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 application relates to the technical field of underground electromechanics, in particular to a track shoe grabbing device, a track shoe grabbing system and a track shoe grabbing method.

Background

The engineering truck is the main strength of the building engineering, and the engineering truck is applied in the processes of carrying, excavating, rush repair, even combat and the like of the engineering, so that the progress of the building engineering is multiplied, and the required manpower and material resources are greatly reduced.

The track shoe is a main component of the engineering vehicle, is mainly used in a running structure of the engineering vehicle, and is required to be disassembled and maintained in the use process of the engineering vehicle.

The existing track shoe maintenance method is often carried out in a centralized manner after maintenance personnel are disassembled and then transported to a maintenance workshop, the track shoe is lifted by adopting a traditional lifting appliance in the subsequent maintenance process, if the track shoe with disordered stack exists, the problems of slipping and difficult positioning and clamping can be generated in the lifting process, the maintenance personnel are extremely easy to crush, safety accidents are finally generated, the efficiency of moving the stacked track shoe is poor, and a large amount of manpower is required to be consumed.

Disclosure of Invention

The application mainly aims to provide a track shoe grabbing device, a track shoe grabbing system and a track shoe grabbing method, so as to solve the problem that a great deal of manpower is required to be consumed in the moving process of a track shoe of an engineering vehicle in the prior art.

In order to achieve the above object, according to a first aspect of the present application, there is provided a track shoe gripping device including: 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; and the imaging part is arranged on the mounting plate and comprises a camera arranged towards one side of the mounting plate far away from the manipulator, and is used for shooting the track shoe so as to control the action of the clamping part according to the shooting result.

Further, the holding member includes: the two sliding rails are fixed on the mounting plate and are respectively positioned on two opposite sides of the mounting box; the two sliding blocks are arranged on the two sliding blocks in a one-to-one correspondence manner, and the two sliding blocks are in sliding connection with the two sliding rails in a one-to-one correspondence manner.

Further, the clamping component comprises two air cylinders, the cylinder bodies of the two air cylinders are fixed in the mounting box, and the free ends of the piston rods of the two air cylinders respectively penetrate through two box wall surfaces on two opposite sides of the mounting box and are respectively and fixedly connected with the two sliding blocks.

Further, the clamping component comprises two buffer cushions, the two buffer cushions are arranged on the two clamping plates in a one-to-one correspondence mode, and each buffer cushion is located on one side, close to the mounting box, of the corresponding clamping plate.

Further, the clamping part comprises two friction pads, the two friction pads are arranged on the two cushion pads in a one-to-one correspondence manner, and each friction pad is positioned on one side, close to the mounting box, of the corresponding cushion pad.

Further, the clamping member includes a positioning rod provided on the mounting box at a side of the mounting box near the clamping space for positioning the track shoe.

Further, the number of the positioning rods is two, and the two positioning rods are arranged on the mounting box at intervals.

Further, the track shoe grabbing device further comprises an equipment table, and the fixed end of the manipulator is fixed on the equipment table; and/or further, the camera shooting part further comprises an equipment box and a light supplementing lamp, the equipment box is arranged on the mounting plate, and the camera and the light supplementing lamp are respectively fixed on two opposite sides of the equipment box.

According to a second aspect of the present application, there is provided a track shoe gripping system adapted for use with the track shoe gripping apparatus described above, the track shoe gripping system comprising: the microprocessor module is used for processing data and executing programs; the microprocessor module is connected with the complex component visual image processing and feature recognition matching module through bidirectional signals and is used for performing image processing and feature recognition matching; the machine vision servo positioning module is connected with the machine vision servo positioning module in a bidirectional signal manner, and the machine vision servo positioning module is connected with the camera in a bidirectional signal manner and is used for receiving image information shot by the camera so as to position the track shoe; the control module is in bidirectional signal connection with the control module, and the control module is in bidirectional signal connection with the manipulator and the two cylinders of the clamping part, so as to control the manipulator and the two cylinders to move; the machine vision pose adjustment and accurate correction is connected with the machine vision pose adjustment and accurate correction through a bidirectional signal, and the machine vision pose adjustment and accurate correction is used for carrying out pose adjustment and accurate correction; the microprocessor module is connected with the complex component visual three-dimensional measurement and calibration module through bidirectional signals, and the complex component visual three-dimensional measurement and calibration module is used for performing visual three-dimensional measurement and calibration; the vision measurement system builds a calibration control field, the microprocessor module is connected with the vision measurement system through a bidirectional signal, and the vision measurement system builds the calibration control field which is used for building the calibration control field.

Further, the machine vision servo positioning module includes: the binocular stereoscopic vision module is connected with the camera and used for acquiring high-definition images; the high-speed image acquisition board is connected with the binocular stereoscopic vision module and is used for converting the high-definition image into a digital image after sampling and quantization; and the image processing control module is connected with the high-speed image acquisition board card and is used for processing the digital image.

According to a third aspect of the present application, there is provided a track shoe gripping method, suitable for the track shoe gripping system described above, the track shoe gripping method comprising: s1, acquiring an image shot by a camera through a machine vision servo positioning module; s2, setting up a calibration control field to determine the position of the clamping part through a complex component visual image processing and feature recognition matching module, a machine visual pose adjustment accurate correction, a complex component visual three-dimensional measurement and calibration module and a visual measurement system; s3, driving the manipulator to move through the control module so as to adjust the working position of the manipulator, and fine-adjusting the working position of the clamping component so as to ensure that the positioning rod of the clamping component is positioned right above the positioning hole on the track plate; s4, driving the manipulator to move through the control module so as to enable the positioning rod to be inserted into the positioning hole, and enabling the mounting box of the clamping part to be attached to the track shoe; driving the two cylinders to move through the control module so as to push the two clamping plates of the clamping part to move so as to clamp the track shoe; s5, driving the manipulator to move through the control module so as to move the track shoe to the designated placement position.

By applying the technical scheme of the application, 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; and the imaging part is arranged on the mounting plate and comprises a camera arranged towards one side of the mounting plate far away from the manipulator, and is used for shooting the track shoe so as to control the action of the clamping part according to the shooting result. Therefore, the track shoe grabbing device realizes stable clamping and high-strength movement of the track shoes which are stacked in disorder through the control of the manipulator, the clamping part and the camera shooting part, ensures the movement efficiency of the track shoes, avoids production accidents that the track shoes with large mass fall down and crush workers due to misplacement clamping of the track shoes, and solves the problem that a great deal of manpower is required to be consumed in the movement process of the track shoes of the engineering vehicle in the prior art.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

fig. 1 shows a schematic structural view of an embodiment of a track shoe gripping device according to the present application;

FIG. 2 shows a partial enlarged view of the track shoe gripping device shown in FIG. 1 at A;

FIG. 3 shows a schematic view of a track shoe gripping system according to the present application;

FIG. 4 illustrates a schematic diagram of a machine vision servo positioning module of the track shoe gripping system illustrated in FIG. 3;

fig. 5 shows a flow diagram of a track shoe gripping method according to the application.

Wherein the above figures include the following reference numerals:

1. an equipment stand; 2. a manipulator; 3. a mounting plate; 4. a slide rail; 5. a slide block; 6. a sliding groove; 7. a clamping plate; 8. a cushion pad; 9. a friction pad; 10. a mounting box; 11. a cylinder; 12. a positioning rod; 13. an equipment box; 14. a camera; 15. a light supplementing lamp; 16. a microprocessor module; 17. the complex component visual image processing and feature recognition matching module; 18. a machine vision servo positioning module; 181. a binocular stereoscopic vision module; 182. a high-speed image acquisition board card; 183. an image processing control module; 19. a control module; 20. the pose of the machine vision is adjusted and accurately corrected; 21. the visual three-dimensional measurement and calibration module of the complex component; 22. the vision measurement system builds a calibration control field.

Detailed Description

It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.

As shown in fig. 1 and 2, the present application provides a track shoe gripping device, including: a manipulator 2, the fixed end of the manipulator 2 being fixed at a predetermined 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, the mounting box 10 being arranged on the 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 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; an imaging part provided on the mounting plate 3, the imaging part including a camera 14 provided toward a side of the mounting plate 3 away from the robot arm 2 for photographing the track shoe to control the movement of the clamping part according to the photographing result.

Therefore, the track shoe grabbing device realizes stable clamping and high-strength movement of the track shoes which are stacked in disorder through the control of the manipulator 2, the clamping part and the camera shooting part, ensures the movement efficiency of the track shoes, avoids the production accident that the large-quality track shoes drop and crush staff due to the misplacement clamping of the track shoes, and solves the problem that a great deal of manpower is required to be consumed in the movement process of the track shoes of the engineering vehicle in the prior art.

Preferably, camera 14 is a three-dimensional camera.

As shown in fig. 2, the holding 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 and 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 one-to-one correspondence sliding connection with the two sliding rails 4.

Specifically, each slide rail 4 is provided with a slide groove 6 for insertion of a corresponding slide 5.

As shown in fig. 2, the clamping member includes two cushioning pads 8, the two cushioning pads 8 are disposed on the two clamping plates 7 in a one-to-one correspondence, and each cushioning pad 8 is located on a side of the corresponding clamping plate 7 near the mounting box 10, so as to avoid damage to the track shoe.

Specifically, each cushion pad 8 is adhered to the corresponding holding plate 7.

As shown in fig. 2, the clamping member includes two friction pads 9, the two friction pads 9 are disposed on the two cushion pads 8 in a one-to-one correspondence, and each friction pad 9 is located on a side of the corresponding cushion pad 8 near the mounting box 10 to increase a friction factor between the clamping member and the track shoe, and prevent the track shoe from slipping off the clamping member.

Specifically, each friction pad 9 is stuck on the corresponding cushion pad 8.

As shown in fig. 2, the clamping member includes a positioning rod 12, and the positioning rod 12 is provided on the mounting box 10 on a side of the mounting box 10 near the clamping space for positioning the track shoe.

As shown in fig. 2, the number of the positioning rods 12 is two, and two positioning rods 12 are provided at a spacing on the mounting box 10.

As shown in fig. 2, the clamping member includes two cylinders 11, the cylinders of the two cylinders 11 are all fixed in the mounting box 10, and the free ends of the piston rods of the two cylinders 11 respectively pass through two box wall surfaces on opposite sides of the mounting box 10 and are respectively fixedly connected with the two sliding blocks 5.

As shown in fig. 1, the track shoe gripping device further includes an equipment table 1, and a fixed end of the manipulator 2 is fixed on the equipment table 1.

As shown in fig. 2, the image pickup unit further includes an equipment box 13 and a light compensating lamp 15, the equipment box 13 is mounted on the mounting plate 3, and the camera 14 and the light compensating lamp 15 are respectively fixed on opposite sides of the equipment box 13.

As shown in fig. 3, the present application provides a track shoe gripping system, which is suitable for the track shoe gripping device, and includes: a microprocessor module 16, wherein the microprocessor module 16 is used for processing data and executing programs; the complex component visual image processing and feature recognition matching module 17 is connected with the microprocessor module 16 and the complex component visual image processing and feature recognition matching module 17 in a bidirectional signal manner 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 so as to receive image information shot by the camera 14 and 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 precise correction 20 for the pose adjustment of the machine vision is connected with the precise correction 20 for the pose adjustment of the machine vision by a bidirectional signal, and the precise correction 20 for the pose adjustment of the machine vision is used for precise correction for the pose adjustment; the microprocessor module 16 is connected with the complex component vision three-dimensional measuring and calibrating module 21 through bidirectional signals, and the complex component vision three-dimensional measuring and calibrating module 21 is used for performing vision three-dimensional measuring and calibrating; 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 which is used for building the calibration control field.

As shown in fig. 4, the machine vision servo positioning module 18 includes: the binocular stereoscopic vision module 181, the binocular stereoscopic vision module 181 is connected with the camera 14, in order to be used for obtaining the 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, so as to be used for converting the high-definition image into a digital image after sampling and quantization; the image processing control module 183, the image processing control module 183 is connected to the high-speed image pickup board 182 for processing digital images.

As shown in fig. 5, the present application provides a track shoe gripping method, which is applicable to the track shoe gripping system, and the track shoe gripping method includes: s1, acquiring an image shot by a camera 14 through a machine vision servo positioning module 18; s2, determining the position of the clamping part through a complex component visual image processing and feature recognition matching module 17, a machine visual pose adjustment accurate correction 20, a complex component visual three-dimensional measurement and calibration module 21 and a visual measurement system construction 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 adjust 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; the control module 19 drives the two cylinders 11 to move so as to push the two clamping plates 7 of the clamping component to move so as to clamp the track shoe; and S5, driving the manipulator 2 to move through the control module 19 so as to move the track shoe to the specified placement position.

The track shoe grabbing method is controlled and executed by the microprocessor module 16 of the track shoe grabbing system, and is linked with the track shoe grabbing device under the control of the microprocessor module 16, so that stable clamping and high-strength movement of the track shoes which are stacked in disorder are realized through the control of the manipulator 2, the clamping component and the camera component, the movement efficiency of the track shoes is ensured, and meanwhile, the production accident that the large-quality track shoes drop and smash the staff due to the misplacement clamping of the track shoes is avoided.

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

the track shoe gripping device of the present application includes: a manipulator 2, the fixed end of the manipulator 2 being fixed at a predetermined 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, the mounting box 10 being arranged on the 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 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; an imaging part provided on the mounting plate 3, the imaging part including a camera 14 provided toward a side of the mounting plate 3 away from the robot arm 2 for photographing the track shoe to control the movement of the clamping part according to the photographing result. Therefore, the track shoe grabbing device realizes stable clamping and high-strength movement of the track shoes which are stacked in disorder through the control of the manipulator 2, the clamping part and the camera shooting part, ensures the movement efficiency of the track shoes, avoids the production accident that the large-quality track shoes drop and crush staff due to the misplacement clamping of the track shoes, and solves the problem that a great deal of manpower is required to be consumed in the movement process of the track shoes of the engineering vehicle in the prior art.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the authorization specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present application, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present application; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present application.

The above is only a preferred embodiment of the present application, and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

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.