Multi-Degree-of-Freedom Robot Arm Mounting Device for Special-Shaped Curb Stones and Its Control Method

Abstract

The present invention belongs to the technical field of special-shaped curb installation equipment, and discloses a multi-degree-of-freedom mechanical arm installation device for special-shaped curbs and a control method thereof, including a mechanical arm body and a driving element, and also including: a card case, the card case is arranged at the bottom of the driving element, and the special-shaped curb body is clamped inside; a power assembly, the power assembly is fixedly connected to the top surface of the card case; a resistance assembly, the resistance assembly is fixedly installed at the output end of the power assembly; and a movable assembly. The present invention enhances the moving reinforcement force of the special-shaped curb by setting the coordination of structures such as movable plates and telescopic parts. When the top surface of the inner cavity of the card case is attached to the top surface of the special-shaped curb body, the bottom of the special-shaped curb body is supported, thereby effectively preventing the existing simple use of ropes for fixing, and failing to ensure that the ropes will be wrapped around the surface of the special-shaped curb in an accurate installation method, resulting in a very unstable phenomenon.

Description

Technical Field

[0001] The invention belongs to the technical field of special-shaped curb installation equipment, and in particular relates to a multi-degree-of-freedom mechanical arm installation device for special-shaped curbs and a control method thereof. Background Art

[0002] Special-shaped curbstones are curbstones with special or irregular shapes in addition to regular rectangular curbstones. They are used for flower bed decoration or roadsides. The installation of special-shaped curbstones usually requires the assistance of a robotic arm. Through the coordinated work of multiple joints of a multi-degree-of-freedom robotic arm, multiple special-shaped curbstones can be stably placed and installed one by one.

[0003] However, in actual use, the special-shaped curbstones are first piled up layer by layer using a flatbed cart and transported to the place where they are required to be installed. Then, the special-shaped curbstones are lifted by a multi-degree-of-freedom robotic arm and manually assisted by hand to the designated position for installation. However, when the special-shaped curbstones are lifted by the existing multi-degree-of-freedom robotic arm, the gripper part of the robotic arm generally wraps the special-shaped curbstones with ropes to achieve stable reinforcement of the special-shaped curbstones during the lifting and transportation process. Since the shape of the special-shaped curbstones is different from that of normal regular special-shaped curbstones and their weight is heavier, simply fixing them with ropes cannot guarantee that the ropes will be wrapped around the surface of the special-shaped curbstones in an accurate installation method. Therefore, they are very unstable and need to be improved. Summary of the invention

[0004] In order to solve the problem raised in the above background technology that the shape of the special-shaped curb is different from that of the normal regular special-shaped curb and the weight is heavy, which makes it very unstable to simply use ropes to fix it, and it cannot be guaranteed that the ropes will be wrapped around the surface of the special-shaped curb in an accurate installation method. The present invention provides a multi-degree-of-freedom robotic arm installation device for special-shaped curbs and a control method thereof.

[0005] To achieve the above object, the present invention provides the following technical solution: a multi-degree-of-freedom mechanical arm installation device for special-shaped curbstones, comprising a mechanical arm body and a driving element, and further comprising:

[0006] A card shell, which is arranged at the bottom of the driving element and has a special-shaped curb body clamped inside;

[0007] A power assembly, the power assembly being fixedly connected to the top surface of the card shell;

[0008] A resistance component, wherein the resistance component is fixedly mounted at the output end of the power component;

[0009] A movable component, the movable component is mounted on the outer wall of the jamming shell and connected to the power component;

[0010] The movable component includes a movable plate, a moving component, and a abutting member. The movable plate is hinged to the outer wall of the cartridge case. An movable block is movably connected inside the movable plate. A second connecting plate is fixedly connected to the top surface of the movable block. A telescopic member is movably connected to the lower end of the inner cavity of the movable block.

[0011] The moving component includes a moving plate which is movably connected inside the cartridge case. The abutting member includes a top block which is movably connected inside the cartridge case and abuts against the bottom of the moving plate.

[0012] When the moving plate is forced to move downward so that its bottom end abuts against the top block and moves the top block away from the moving plate, the end of the top block will abut against the movable plate and cause it to flip.

[0013] Preferably, the power component includes a hydraulic cylinder which is fixedly connected to the cartridge case. A first connecting plate is fixedly installed at the output end of the hydraulic cylinder. One end of the bottom surface of the first connecting plate is hinged to the second connecting plate. A connecting rod is fixedly connected to the middle of the top surface of the first connecting plate.

[0014] Preferably, the abutting component includes an abutting plate. The bottom end of the abutting plate is fixedly connected to the top end of the connecting rod. Clamping plates connected to the cartridge case are abutted and connected to both sides of the bottom surface of the abutting plate. Elastic reset members are installed at one ends of the two clamping plates away from the abutting plate.

[0015] Preferably, bevels are provided on both sides of the bottom surface of the abutting plate, and the bevel ends abut against the outer walls of the clamping plates.

[0016] Rubber cushion pads which abut against the outer wall of the special-shaped kerbstone body are installed on one side of the two clamping plates facing each other.

[0017] Preferably, the elastic reset member includes a fixing block, a limiting rod, and a spring telescopic cylinder. The fixing block is in a "C" shape. The top of the fixing block is fixedly connected to the cartridge case. The bottom of the fixing block is movably connected to the outer wall of the clamping plate. The limiting rod is fixedly connected to the outer wall of the clamping plate and penetrates through the fixing block. The outer end of the limiting rod is elastically connected to the fixing block through the spring telescopic cylinder.

[0018] Preferably, the telescopic member includes an abutting block which is movably connected inside the movable block. The abutting block is elastically connected to the inner cavity of the movable block through a second spring.

[0019] Preferably, the moving plate is in a vertical "Z" shape. A third spring is fixedly connected to the bottom of the moving plate. The moving plate is elastically connected to the cartridge case through the third spring.

[0020] Preferably, the top of the moving plate is in abutting connection with the bottom surface of the first connecting plate. An empty groove for the moving plate to move in the vertical direction is provided in the inner cavity of the cartridge case.

[0021] Preferably, the top block is elastically connected to the card shell via a fourth spring, and a contact end of the top block and the shift plate is provided with an oblique angle.

[0022] The present application also proposes a control method for a multi-degree-of-freedom mechanical arm installation device for special-shaped curbstones, the method is as follows:

[0023] S1, move the transport vehicle to the designated position, use the robot arm body and the driving element to move the special-shaped curb body, the jamming shell, the power assembly, the resistance assembly and the movable assembly to the top of the stacked special-shaped curbs, and start the driving element to gradually fit the jamming shell onto the top of the special-shaped curb body;

[0024] S2. When the top surface of the inner cavity of the housing is in contact with the top surface of the special-shaped curb body, the hydraulic cylinder is started, and the output end of the hydraulic cylinder moves downward through the first connecting plate to drive the second connecting plate and the movable block to move downward at the same time. The movable block moves downward inside the movable plate, so that the stop block gradually releases the contact with the outer wall of the special-shaped curb body, and the stop block gradually moves to the bottom of the special-shaped curb body, and through the elastic force of the second spring, the stop block moves to the bottom surface of the special-shaped curb body;

[0025] S3, when the first connecting plate moves downward, the connecting rod will drive the support plate downward, and the two sides of the bottom surface of the support plate will squeeze the two clamping plates, so that the two clamping plates move toward each other and clamp the two sides of the special-shaped curb stone body;

[0026] S4. After the special-shaped curb stone body is clamped and positioned, it is transported to the top of the area to be installed through the mechanical arm body and the driving element. The driving element moves downward, and with manual assistance, the hydraulic cylinder output end is started downward again. The hydraulic cylinder will resist the downward movement of the moving plate through the first connecting plate, so that the bottom end of the moving plate resists the top block and moves to the side away from the special-shaped curb stone body, so that the movable plate drives the second connecting plate, the movable block and the telescopic part to flip to the side away from the special-shaped curb stone body. At this time, the bottom end of the special-shaped curb stone body will not be blocked by the resisting block, but the resisting component still clamps the special-shaped curb stone body, and through the continuous downward movement of the driving element, the special-shaped curb stone is placed in the area to be placed. Then, by starting the power component again, the clamping of the special-shaped curb stone body by the resisting component is released, and the special-shaped curb stone body is slowly separated from the inside of the jam shell for installation.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention enhances the moving reinforcement force of the special-shaped curb stone by arranging the cooperation of structures such as movable plates and telescopic parts. When the top surface of the inner cavity of the shell is in contact with the top surface of the main body of the special-shaped curb stone, the hydraulic cylinder is started at this time, and the output end of the hydraulic cylinder moves downward through the first connecting plate to drive the second connecting plate and the movable block downward, so that the stop block is released from the interference with the outer wall of the main body of the special-shaped curb stone, and the elastic force of the second spring is used to move the stop block to the bottom surface of the main body of the special-shaped curb stone to support the bottom of the main body of the special-shaped curb stone, thereby effectively preventing the existing method of fixing with ropes alone, and failing to ensure that the ropes will be wrapped around the surface of the special-shaped curb stone in an accurate installation method, resulting in a very unstable phenomenon.

[0029] The present invention arranges the cooperation of structures such as the resistance component and the power component, and then performs secondary reinforcement on the special-shaped curb body during the movement, thereby improving the stability. The downward movement of the first connecting plate will drive the resistance plate downward through the connecting rod, and the two sides of the bottom surface of the resistance plate will squeeze the two clamping plates, causing the two clamping plates to move toward each other and gradually contact the two sides of the special-shaped curb body. The rubber pads on both sides of the clamping plates are used to resist and clamp the two sides of the special-shaped curb body, thereby improving the stability of the special-shaped curb body during lifting.

[0030] The present invention cooperates with structures such as the movable assembly and the abutment member, thereby facilitating the lower end of the special-shaped curb body to be stably moved downward after the special-shaped curb body is lifted to the specified position by using the driving element and the mechanical arm body, ensuring that the special-shaped curb body can still maintain a stable clamping effect when the height of the special-shaped curb body is shortened to the area to be installed, which is convenient for subsequent installation and docking. The downward movement of the output end of the hydraulic cylinder will resist the downward movement of the moving plate through the first connecting plate, so that the bottom end of the moving plate resists the top block and moves to the side away from the special-shaped curb body, so that the movable plate drives the second connecting plate to move downward. The plate, movable block and telescopic part are flipped to the side away from the special-shaped curb body, so that the resistance block will not be located below the special-shaped curb body, but the resistance component still maintains the clamping force on the special-shaped curb body, and through the continuous downward movement of the driving element, the special-shaped curb is placed in the area to be placed, and then the power component is started again to release the clamping of the resistance component on the special-shaped curb body, and slowly separate the special-shaped curb body from the inside of the card shell, while continuously shortening the height between the special-shaped curb body and the area to be installed, which facilitates the subsequent installation of the special-shaped curb body. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the structure of the present invention;

[0032] Figure 2 It is a schematic diagram of the structural matching relationship between the special-shaped curb body and the power assembly of the present invention;

[0033] Figure 3It is a schematic diagram of the disassembled structure of the conflicting component of the present invention;

[0034] Figure 4 It is a schematic diagram of the split structure of the active component of the present invention;

[0035] Figure 5 for Figure 4 A schematic diagram of the local enlarged structure at point A in the middle;

[0036] Figure 6 for Figure 4 A schematic diagram of the local enlarged structure at B in the middle;

[0037] Figure 7 It is a schematic diagram of the structural matching relationship between the special-shaped curb body and the card shell of the present invention;

[0038] Figure 8 for Figure 7 A schematic diagram of the local enlarged structure at C in the middle;

[0039] Figure 9 It is a schematic diagram of the structural matching relationship between the abutment plate and the clamping plate of the present invention;

[0040] Figure 10 It is a schematic diagram of the structural coordination relationship between the stop block and the movable block of the present invention.

[0041] In the figure: 1. Robot arm body; 2. Driving element; 3. Special-shaped curb body; 4. Jam; 5. Power assembly; 51. Hydraulic cylinder; 52. First connecting plate; 53. Connecting rod; 6. Resistance assembly; 61. Resistance plate; 62. Clamping plate; 63. Elastic reset member; 7. Movable assembly; 71. Movable plate; 72. Second connecting plate; 73. Movable block; 74. Telescopic member; 741. Resistance block; 742. Second spring; 75. Moving assembly; 751. Moving plate; 752. Third spring; 76. Push member; 761. Push block; 762. Fourth spring. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] like Figures 1 to 10 As shown, the present invention provides a multi-degree-of-freedom mechanical arm installation device for special-shaped curbstones, including a mechanical arm body 1 and a driving element 2, and also includes:

[0044] A card housing 4, which is arranged at the bottom of the driving element 2 and has a special-shaped curb body 3 clamped therein;

[0045] Power assembly 5, the power assembly 5 is fixedly connected to the top surface of the cartridge case 4;

[0046] Contact component 6, the contact component 6 is fixedly installed at the output end of the power assembly 5;

[0047] Movable component 7, the movable component 7 is installed on the outer wall of the cartridge case 4 and is connected to the power assembly 5;

[0048] The movable component 7 includes a movable plate 71, a moving component 75 and a pressing member 76. The movable plate 71 is hinged to the outer wall of the cartridge case 4. An movable block 73 is movably connected inside the movable plate 71. A second connecting plate 72 is fixedly connected to the top surface of the movable block 73. A telescopic member 74 is movably connected to the lower end of the inner cavity of the movable block 73;

[0049] The moving component 75 includes a moving plate 751, and the moving plate 751 is movably connected inside the cartridge case 4; The pressing member 76 includes a top block 761, and the top block 761 is movably connected inside the cartridge case 4 and abuts against the bottom of the moving plate 751;

[0050] When the moving plate 751 is forced by an external force to move downward so that its bottom end abuts against the top block 761 and moves the top block 761 away from the moving plate 751, the end of the top block 761 will abut against the movable plate 71 and cause it to flip.

[0051] As Figure 4 shown, the power assembly 5 includes a hydraulic cylinder 51. The hydraulic cylinder 51 is fixedly connected to the cartridge case 4. A first connecting plate 52 is fixedly installed at the output end of the hydraulic cylinder 51. One end of the bottom surface of the first connecting plate 52 is hinged to the second connecting plate 72. A connecting rod 53 is fixedly connected to the middle of the top surface of the first connecting plate 52.

[0052] Adopting the above scheme: When the hydraulic cylinder 51 starts and drives its output end to move downward, it will cause the first connecting plate 52 and the connecting rod 53 to move downward synchronously. At the same time, the first connecting plate 52 will drive the entire contact component 6 to press downward above the cartridge case 4 through the connecting rod 53.

[0053] As Figure 2 、 Figure 3 and Figure 10 shown, the contact component 6 includes a pressing plate 61. The bottom end of the pressing plate 61 is fixedly connected to the top end of the connecting rod 53. Clamping plates 62 connected to the cartridge case 4 are in contact connection on both sides of the bottom surface of the pressing plate 61. Elastic return members 63 are installed at one ends of the two clamping plates 62 away from the pressing plate 61.

[0054] Adopting the above scheme: When the connecting rod 53 drives the pressing plate 61 to move downward, the bottom end of the pressing plate 61 will squeeze the outer wall of the pressing plate 61, causing the two clamping plates 62 to move closer to the center position synchronously, resulting in the inner walls of the two clamping plates 62 gradually fitting against both sides of the special-shaped curbstone body 3, thereby clamping and limiting both sides of the special-shaped curbstone body 3.

[0055] As Figure 2 and Figure 9 shown, bevels are provided on both sides of the bottom surface of the bottom plate 61, and the bevel ends are in contact with the outer walls of the clamping plates 62;

[0056] Rubber pads that are in contact with the outer wall of the special-shaped curbstone body 3 are installed on the opposite sides of the two clamping plates 62.

[0057] As Figure 2 , Figure 8 and Figure 10 shown, the elastic reset member 63 includes a fixed block, a limit rod and a spring telescopic cylinder. The fixed block is in a "C" shape. The top of the fixed block is fixedly connected to the cartridge case 4, and the bottom of the fixed block is movably connected to the outer wall of the clamping plate 62. The limit rod is fixedly connected to the outer wall of the clamping plate 62 and penetrates through the fixed block. The outer end of the limit rod is elastically connected to the fixed block through the spring telescopic cylinder.

[0058] With the above solution: When the clamping plate 62 approaches the side of the special-shaped curbstone body 3 under an external force, at this time, the spring telescopic cylinder will be extended and stretched through the limit rod. Conversely, the clamping plate 62 will achieve a reset effect through the spring telescopic cylinder.

[0059] As Figure 6 shown, the telescopic member 74 includes a resisting block 741. The resisting block 741 is movably connected inside the movable block 73. The resisting block 741 is elastically connected to the inner cavity of the movable block 73 through the second spring 742.

[0060] With the above solution: When the movable block 73 gradually descends inside the movable plate 71, it will synchronously drive the telescopic member 74 to descend together, so that the resisting block 741 is located below the special-shaped curbstone body 3. When the resisting block 741 releases the contact with the outer wall of the special-shaped curbstone body 3, the resisting block 741 is driven by the elastic force of the compressed second spring 742 to move outward from the inside of the movable block 73, so that the top surface of the extended section of the resisting block 741 abuts against the bottom surface of the special-shaped curbstone body 3.

[0061] As Figure 5 shown, the moving plate 751 is in a vertical "Z" shape. The bottom of the moving plate 751 is fixedly connected with a third spring 752. The moving plate 751 is elastically connected to the cartridge case 4 through the third spring 752.

[0062] With the above solution: When the first connecting plate 52 descends, the bottom surface of the first connecting plate 52 will gradually contact and abut against the top surface of the moving plate 751 to drive the moving plate 751 to descend, so that the third spring 752 is in a compressed state.

[0063] As Figure 4 and Figure 5As shown, the top of the moving plate 751 is in contact with the bottom surface of the first connecting plate 52, and the inner cavity of the card shell 4 is provided with an empty slot for allowing the moving plate 751 to move in the vertical direction.

[0064] The above solution is adopted: by opening the empty groove inside the card shell 4, it is ensured that when the moving plate 751 is resisted by the first connecting plate 52 and moves vertically, the moving plate 751 will not shake, and it is ensured that the bottom end of the moving plate 751 can stably resist the top block 761 to move.

[0065] like Figure 5 As shown, the top block 761 is elastically connected to the card shell 4 through the fourth spring 762, and the contact end of the top block 761 and the shift plate 751 is provided with an oblique angle.

[0066] The present application also proposes a control method for a multi-degree-of-freedom mechanical arm installation device for special-shaped curbstones, the method is as follows:

[0067] S1, move the transport vehicle to the designated position, use the robot body 1 and the driving element 2 to move the special-shaped curb body 3, the jamming shell 4, the power assembly 5, the resistance assembly 6 and the movable assembly 7 to the top of the stacked special-shaped curbs, and start the driving element 2 to gradually fit the jamming shell 4 to the top of the special-shaped curb body 3;

[0068] S2, when the top surface of the inner cavity of the card shell 4 is attached to the top surface of the special-shaped curb body 3, the hydraulic cylinder 51 is started at this time, and the output end of the hydraulic cylinder 51 moves downward through the first connecting plate 52 to drive the second connecting plate 72 and the movable block 73 to move downward at the same time, and the movable block 73 will move downward inside the movable plate 71, so that the stop block 741 gradually releases the conflict with the outer wall of the special-shaped curb body 3, and the stop block 741 will gradually move to the bottom of the special-shaped curb body 3, and through the elastic force of the second spring 742, the stop block 741 moves to the bottom surface of the special-shaped curb body 3;

[0069] S3, when the first connecting plate 52 moves downward, the connecting rod 53 will drive the support plate 61 downward, and the two sides of the bottom surface of the support plate 61 will squeeze the two clamping plates 62, so that the two clamping plates 62 move toward each other and clamp the two sides of the special-shaped curb body 3;

[0070] S4. After the special-shaped curbstone body 3 is clamped and positioned and transported to above the area to be installed by the robotic arm body 1 and the driving element 2, when the driving element 2 moves downward, with manual assistance, the output end of the hydraulic cylinder 51 is started to move downward again. The hydraulic cylinder 51 will push the moving plate 751 downward through the first connecting plate 52, causing the bottom end of the moving plate 751 to push against the top block 761 and move away from the special-shaped curbstone body 3, so that the movable plate 71 drives the second connecting plate 72, the movable block 73 and the telescopic member 74 to turn away from the special-shaped curbstone body 3. At this time, the bottom end of the special-shaped curbstone body 3 will not be blocked by the abutting block 741, but the clamping assembly 6 still clamps the special-shaped curbstone body 3. Through the continuous downward movement of the driving element 2, after the special-shaped curbstone is placed in the area to be placed, by starting the power assembly 5 again, the clamping of the special-shaped curbstone body 3 by the clamping assembly 6 is released, and the special-shaped curbstone body 3 is slowly disengaged from the inside of the cartridge case 4 for installation.

[0071] It should be added that when the hydraulic cylinder 51 is started again in S4 to make its output end move downward so that the bottom end of the special-shaped curbstone body 3 does not contact the abutting block 741, the two clamping plates 62 will continue to move towards each other because of the abutting plate 61. However, due to the rubber cushion pads installed on the opposite sides of the two clamping plates 62, the clamping force of the clamping plates 62 on both sides of the special-shaped curbstone body 3 will not be too large, resulting in the phenomenon of immobility. The rubber cushion pads give the clamping plates 62 "room" to contact and clamp the special-shaped curbstone body 3.

[0072] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0073] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom mechanical arm mounting device for special-shaped curbstones, comprising a mechanical arm body (1) and a driving element (2), characterized in that: Also includes: A casing (4), the casing (4) being arranged at the bottom of the driving element (2) and having a special-shaped curbstone body (3) clamped therein; a power assembly (5), the power assembly (5) being fixedly connected to the top surface of the casing (4); a resistance assembly (6), the resistance assembly (6) being fixedly installed at the output end of the power assembly (5); a movable assembly (7), the movable assembly (7) being installed on the outer wall of the casing (4) and connected to the power assembly (5); the movable assembly (7) comprising a movable plate (71), a moving assembly (75) and a resistance member (76), the movable plate (71 ) is hinged on the outer wall of the casing (4); the movable plate (71) is movably connected to a movable block (73) inside; the top surface of the movable block (73) is fixedly connected to a second connecting plate (72); the lower end of the inner cavity of the movable block (73) is movably connected to a telescopic member (74); the moving assembly (75) includes a moving plate (751), and the moving plate (751) is movably connected to the inside of the special-shaped curb body (3); the abutting member (76) includes a top block (761), and the top block (761) is movably connected to the inside of the casing (4) and is connected to the bottom of the moving plate (751). abutment; when the moving plate (751) is subjected to an external force and its bottom end abuts against the top block (761) and moves toward one end away from the moving plate (751), the end of the top block (761) abuts against the movable plate (71) to flip; the power assembly (5) comprises a hydraulic cylinder (51), the hydraulic cylinder (51) is fixedly connected to the card shell (4), the output end of the hydraulic cylinder (51) is fixedly installed with a first connecting plate (52), one end of the bottom surface of the first connecting plate (52) is hinged to the second connecting plate (72), and the middle part of the top surface of the first connecting plate (52) is fixedly connected with a connecting rod (53); The abutment assembly (6) comprises a butt plate (61), the bottom end of which is fixedly connected to the top end of the connecting rod (53), and the two sides of the bottom surface of the butt plate (61) are butt-connected with clamping plates (62) connected to the card shell (4), and elastic reset parts (63) are installed at the ends of the two clamping plates (62) away from the butt plate (61); both sides of the bottom surface of the butt plate (61) are provided with bevels, and the bevel ends are in contact with the outer wall of the clamping plates (62); and the two sides of the two clamping plates (62) facing each other are both installed with rubber pads that are in contact with the outer wall of the special-shaped curb body (3).

2. The multi-degree-of-freedom mechanical arm installation device for special-shaped curbstones according to claim 1, characterized in that: The elastic reset member (63) comprises a fixed block, a limiting rod and a spring telescopic tube. The fixed block is in a "C" shape. The top of the fixed block is fixedly connected to the card shell (4). The bottom of the fixed block is movably connected to the outer wall of the clamping plate (62). The limiting rod is fixedly connected to the outer wall of the clamping plate (62) and passes through the fixed block. The outer end of the limiting rod is elastically connected to the fixed block through the spring telescopic tube.

3. The multi-degree-of-freedom mechanical arm installation device for special-shaped curbstones according to claim 2, characterized in that: The telescopic member (74) comprises a stopper (741), the stopper (741) being movably connected to the interior of the movable block (73), and the stopper (741) being elastically connected to the inner cavity of the movable block (73) via a second spring (742).

4. The multi-degree-of-freedom mechanical arm installation device for special-shaped curbstones according to claim 3, characterized in that: The shift plate (751) is in a vertical "Z" shape, a third spring (752) is fixed to the bottom of the shift plate (751), and the shift plate (751) is elastically connected to the card shell (4) via the third spring (752).

5. The multi-degree-of-freedom mechanical arm installation device for special-shaped curbstones according to claim 4, characterized in that: The top of the moving plate (751) is in contact with the bottom surface of the first connecting plate (52), and the inner cavity of the housing (4) is provided with an empty slot for allowing the moving plate (751) to move in a vertical direction.

6. The multi-degree-of-freedom mechanical arm installation device for special-shaped curbstones according to claim 5, characterized in that: The top block (761) is elastically connected to the card shell (4) via a fourth spring (762), and a contact end between the top block (761) and the shift plate (751) is provided with an oblique angle.

7. A control method for a multi-degree-of-freedom mechanical arm installation device for a special-shaped curb, applied to the multi-degree-of-freedom mechanical arm installation device for a special-shaped curb as claimed in any one of claims 5 or 6, characterized in that: Here’s how: S1, moving the transport vehicle to a designated position, using the robot arm body (1) and the driving element (2) to move the special-shaped curb body (3), the jamming shell (4), the power assembly (5), the resistance assembly (6) and the movable assembly (7) to the top of the stacked special-shaped curbs, and starting the driving element (2) to gradually fit the jamming shell (4) to the top of the special-shaped curb body (3); S2. When the top surface of the inner cavity of the casing (4) is in contact with the top surface of the special-shaped curb body (3), the hydraulic cylinder (51) is started, and the output end of the hydraulic cylinder (51) moves downward through the first connecting plate (52) to drive the second connecting plate (72) and the movable block (73) to move downward at the same time. The movable block (73) moves downward inside the movable plate (71), so that the stop block (741) gradually releases the contact with the outer wall of the special-shaped curb body (3), and the stop block (741) gradually moves to the bottom of the special-shaped curb body (3), and through the elastic force of the second spring (742), the stop block (741) moves to the bottom surface of the special-shaped curb body (3); S3, when the first connecting plate (52) moves downward, the connecting rod (53) drives the support plate (61) downward, and the two sides of the bottom surface of the support plate (61) squeeze the two clamping plates (62), so that the two clamping plates (62) move toward each other and clamp the two sides of the special-shaped curb body (3); S4, after the special-shaped curbstone body (3) is clamped and positioned, it is transported to the top of the installation area through the mechanical arm body (1) and the driving element (2), and the driving element (2) is moved downward, and with the help of manual labor, the output end of the hydraulic cylinder (51) is started again to move downward, and the hydraulic cylinder (51) will contact the moving plate (751) downward through the first connecting plate (52), so that the bottom end of the moving plate (751) contacts the top block (761) and moves to the side away from the special-shaped curbstone body (3), so that the movable plate (71) drives the second connecting plate (72) and the movable block (73) The retractable member (74) is turned toward the side away from the special-shaped curb body (3). At this time, the bottom end of the special-shaped curb body (3) is not blocked by the stop block (741), but the stop assembly (6) still clamps the special-shaped curb body (3). After the special-shaped curb is placed in the area to be placed by continuously moving the driving element (2) downward, the power assembly (5) is started again to release the stop assembly (6) from clamping the special-shaped curb body (3), and the special-shaped curb body (3) is slowly separated from the inside of the housing (4) for installation.

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