CN113001511B

CN113001511B - Intelligent self-moving manipulator

Info

Publication number: CN113001511B
Application number: CN202110228386.1A
Authority: CN
Inventors: 王夏杰
Original assignee: Xuzhou Yuancheng Machinery Manufacturing Co ltd
Current assignee: Xuzhou Yuancheng Machinery Manufacturing Co ltd
Priority date: 2021-03-02
Filing date: 2021-03-02
Publication date: 2022-05-24
Anticipated expiration: 2041-03-02
Also published as: CN113001511A

Abstract

The utility model discloses an intelligent self-moving manipulator, which particularly relates to the field of coal mine fully mechanized mining equipment; the self-transplanting manipulator comprises a fixed arm, a first gear, a first rack, a self-locking mechanism, a rotating seat, a second gear, a second rack, a telescopic cylinder and a brake; the upper and lower positions of the gripper mechanism are controlled by mounting a first rack and a first gear which are meshed with each other on the fixed arm; the self-locking mechanism is arranged above the first gear to prevent the first gear 25 from rotating; the second gear and the spur rack are arranged between the rotating seat and the base to control the rotating angle of the rotating seat; the traveling mechanism is provided with a brake and a telescopic cylinder to realize the moving function of the traveling mechanism; the clamping of the middle groove is realized by installing brake brakes at two ends of the gripper mechanism; the use method of the intelligent self-moving manipulator comprises the following steps: self-moving control, workpiece clamping and workpiece transporting and installing.

Description

Intelligent self-moving manipulator

Technical Field

The utility model belongs to the colliery is combined and is adopted equipment field, concretely relates to intelligence is from moving manipulator.

Background

Along with the continuous development of the existing science and technology, the mining speed of the working face is increasingly accelerated along with the continuous improvement of the mechanized mining level of the coal mine, so that the corresponding matching equipment is more frequently withdrawn, whether the quick withdrawal of the matching equipment of the fully mechanized mining working face can be realized or not is the case, and the increase of the coal yield and the increase of the economic benefit are directly influenced. In the fully mechanized mining face, the installation and retraction of the scraper conveyor are troublesome, and the retraction is generally performed in the following sequence: scraper and scraper chain → cooling water pipe and cable at the tail of scraper conveyor and its transmission part → head of scraper conveyor and its transmission part → curved transition groove of head → middle groove and cable groove. The carrying of the middle trough of the scraper conveyor is influenced by the supporting mode of the top plate near the fully mechanized mining surface, so that the equipment for installing and dismantling the middle trough meets the requirements of small structure, flexible movement, lifting and the like. The traditional loading, unloading, carrying and assembling work of the middle groove of the scraper conveyor is mainly completed by a winch, a lifting device and auxiliary workers, and the working mode has high labor intensity and low working efficiency.

Disclosure of Invention

To prior art's not enough, this disclosed aim at provides an intelligence is from moving manipulator, has solved the very low problem of middle part groove loading and unloading work efficiency among the prior art.

The purpose of the disclosure can be realized by the following technical scheme:

an intelligent self-moving manipulator comprises a base, wherein a walking mechanism is arranged on the base;

furthermore, the travelling mechanism comprises a front connecting body and a rear connecting body, the front connecting body is positioned at one end of the base and is in sliding connection with the base, and the rear connecting body is fixedly connected with the other end of the base;

furthermore, a telescopic cylinder is arranged between the front connecting body and the rear connecting body, and two ends of the telescopic cylinder are respectively hinged with the front connecting body and the rear connecting body;

furthermore, the front connector and the rear connector are respectively provided with a brake.

Furthermore, a hoisting mechanism is arranged above the travelling mechanism;

furthermore, the lifting mechanism comprises a fixed arm, a first rack is mounted at the upper end of the fixed arm, and the first rack is connected with the fixed arm in a sliding manner;

further, a first gear is arranged above the first rack, and the first gear is meshed with the first rack;

furthermore, a self-locking mechanism is arranged above the first gear.

Further, a rotating mechanism is arranged between the travelling mechanism and the hoisting mechanism;

further, rotary mechanism includes the roating seat, and the roating seat with the base is rotated and is connected.

Furthermore, a through groove is formed in the base, and the outline of the front connecting body is matched with the through groove.

Furthermore, the brake brakes comprise brake bodies, and the side surfaces of the brake bodies of the two brake brakes are respectively contacted and fixed with the side surface of the front connecting body and the side surface of the rear connecting body;

furthermore, a slide block groove is formed in the brake body, and a slide block is arranged on the slide block groove;

further, install the cylinder on the floodgate body, the one end and the floodgate body of cylinder are articulated, and the other end is articulated with the slider.

Furthermore, a fixed frame is mounted on the fixed arm, the self-locking mechanism comprises a connecting column, and the connecting column is rotatably connected with the fixed frame;

furthermore, the self-locking mechanism comprises a support column and a baffle, and the baffle is hinged with the support column;

further, a spring is installed between the baffle and the support column, and two ends of the spring are respectively fixed with the baffle and the support column in a surface contact manner.

Furthermore, a second gear is arranged between the rotating seat and the base, the upper end surface of the second gear is fixedly contacted with the lower end surface of the rotating seat, and the second gear is rotationally connected with the base;

furthermore, at least one guide groove is formed in the upper end face of the base, a second rack is mounted on the guide groove, and the second rack slides on the guide groove and is meshed with the second gear.

Furthermore, one end of the lifting mechanism is connected with a gripper mechanism, and two ends of the gripper mechanism are provided with brake valves.

Furthermore, the fixed arm upper surface has seted up the spout, first rack is installed on the spout, and first rack slides along the spout.

Further, the use method of the intelligent self-moving manipulator comprises the following steps:

s1: self-moving control: 1) the traveling mechanism is controlled, one brake is fixed with the inner wall of the middle groove, and the other brake slides in the middle groove by controlling the telescopic cylinder), so that the movement of the manipulator is realized; 2) when the brakes 8 at the two ends of the travelling mechanism are fixed in the middle groove at the same time after reaching the designated position, the travelling mechanism is static;

s2: clamping a workpiece: 1) the inclination angle of the fixed arm and the horizontal plane is controlled by controlling the hydraulic cylinder, so that the fixed arm moves to a proper inclination angle; 2) the clamping of the workpiece is finished by controlling the brake valves at the two ends of the gripper mechanism;

s3: transporting and installing the workpiece: 1) the workpiece is hoisted to a proper height by controlling the rotating device, the installation position of the self-locking mechanism is well adjusted, and the workpiece is prevented from suddenly falling after being hoisted; 2) the steering action of the workpiece is realized by controlling the rotating mechanism, and the workpiece is transported to the position above the designated position; 3) and controlling the rotating device again, and lowering the workpiece to the specified installation position to complete installation.

The beneficial effect of this disclosure: the loading and unloading work efficiency of the middle groove is improved.

Drawings

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is a schematic overall structure diagram of an embodiment of the present disclosure;

FIG. 2 is a schematic view of a lifting mechanism according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of a self-locking mechanism of an embodiment of the present disclosure;

fig. 4 is a schematic view of a rotary mechanism of an embodiment of the present disclosure;

FIG. 5 is a schematic view of a travel mechanism of an embodiment of the present disclosure;

FIG. 6 is a schematic view of a gripper mechanism of an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a brake according to an embodiment of the disclosure.

Detailed Description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

As shown in fig. 1, an intelligent self-moving manipulator includes: the lifting mechanism 2, the rotating mechanism 3, the traveling mechanism 6 and the gripper mechanism 7.

In the present embodiment, the hoisting mechanism 2 is used for hoisting the middle groove of the scraper machine, as shown in fig. 2, the hoisting mechanism 2 includes a telescopic arm 22 and a fixed arm 23, the outline of the telescopic arm 22 is matched with a slotted hole formed inside the fixed arm 23, and the telescopic arm 22 can slide along the slotted hole of the fixed arm 23, in some disclosures, the telescopic arm 22 is driven by installing a hydraulic cylinder in the slotted hole of the fixed arm 23, so that the telescopic arm 22 slides along the slotted hole of the fixed arm 23, thereby achieving the purpose of changing the manipulator hoisting stroke, of course, the driving device includes but is not limited to a hydraulic cylinder, as long as the driving of the telescopic arm 22 can be realized, and the telescopic arm 22 can slide along the slotted hole of the fixed arm 23.

The movable arm 22 is provided with a fixed pulley 21, the fixed pulley 21 is positioned at one end of the movable arm 22 far away from the fixed arm 23, and the fixed pulley 21 is rotatably connected with the movable arm 22;

a sliding groove 231 is formed in the upper surface of the fixing arm 23, a first rack 24 is mounted on the sliding groove 231, and the first rack 24 can slide along the sliding groove 231;

a fixed frame 26 is fixedly arranged above the first rack 24, the lower end surface of the fixed frame 26 is contacted and fixed with the upper surface of the fixed arm 23, a rotating shaft 27 is arranged on the fixed frame 26, the rotating shaft 27 is rotatably connected with the fixed frame 26, one end of the rotating shaft 27 is connected with a rotating device 28, and the rotating device 28 drives the rotating shaft 27 to rotate around the axis of the rotating shaft 27;

the rotating shaft 27 is provided with a first gear 25, and the rotating shaft 27 drives the first gear 25 to rotate under the driving of the rotating device 28;

the first gear 25 is located above the first rack 24 and is meshed with the first rack 24, and the first gear 25 rotates to drive the first rack 24 to slide along the sliding groove 231;

one side of the first rack 24 close to the movable arm 22 is provided with a rope 1, one end of the rope 1 is fixedly connected with the end face of the first rack 24 close to the movable arm 22, the other end of the rope crosses over the fixed pulley 21 and is connected with the gripper mechanism 7 downwards, when the rotating shaft 27 rotates to drive the first gear 25 to rotate, the first rack 24 pulls the gripper mechanism 7 to move up and down through the rope 1, and the position of the gripper mechanism 7 is accurately controlled through the meshing transmission of the first gear 25 and the first rack 24.

The self-locking mechanism 4 is arranged above the first gear 25, the self-locking mechanism 4 is arranged on the fixed frame 26, and the self-locking mechanism 4 is used for limiting the rotation of the first gear 25 and preventing the ascending middle groove from falling off due to the rotation of the first gear 25 in the process of lifting the middle groove of the scraper conveyor by the lifting mechanism 2, so that safety accidents are caused;

as shown in fig. 3, the upper end of the self-locking mechanism 4 is provided with a connecting column 41, the connecting column 41 is rotatably connected with the upper end surface of the fixing frame 26, and the self-locking mechanism 4 can realize self-locking of the first gear 25 in different rotating directions by rotating;

a supporting column 42 is arranged on the self-locking mechanism 4, a baffle 44 is arranged on one side of the supporting column 42, the baffle 44 is hinged with the supporting column 42, a spring 43 is arranged between the baffle 44 and the supporting column 42, one end of the spring 43 is fixedly connected with the baffle, and the other end of the spring 43 is fixedly connected with the supporting column;

the baffle 44 intersects with the teeth of the first gear 25, in this embodiment, when the first gear 25 rotates to drive the first rack 24 to move in a direction away from the movable arm 22, the gripper mechanism 7 drives the middle groove to move upwards, at this time, although the baffle 44 intersects with the teeth of the first gear 25, the baffle 44 does not prevent the first gear 25 from rotating because the baffle 44 is hinged to the supporting column 42, but when an accident occurs and the first rack 24 suddenly moves in a direction close to the movable arm 22, the first gear 25 rotates, and at this time, the baffle 44 is pressed by the teeth of the first gear 25 to be attached to the supporting column 42, so that the first gear 25 is prevented from rotating, and the safety accident caused by the middle groove dropping from high is avoided;

in this embodiment, when the gripper mechanism 7 needs to be lowered down, the connecting column 41 on the self-locking mechanism 4 can be rotated, so that the downward movement of the gripper mechanism 7 is not hindered.

The rotating mechanism 3 is installed below the lifting mechanism 2, the rotating mechanism 3 comprises a rotating seat 31, a first fixing hole 311 is formed in the rotating seat 31, a through hole 232 is formed in one end, far away from the movable arm 22, of the tail end of the fixed arm 23, and in some disclosures, a connecting pin penetrates through the through hole 232 and the first fixing hole 311, so that the fixed arm 23 is hinged to the rotating seat 31;

install pneumatic cylinder 5 between roating seat 31 and the fixed arm 23, second fixed orifices 312 have been seted up on the roating seat 31, third fixed orifices 233 have been seted up to one side lower extreme that the fixed arm 23 is close to the digging arm 22, in this embodiment, through installing the connecting pin at second fixed orifices 312 and third fixed orifices 233 respectively, make the both ends of pneumatic cylinder 5 articulated with the connecting pin on second fixed orifices 312 and the third fixed orifices 233 respectively, pneumatic cylinder 5 realizes lifting by crane the regulation of mechanism and bottom surface inclination through flexible.

As shown in fig. 4, the lower end of the rotary seat 31 is provided with a second gear 32, the upper end surface of the second gear 32 is fixedly contacted with the lower end surface of the rotary seat 31, the second gear 32 is arranged at the upper end of the base 34, and the second gear 32 is rotatably connected with the base 34;

in this embodiment, two guide grooves 341 are formed on the upper end surface of the base 34, the second rack 33 is installed on the guide grooves 341, a boss 331 is disposed on the second rack 33, the boss 331 and the guide groove 341 are matched with each other, and the second rack 33 slides along the guide grooves 341 under the driving of the driving device 35;

second rack 33 and second gear 32 intermeshing, when second rack 33 slides along guide slot 341 under drive arrangement's 35 drive, second rack 33 drives second gear 32 and rotates to drive roating seat 31 and rotate, realized the rotation of manipulator, can snatch the work piece in the equidirectional, through second rack 33 and the transmission of second gear 32 meshing, make roating seat 31's turned angle can be controlled by accuracy.

The running mechanism 6 is located below the rotating mechanism, as shown in fig. 5, the running mechanism 6 includes a rear connecting body 61, one end of the rear connecting body 61 is fixedly connected with the side surface of the base 34, and in some disclosures, the rear connecting body 61 is welded and fixed with the side surface of the base 34.

A rear connecting body 61 is fixed on one side of the base 34, a front connecting body 64 is installed on the other side of the base 34, a through groove 342 is formed in the base 34, the outline of the front connecting body 64 is matched with the through groove 342, and the front connecting body 64 can slide along the through groove 342;

the rear connecting body 61 is provided with a first yielding groove 611, a first fixing rod 63 is installed in the first yielding groove 611, the front connecting body 64 is provided with a second yielding groove 641, a second fixing rod 65 is installed in the second yielding groove 641, the through groove 342 of the base 34 is provided with a telescopic cylinder 62, two ends of the telescopic cylinder 62 are respectively rotatably connected with the first fixing rod 63 and the second yielding groove 641, and the front connecting body 64 slides along the through groove 342 of the base 34 under the driving of the telescopic cylinder 62.

The traveling mechanism 6 comprises two brake brakes 8, the two brake brakes 8 are respectively positioned at one end of the front connecting body 64 far away from the base 34 and one end of the rear connecting body 61 far away from the base 34, and the side surfaces of the brake bodies 81 of the two brake brakes 8 are respectively fixedly installed with the side surfaces of the front connecting body 64 and the rear connecting body 61;

as shown in fig. 7, the brake 8 includes a brake body 81, a slider groove 812 is formed in an upper end surface of the brake body 81, a slider 85 is mounted on the slider groove 812, the slider 85 can slide along the slider groove 812, and a positioning groove 851 is formed in the slider 85 and is used for limiting the degree of freedom of the slider 85 in the vertical direction and preventing the slider 85 from falling off from the upper end of the brake body 81 when sliding along the slider groove 812;

a first mounting frame 813 is arranged on one side of the upper end face of the brake body 81, a third fixing rod 82 is mounted on the first mounting frame 813, a second mounting frame 851 is arranged at the upper end of the sliding block 85, a fourth fixing rod 84 is mounted on the second mounting frame 851, an air cylinder 83 is mounted above the brake body 81, two ends of the air cylinder 83 are respectively rotatably connected with the third fixing rod 82 and the fourth fixing rod 84, and the sliding block 85 slides along the sliding block groove 812 under the driving of the air cylinder 83;

the end of the brake body 81 far away from the sliding block 85 is provided with a protrusion 813, when the sliding block 85 extends out of the sliding block groove 812, the protrusion 813 and the sliding block 85 are respectively contacted and tightly attached to two inner side surfaces of the middle groove, so that the brake 8 is fixed on the middle groove, when the sliding block 85 retracts into the sliding block groove 812 from the left and right of the air cylinder 83, the protrusion 813 is separated from the sliding block 85 and the two inner side surfaces of the middle groove, and at the moment, the brake 8 can slide along the middle groove.

When the traveling mechanism 6 runs, the brake 8 located at one end of the rear connecting body 61 is fixed on the middle groove, the brake 8 located at one end of the front connecting body 64 is driven by the telescopic cylinder 62 to slide along the middle groove, when the brake 8 located at one end of the front connecting body 64 slides to a specified position, the brake 8 located at one end of the front connecting body 64 is fixed with the middle groove under the action of the air cylinder 83, at the moment, the brake 8 located at one end of the connecting plate 61 is slid along the middle groove under the action of the telescopic cylinder 62, and then the movement of the manipulator is completed, so that the working efficiency of loading and unloading of the middle groove is improved.

As shown in fig. 6, the gripper mechanism 7 includes a base plate 71, two ends of the base plate 71 are respectively and fixedly provided with a brake 8, a side surface of a brake body 81 on the brake 8 is fixed in contact with a side surface of the base plate 71, the brake 8 is used for clamping the middle groove, an upper end surface of the base plate 71 is provided with a connecting block 72, the connecting block 72 is provided with a plurality of connecting holes 721, and the purpose of adjusting the connecting position of the rope 1 and the gripper mechanism 7 is achieved by forming the connecting holes 721 on the connecting block 72;

the connecting hole 721 is provided with the connecting lug 73, the lower end of the connecting lug 73 is hinged with the connecting hole 713, the upper end of the connecting lug 73 is fixedly connected with the rope 1, and traction is applied to the rope 1, so that the traction of the middle groove on the gripper mechanism 7 is realized.

The use method of the intelligent self-moving manipulator comprises the following steps:

1. self-moving control: 1) the traveling mechanism 6 is positioned in a middle groove of the scraper conveyor, one brake 8 is fixed with the inner wall of the middle groove, and the other brake 8 slides in the middle groove by controlling the telescopic cylinder 62, so that the movement of the manipulator is realized; 2) after reaching the designated position, when the brake 8 at the two ends of the traveling mechanism 6 are simultaneously fixed in the middle groove, the traveling mechanism 6 is static;

2. clamping a workpiece: 1) the inclination angle of the fixed arm 23 and the horizontal plane is controlled by controlling the hydraulic cylinder 5, so that the fixed arm 23 moves to a proper inclination angle; 2) the clamping of the workpiece is completed by controlling the brake brakes 8 at the two ends of the gripper mechanism 7;

3. conveying the workpiece: 1) the workpiece is hoisted to a proper height by controlling the rotating device 28, the installation position of the self-locking mechanism (4) is well adjusted, and the workpiece is prevented from suddenly falling after being hoisted; 2) the steering action of the workpiece is realized by controlling the rotating mechanism 3, and the workpiece is transported to the position above the designated position; 3) and controlling the rotating device 28 again to lower the workpiece to the specified installation position to finish the installation.

The working principle is as follows:

the precise control of the up-and-down position of the gripper mechanism 7 is realized by installing a first rack 24 and a first gear 25 which are meshed with each other on the fixed arm 23; the self-locking mechanism 4 is arranged above the first gear 25 to prevent the first gear 25 from rotating so as to cause safety accidents; the second gear 32 and the spur rack 33 are installed between the rotary seat 31 and the base 34, so that the precise control of the rotation angle of the rotary seat 31 is realized; the traveling mechanism 6 moves on the middle groove by arranging the brake 8 and the telescopic cylinder 62 on the traveling mechanism 6; the clamping of the middle groove is realized by installing the brake 8 at the two ends of the gripper mechanism 7.

The foregoing illustrates and describes the general principles, principal features, and advantages of the present disclosure. It will be understood by those skilled in the art that the present disclosure is not limited to the embodiments described above, which are presented solely for purposes of illustrating the principles of the disclosure, and that various changes and modifications may be made to the disclosure without departing from the spirit and scope of the disclosure, which is intended to be covered by the claims.

Claims

1. An intelligent self-moving manipulator comprises a base (34), and is characterized in that a walking mechanism (6) is mounted on the base (34);

the walking mechanism (6) comprises a front connecting body (64) and a rear connecting body (61), the front connecting body (64) is positioned at one end of the base (34) and is in sliding connection with the base (34), and the rear connecting body (61) is fixedly connected with the other end of the base (34);

a telescopic cylinder (62) is arranged between the front connecting body (64) and the rear connecting body (61), and two ends of the telescopic cylinder are respectively hinged with the front connecting body (64) and the rear connecting body (61);

the front connecting body (64) and the rear connecting body (61) are respectively provided with a brake (8);

a hoisting mechanism (2) is arranged above the travelling mechanism (6);

the lifting mechanism (2) comprises a fixed arm (23), a first rack (24) is mounted at the upper end of the fixed arm (23), a sliding groove (231) is formed in the upper surface of the fixed arm (23), the first rack (24) is mounted on the sliding groove (231), and the first rack (24) slides along the sliding groove (231);

a first gear (25) is arranged above the first rack (24), and the first gear (25) is meshed with the first rack (24);

a self-locking mechanism (4) is arranged above the first gear (25);

a fixing frame (26) is mounted on the fixing arm (23), the self-locking mechanism comprises a connecting column (41), and the connecting column (41) is rotatably connected with the upper end of the fixing frame (26);

the self-locking mechanism (4) comprises a supporting column (42) and a baffle (44), and the baffle (44) is hinged with the supporting column (42);

and a spring (43) is arranged between the baffle plate (44) and the supporting column (42), and two ends of the spring (43) are respectively fixed with the baffle plate (44) and the supporting column (42) in a surface contact manner.

2. An intelligent self-moving manipulator according to claim 1, wherein a rotating mechanism (3) is arranged between the travelling mechanism (6) and the lifting mechanism (2);

the rotating mechanism (3) comprises a rotating seat (31), and the rotating seat (31) is rotationally connected with the base (34).

3. An intelligent self-moving manipulator according to claim 1, wherein a through slot (342) is formed in the base (34), and the outline of the front connecting body (64) is matched with the through slot (342).

4. An intelligent self-moving manipulator according to claim 1, wherein the brake (8) comprises brake bodies (81), and the side surfaces of the brake bodies (81) on the two brake (8) are respectively fixed with the side surface of the front connecting body (64) and the side surface of the rear connecting body (61) in a contact manner;

the brake body (81) is provided with a slide block groove (812), and the slide block (85) is arranged on the slide block groove (812);

the brake body (81) is provided with an air cylinder (83), one end of the air cylinder (83) is hinged with the brake body (81), and the other end of the air cylinder (83) is hinged with the sliding block (85).

5. An intelligent self-moving manipulator according to claim 2, wherein a fixing frame (26) is mounted on the fixing arm (23), the self-locking mechanism comprises a connecting column (41), and the connecting column (41) is rotatably connected with the upper end of the fixing frame (26).

6. An intelligent self-moving manipulator according to claim 2, wherein a second gear (32) is installed between the rotary base (31) and the base (34), the upper end face of the second gear (32) is fixedly contacted with the lower end face of the rotary base (31), and the second gear (32) is rotatably connected with the base (34);

at least one guide groove (341) is formed in the upper end face of the base (34), a second rack (33) is installed on the guide groove (342), and the second rack (33) slides on the guide groove (342) and is meshed with the second gear (32).

7. The intelligent self-moving manipulator according to claim 2, wherein a rope (1) is mounted on the lifting mechanism (2), one end of the rope (1) is fixedly connected with the first rack (24), the other end of the rope (1) is connected with a gripper mechanism (7), a connecting lug (73) is mounted on the upper end face of the gripper mechanism (7), and the connecting lug (73) is fixedly connected with the rope (1); the gripper mechanism (7) comprises a base plate (71), brake brakes (8) are mounted at two ends of the base plate (71), and the side surfaces of brake bodies (81) on the brake brakes (8) are fixedly contacted with the side surfaces of the base plate (71).

8. The use method of the intelligent self-moving manipulator comprises the following steps:

s1: self-moving control: 1) the walking mechanism (6) is controlled to enable one brake (8) and the inner wall of the middle groove to be fixed mutually, and the other brake (8) slides in the middle groove by controlling the telescopic cylinder (62), so that the movement of the manipulator is realized; 2) when the brake brakes (8) at the two ends of the travelling mechanism (6) are simultaneously fixed in the middle groove after reaching the designated position, the travelling mechanism (6) is static;

s2: clamping a workpiece: 1) the inclination angle of the fixed arm (23) and the horizontal plane is controlled by controlling the hydraulic cylinder (5), so that the fixed arm (23) moves to a proper inclination angle; 2) the clamping of the workpiece is completed by controlling the brake brakes (8) at the two ends of the gripper mechanism (7);

s3: transporting and installing the workpiece: 1) the workpiece is hoisted to a proper height by controlling the rotating device (28), the installation position of the self-locking mechanism (4) is well adjusted, and the workpiece is prevented from suddenly falling after being hoisted; 2) the steering action of the workpiece is realized by controlling the rotating mechanism (3), and the workpiece is transported to the position above the designated position; 3) and controlling the rotating device (28) again to lower the workpiece to the specified installation position to finish installation.