided on the installation box and located on a side of the installation box close to the clamping space for positioning the track shoe.

Further, the number of positioning rods is two, and the two positioning rods are spaced apart on the installation box.

Further, the track shoe grabbing device also includes an equipment platform, and the fixed end of the manipulator is fixed on the equipment platform; and/or further, the camera component also includes an equipment box and a fill light, the equipment box is installed on the mounting plate, and the camera and The fill lights are fixed on opposite sides of the equipment box.

According to a second aspect of the present invention, a track shoe grabbing system is provided. The track shoe grabbing system is suitable for the above-mentioned track shoe grabbing device. The track shoe grabbing system includes: a microprocessor module, a microprocessor module Used for data processing and program execution; complex component visual image processing and feature recognition matching module, bidirectional signal connection between the microprocessor module and complex component visual image processing and feature recognition matching module for image processing and Feature recognition and matching; machine vision servo positioning module, two-way signal connection between the microprocessor module and the machine vision servo positioning module, and two-way signal connection between the machine vision servo positioning module and the camera to receive image information captured by the camera, To position the track shoe; the control module, the microprocessor module and the control module have bidirectional signal connections, and the control module has bidirectional signal connections with the two cylinders of the manipulator and the clamping component to control the manipulator and the two Cylinder movement; precise correction of posture adjustment of machine vision, two-way signal connection between the microprocessor module and precision correction of posture adjustment of machine vision, precision correction of posture adjustment of machine vision; complex components Visual three-dimensional measurement and calibration module, a two-way signal connection between the microprocessor module and the complex component visual three-dimensional measurement and calibration module. The complex component visual three-dimensional measurement and calibration module is used for visual three-dimensional measurement and calibration; the visual measurement system builds a calibration control field , a two-way signal connection between the microprocessor module and the visual measurement system to build a calibration control field. The visual measurement system to build a calibration control field is used to build a calibration control field.

Further, the machine vision servo positioning module includes: a binocular stereo vision module, which is connected to the camera to obtain high-definition images; a high-speed image acquisition board, which is connected to the binocular stereo vision module , used to convert high-definition images into digital images after sampling and quantification; the image processing control module is connected to the high-speed image acquisition board to process digital images.

According to the third aspect of the present invention, a track shoe grabbing method is provided, which is suitable for the above-mentioned track shoe grabbing system. The track shoe grabbing method includes: S1. Obtaining the image captured by the camera through the machine vision servo positioning module. ; S2. Determine the position of the clamping component by building a calibration control field through the complex component visual image processing and feature recognition matching module, machine vision pose adjustment and precise correction, complex component visual three-dimensional measurement and calibration module and the visual measurement system; S3 , drive the manipulator to move through the control module to adjust the working position of the manipulator, and fine-tune the working position of the clamping component to ensure that the positioning rod of the clamping component is located directly above the positioning hole on the track plate; S4. Through control The module drives the manipulator to insert the positioning rod into the positioning hole and fit the mounting box of the clamping component to the track plate; the control module drives the movement of the two cylinders to push the two clamping plates of the clamping component to move. Clamp the track shoe; S5, drive the manipulator through the control module to move the track shoe to the designated placement position.

Applying the technical solution of the present invention, the track shoe grabbing device of the present invention includes: a manipulator, the fixed end of the manipulator is fixed at a predetermined position; a clamping component, the clamping component includes: a mounting plate, the mounting plate is arranged on the free end of the manipulator; A mounting box, the mounting box is set on the mounting plate; two clamping plates, both clamping plates are set on the mounting plate and are located on opposite sides of the mounting box, and each clamping plate is along the edge of the mounting box that is close to or away from the mounting box. The direction is movably arranged to form a clamping space for clamping the track shoe together with the installation box; a camera component, the camera component is arranged on the installation plate, and the camera component includes a camera set toward the side of the installation plate away from the manipulator. , used to photograph the track pads to control the action of the clamping component based on the photographing results. In this way, the track shoe grabbing device of the present invention realizes stable clamping and high-intensity movement of the chaotically stacked track shoes through the control of the manipulator, the clamping component and the camera component, while ensuring the moving efficiency of the track shoes. , avoids production accidents in which large-mass track pads fall and injure workers due to misaligned clamping of the track pads, and solves the problem in the prior art that the moving process of the track pads of engineering vehicles requires a large amount of manpower. .

Description of the drawings

The description and drawings that constitute a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached picture:

Figure 1 shows a schematic structural diagram of an embodiment of a track shoe grabbing device according to the present invention;

Figure 2 shows a partial enlarged view of the track shoe grabbing device shown in Figure 1 at position A;

Figure 3 shows a schematic structural diagram of the track shoe grabbing system according to the present invention;

Figure 4 shows a schematic structural diagram of the machine vision servo positioning module of the track shoe grabbing system shown in Figure 3;

Figure 5 shows a schematic flow chart of the track shoe grabbing method according to the present invention.

Among them, the above-mentioned drawings include the following reference signs:

1. Equipment table; 2. Manipulator; 3. Installation plate; 4. Slide rail; 5. Slider; 6. Sliding groove; 7. Clamping plate; 8. Buffer pad; 9. Friction pad; 10. Installation box; 11. Cylinder; 12. Positioning rod; 13. Equipment box; 14. Camera; 15. Fill light; 16. Microprocessor module; 17. Complex component visual image processing and feature recognition matching module; 18. Machine vision servo positioning Module; 181. Binocular stereo vision module; 182. High-speed image acquisition board; 183. Image processing control module; 19. Control module; 20. Position adjustment and precise correction of machine vision; 21. Visual three-dimensional measurement and calibration of complex components Module; 22. The visual measurement system builds a calibration control field.

Detailed ways

It should be noted that, as long as there is no conflict, the embodiments and features in the embodiments of this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

As shown in Figures 1 and 2, the present invention provides a track shoe grabbing device, which includes: a manipulator 2, the fixed end of the manipulator 2 is fixed at a predetermined position; a clamping component, which includes: a mounting plate 3, The mounting plate 3 is set at the free end of the manipulator 2; the mounting box 10 is set on the mounting plate 3; the two clamping plates 7 are set on the mounting plate 3 and are respectively located in the mounting box. On opposite sides of the mounting box 10, each clamping plate 7 is movably arranged in a direction close to or away from the mounting box 10, so as to form a clamping space for clamping the track shoes together with the mounting box 10; camera component, camera component Disposed on the mounting plate 3, the camera component includes a camera 14 disposed toward a side of the mounting plate 3 away from the manipulator 2 for photographing the track pads and controlling the action of the clamping component based on the photographing results.

In this way, the track shoe grabbing device of the present invention realizes stable clamping and high-intensity movement of the chaotically stacked track shoes through the control of the manipulator 2, the clamping component and the camera component, while ensuring the moving efficiency of the track shoes. At the same time, it avoids production accidents in which large-mass track shoes fall and injure workers due to misaligned clamping of the track shoes, and solves the problem in the prior art that the moving process of the track shoes of engineering vehicles requires a lot of manpower. question.

Preferably, the camera 14 is a three-dimensional camera.

As shown in Figure 2, the clamping components include: two slide rails 4, both of which are fixed on the installation plate 3 and located on opposite sides of the installation box 10; two slide blocks 5, two clamping The plates 7 are arranged on the two slide blocks 5 in a one-to-one correspondence, and the two slide blocks 5 are slidingly connected to the two slide rails 4 in a one-to-one correspondence.

Specifically, each slide rail 4 is provided with a sliding groove 6 for the corresponding slide block 5 to be inserted.

As shown in Figure 2, the clamping component includes two buffer pads 8. The two buffer pads 8 are arranged on the two clamping plates 7 in one-to-one correspondence. Each buffer pad 8 is installed close to the corresponding clamping plate 7. side of the box 10 to avoid damage to the track shoes.

Specifically, each buffer pad 8 is pasted on the corresponding clamping plate 7 .

As shown in Figure 2, the clamping component includes two friction pads 9. The two friction pads 9 are arranged on the two buffer pads 8 in one-to-one correspondence. Each friction pad 9 is located near the corresponding buffer pad 8 and close to the installation box 10. side to increase the friction factor between the clamping component and the track shoe to prevent the track shoe from slipping off the clamping component.

Specifically, each friction pad 9 is adhered to the corresponding buffer pad 8 .

As shown in Figure 2, the clamping component includes a positioning rod 12. The positioning rod 12 is provided on the installation box 10 and is located on a side of the installation box 10 close to the clamping space for positioning the track shoe.

As shown in FIG. 2 , the number of positioning rods 12 is two, and the two positioning rods 12 are spaced apart on the installation box 10 .

As shown in Figure 2, the clamping component includes two cylinders 11. The cylinders of the two cylinders 11 are fixed in the installation box 10. The free ends of the piston rods of the two cylinders 11 pass through the opposite sides of the installation box 10 respectively. The two box wall surfaces are fixedly connected to two slide blocks 5 respectively.

As shown in Figure 1, the track shoe grabbing device also includes an equipment platform 1, on which the fixed end of the manipulator 2 is fixed.

As shown in Figure 2, the camera component also includes an equipment box 13 and a fill light 15. The equipment box 13 is installed on the mounting plate 3. The camera 14 and the fill light 15 are respectively fixed on opposite sides of the equipment box 13.

As shown in Figure 3, the present invention provides a crawler shoe grabbing system. The crawler shoe grabbing system is suitable for the above-mentioned crawler shoe grabbing device. The crawler shoe grabbing system includes: a microprocessor module 16; 16 is used for data processing and program execution; the complex component visual image processing and feature recognition matching module 17, the bidirectional signal connection between the microprocessor module 16 and the complex component visual image processing and feature recognition matching module 17 for Carry out image processing and feature recognition matching; the machine vision servo positioning module 18, the bidirectional signal connection between the microprocessor module 16 and the machine vision servo positioning module 18, the bidirectional signal connection between the machine vision servo positioning module 18 and the camera 14 to use To receive the image information captured by the camera 14 to position the track shoe; the control module 19, the microprocessor module 16 and the control module 19 are connected with bidirectional signals, and the control module 19 is connected to the manipulator 2 and the two cylinders of the clamping component. 11 are connected with two-way signals to control the movement of the manipulator 2 and the two cylinders 11; the machine vision posture adjustment and correction 20, the two-way signal between the microprocessor module 16 and the machine vision posture adjustment and correction 20 Connection, machine vision posture adjustment and precise correction 20 is used for precise posture adjustment and correction; complex component visual three-dimensional measurement and calibration module 21, two-way signal connection between the microprocessor module 16 and complex component visual three-dimensional measurement and calibration module 21 , the complex component visual three-dimensional measurement and calibration module 21 is used for visual three-dimensional measurement and calibration; the visual measurement system builds a calibration control field 22, and the two-way signal connection is between the microprocessor module 16 and the visual measurement system builds a calibration control field 22, visual measurement The system builds a calibration control field 22 for building a calibration control field.

As shown in Figure 4, the machine vision servo positioning module 18 includes: a binocular stereo vision module 181, which is connected to the camera 14 to obtain high-definition images; a high-speed image acquisition board 182, a high-speed image acquisition board The card 182 is connected to the binocular stereo vision module 181 for converting high-definition images into digital images after sampling and quantification; the image processing control module 183 is connected to the high-speed image acquisition board 182 for Process digital images.

As shown in Figure 5, the present invention provides a crawler shoe grabbing method, which is suitable for the above-mentioned crawler shoe grabbing system. The crawler shoe grabbing method includes: S1. Obtaining the image captured by the camera 14 through the machine vision servo positioning module 18. Image; S2. Through complex component visual image processing and feature recognition matching module 17, machine vision position adjustment and precise correction 20, complex component visual three-dimensional measurement and calibration module 21 and visual measurement system to build a calibration control field 22 for clamping components. Determine the position; S3. Drive the manipulator 2 to move through the control module 19 to adjust the working position of the manipulator 2, and fine-tune the working position of the clamping component to ensure that the positioning rod 12 of the clamping component is positioned on the track plate. Right above the hole; S4, drive the manipulator 2 to move through the control module 19 to insert the positioning rod 12 into the positioning hole, and fit the mounting box 10 of the clamping component to the track pad; drive the two cylinders 11 to move through the control module 19 , to push the two clamping plates 7 of the clamping component to move to clamp the track shoe; S5, drive the manipulator 2 to move through the control module 19 to move the track shoe to a designated placement position.

The track shoe grabbing method of the present invention is controlled and executed by the microprocessor module 16 of the track shoe grabbing system. Under the control of the microprocessor module 16, it is linked with the track shoe grabbing device to use the manipulator 2, the clamping component and the camera. The control of components is used to achieve stable clamping and high-intensity movement of the chaotically stacked track shoes. While ensuring the moving efficiency of the track shoes, it avoids the occurrence of large-mass track shoes due to misaligned clamping of the track shoes. A production accident in which workers were injured due to falling injuries.

From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects:

The track shoe grabbing device of the present invention includes: a manipulator 2, the fixed end of the manipulator 2 is fixed at a predetermined position; a clamping component, the clamping component includes: a mounting plate 3, the mounting plate 3 is arranged at the free end of the manipulator 2; a mounting box 10. The installation box 10 is arranged on the installation plate 3; two clamping plates 7 are arranged on the installation plate 3 and are respectively located on opposite sides of the installation box 10. Each clamping plate 7 is along It is movably arranged in the direction close to or away from the installation box 10, so as to form a clamping space for clamping the track shoes together with the installation box 10; the camera component is arranged on the mounting plate 3, and the camera component includes a camera component facing the mounting plate 3. A camera 14 is provided on the side of 3 away from the manipulator 2 for photographing the track shoe, and controlling the action of the clamping component according to the photographing result. In this way, the track shoe grabbing device of the present invention realizes stable clamping and high-intensity movement of the chaotically stacked track shoes through the control of the manipulator 2, the clamping component and the camera component, while ensuring the moving efficiency of the track shoes. At the same time, it avoids production accidents in which large-mass track shoes fall and injure workers due to misaligned clamping of the track shoes, and solves the problem in the prior art that the moving process of the track shoes of engineering vehicles requires a lot of manpower. question.

It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular forms are also intended to include the plural forms unless the context clearly indicates otherwise. Furthermore, it will be understood that when the terms "comprises" and/or "includes" are used in this specification, they indicate There are features, steps, operations, means, components and/or combinations thereof.

The relative arrangement of components and steps, numerical expressions, and numerical values set forth in these examples do not limit the scope of the application unless specifically stated otherwise. At the same time, it should be understood that, for convenience of description, the dimensions of various parts shown in the drawings are not drawn according to actual proportional relationships. Techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered part of the authorized specification. In all examples shown and discussed herein, any specific values are to be construed as illustrative only and not as limiting. Accordingly, other examples of the exemplary embodiments may have different values. It should be noted that similar reference numerals and letters refer to similar items in the following figures, so that once an item is defined in one figure, it does not need further discussion in subsequent figures.

In the description of this application, it should be understood that the orientation indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom", etc. Or the positional relationship is usually based on the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description. Without explanation to the contrary, these directional words do not indicate and imply the referred devices or components. It must have a specific orientation or be constructed and operated in a specific orientation, so it cannot be understood as limiting the scope of the present application; the orientation words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

For the convenience of description, spatially relative terms can be used here, such as "on...", "on...", "on the upper surface of...", "above", etc., to describe what is shown in the figure. The spatial relationship between one device or feature and other devices or features. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a feature in the figure is turned upside down, then one feature described as "above" or "on top of" other features or features would then be oriented "below" or "below" the other features or features. under other devices or structures". Thus, the exemplary term "over" may include both orientations "above" and "below." The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, it should be noted that the use of words such as "first" and "second" to define parts is only to facilitate the distinction between corresponding parts. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood. To limit the scope of protection of this application.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (11)

1. A track shoe gripping device, comprising:

the mechanical arm (2), the fixed end of the mechanical arm (2) is fixed at a preset position;

a clamping member, the clamping member comprising:

the mounting plate (3) is arranged at the free end of the manipulator (2);

-a mounting box (10), said mounting box (10) being arranged on said mounting plate (3);

the two clamping plates (7) are arranged on the mounting plate (3) and are respectively positioned on two opposite sides of the mounting box (10), and each clamping plate (7) is movably arranged along the direction approaching to or separating from the mounting box (10) so as to form a clamping space for clamping the track plate together with the mounting box (10);

the camera shooting component is arranged on the mounting plate (3) and comprises a camera (14) which is arranged towards one side of the mounting plate (3) away from the manipulator (2) and is used for shooting the track shoe so as to control the action of the clamping component according to shooting results.

2. The track shoe gripping device of claim 1, wherein the gripping member includes:

the two sliding rails (4) are fixed on the mounting plate (3) and are respectively positioned on two opposite sides of the mounting box (10);

the two sliding blocks (5), the two clamping plates (7) are arranged on the two sliding blocks (5) in a one-to-one correspondence manner, and the two sliding blocks (5) are in sliding connection with the two sliding rails (4) in a one-to-one correspondence manner.

3. The track shoe gripping device according to claim 2, characterized in that the gripping member comprises two cylinders (11), the cylinders of the two cylinders (11) are both fixed in the mounting box (10), and the free ends of the piston rods of the two cylinders (11) respectively penetrate through two box wall surfaces on opposite sides of the mounting box (10) and are respectively fixedly connected with the two sliding blocks (5).

4. The track shoe gripping device according to claim 1, characterized in that the gripping means comprise two cushioning pads (8), which cushioning pads (8) are arranged one to one on the two gripping plates (7), each cushioning pad (8) being located on a side of the respective gripping plate (7) close to the mounting box (10).

5. The track shoe gripping device according to claim 4, characterized in that the gripping means comprise two friction pads (9), which friction pads (9) are arranged one on each of the two cushioning pads (8), each friction pad (9) being located on a side of the respective cushioning pad (8) close to the mounting box (10).

6. The track shoe gripping device according to claim 1, characterized in that the gripping means comprise a positioning rod (12), which positioning rod (12) is arranged on the mounting box (10) on the side of the mounting box (10) close to the gripping space for positioning the track shoe.

7. The track shoe gripping device of claim 6, wherein the number of locating bars (12) is two, two locating bars (12) being spaced apart on the mounting box (10).

8. The track shoe gripping device of claim 1, wherein,

the track shoe grabbing device further comprises an equipment table (1), and the fixed end of the manipulator (2) is fixed on the equipment table (1); and/or

The camera shooting component further comprises an equipment box (13) and a light supplementing lamp (15), the equipment box (13) is arranged on the mounting plate (3), and the camera (14) and the light supplementing lamp (15) are respectively fixed on two opposite sides of the equipment box (13).

9. A track shoe gripping system adapted for use with a track shoe gripping device according to any one of claims 1 to 8, the track shoe gripping system comprising:

a microprocessor module (16), the microprocessor module (16) being configured to perform processing of data and execution of a program;

the microprocessor module (16) is connected with the complex component visual image processing and feature recognition matching module (17) through bidirectional signals, and is used for performing image processing and feature recognition matching;

the machine vision servo positioning module (18), the microprocessor module (16) is in bidirectional signal connection with the machine vision servo positioning module (18), and the machine vision servo positioning module (18) is in bidirectional signal connection with the camera (14) and is used for receiving image information shot by the camera (14) so as to position the track shoe;

the control module (19) is in bidirectional signal connection with the microprocessor module (16) and the control module (19), and the control module (19) is in bidirectional signal connection with the manipulator (2) and the two cylinders (11) of the clamping part, so as to control the manipulator (2) and the two cylinders (11) to move;

the machine vision pose adjustment accurate correction (20) is connected with the machine vision pose adjustment accurate correction (20) through a bidirectional signal, and the machine vision pose adjustment accurate correction (20) is used for carrying out pose adjustment accurate correction;

the system comprises a complex component visual three-dimensional measurement and calibration module (21), wherein the microprocessor module (16) is in bidirectional signal connection with the complex component visual three-dimensional measurement and calibration module (21), and the complex component visual three-dimensional measurement and calibration module (21) is used for performing visual three-dimensional measurement and calibration;

the vision measurement system builds a calibration control field (22), the microprocessor module (16) is connected with the vision measurement system through a bidirectional signal, and the vision measurement system builds the calibration control field (22) and is used for building the calibration control field.

10. The track shoe gripping system of claim 9, wherein the machine vision servo positioning module (18) includes:

a binocular stereoscopic vision module (181), wherein the binocular stereoscopic vision module (181) is connected with the camera (14) and is used for acquiring a high-definition image;

the high-speed image acquisition board (182), the high-speed image acquisition board (182) is connected with the binocular stereoscopic vision module (181) and is used for converting the high-definition image into a digital image after sampling and quantization;

an image processing control module (183), the image processing control module (183) being connected to the high-speed image acquisition board (182) for processing the digital image.

11. A track shoe gripping method, adapted for use in a track shoe gripping system as claimed in claim 9 or 10, the track shoe gripping method comprising:

s1, acquiring an image shot by the camera (14) through the machine vision servo positioning module (18);

s2, determining the position of the clamping part through the complex component visual image processing and feature recognition matching module (17), the pose adjustment accurate correction (20) of the machine vision, the complex component visual three-dimensional measurement and calibration module (21) and the visual measurement system building calibration control field (22);

s3, driving the manipulator (2) to move through the control module (19) so as to adjust the working position of the manipulator (2), and finely adjusting the working position of the clamping component so as to ensure that the positioning rod (12) of the clamping component is positioned right above the positioning hole on the track plate;

s4, driving the manipulator (2) to move through the control module (19) so as to enable the positioning rod (12) to be inserted into the positioning hole, and enabling the mounting box (10) of the clamping component to be attached to the track shoe; -driving the two cylinders (11) to move by means of the control module (19) to push the two clamping plates (7) of the clamping member to move to clamp the track shoe;

s5, driving the manipulator (2) to move through the control module (19) so as to move the track shoe to a specified placement position.