A high-voltage switch cabinet handcart type circuit breaker automatic placing platform and robot

Abstract

This invention belongs to the field of power maintenance technology and provides an automatic placement platform and robot for high-voltage switchgear trolley-type circuit breakers. It solves the problem that existing devices lack fully automated operation and require manual intervention. The technical solution includes a trolley-type circuit breaker picking and placing assembly, a lifting and rotating assembly, and a moving platform. The moving platform is equipped with the lifting and rotating assembly, which features a linear guide rail and a scissor lift bracket. One end of the scissor lift bracket is fixed to a bearing seat connecting block, and the other end is fixed to a slider, which is slidably connected to the linear guide rail. A rotary support plate is fixed to the top of the scissor lift bracket, and a rotating platform is mounted on the rotary support plate. The rotating platform is rotatably connected to the trolley-type circuit breaker picking and placing assembly. The trolley-type circuit breaker is pulled out of the switchgear using the trolley-type circuit breaker picking and placing assembly.

Description

Technical Field

[0001] This invention belongs to the field of power maintenance technology, and in particular relates to an electric placement platform and robot for a high-voltage switchgear handcart-type circuit breaker. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Maintenance work on high-voltage switchgear trolley-type circuit breakers requires pulling the trolley circuit breaker out of the high-voltage switchgear. Traditionally, this is done manually using a transfer trolley. The height adjustment knob of the transfer trolley is manually rotated to align the upper surface of the tray with the bottom of the circuit breaker compartment. The two tapered pins at the front of the transfer trolley are then used to align the side flanges of the tray with the left and right rails of the trolley. After adjustment, the high-voltage switchgear is locked in place using the latches on the transfer trolley.

[0004] For example, patent publication number CN114825142A discloses a method for replacing a handcart-type circuit breaker. This patent describes the structure and usage of a handcart-type circuit breaker placement platform, but it lacks fully automated operation and requires manual intervention. Manual intervention is labor-intensive, and close-range operation poses risks of electric shock, collisions, and injuries due to misoperation. Furthermore, the platform's position adjustment function is relatively limited, failing to meet the usage conditions of various actual site conditions. Summary of the Invention

[0005] To address at least one of the technical problems mentioned above, the first aspect of this invention provides an automatic placement platform and robot for high-voltage switchgear trolley circuit breakers, which can achieve fully automatic position adjustment of the trolley circuit breaker without manual intervention, and increases rotational freedom, thus solving the problem of non-parallelism between the mobile platform vehicle and the switchgear cabinet during field use.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An automatic placement platform for high-voltage switchgear trolley-type circuit breakers includes: a trolley-type circuit breaker picking and placing assembly, a lifting and rotating assembly, and a moving platform;

[0008] The mobile platform is equipped with a lifting and rotating assembly, which is equipped with a linear guide rail and a scissor bracket. One end of the bottom of the scissor bracket is fixed to a bearing seat connecting block, and the other end is fixed to a slider. The slider and the linear guide rail are slidably connected.

[0009] The top of the scissor lift bracket is fixed with a slewing support plate, and a rotating platform is mounted on the slewing support plate. The rotating platform is rotatably connected to the handcart-type circuit breaker pick-and-place assembly, and the handcart-type circuit breaker is pulled out of the switch cabinet through the handcart-type circuit breaker pick-and-place assembly.

[0010] In one embodiment, the lifting and rotating assembly includes a base plate, a scissor fork connecting plate on the scissor fork bracket, a motor connecting seat on the base plate, a lifting motor connected to one end of the motor connecting seat and a first reducer connected to the other end, the first reducer being fixed on the scissor fork connecting plate, and the lifting motor and the first reducer converting linear reciprocating motion into the lifting motion of the scissor fork through the scissor fork connecting plate.

[0011] In one embodiment, the rotating platform includes a ring rail slider, a turntable plate, a ring rail, a return motor, a second reducer, and a positioning pin;

[0012] The bottom of the turntable plate is fixed with a ring rail slider, and a ring rail is slidably connected to the ring rail slider and fixed to the rotary support plate through the slidable ring rail; a positioning pin is provided at the bottom of the turntable plate, one end of the positioning pin is connected to the second reducer and the return motor, and the other end is connected to the handcart-type circuit breaker pick-and-place assembly, which drives the rotating platform and the handcart-type circuit breaker pick-and-place assembly to rotate through the second reducer and the return motor.

[0013] In one embodiment, the lifting and rotating assembly further includes a rotary support plate adjustment motor assembly. The rotary support plate adjustment motor assembly includes an adjustment support base, a telescopic shaft, a base, a bearing fulcrum, and a telescopic motor. The bearing fulcrum is connected to the top of the scissor lift bracket. The base and the bearing fulcrum are fixedly connected. The base is equipped with a telescopic motor and a telescopic shaft. The telescopic shaft is equipped with an adjustment support base, which is connected to the rotary support plate. The telescopic motor drives a screw to rotate through a pair of bevel gears in the base. The screw and the telescopic shaft are then engaged by internal threads to drive the telescopic shaft to achieve telescopic movement.

[0014] In one embodiment, the handcart-type circuit breaker pick-and-place assembly includes an assembly support platform, a hook, a hook cylinder, and a hook slide plate. The assembly support platform is provided with multiple guide rails, with second guide rails symmetrically arranged on both sides of the support platform, and first guide rails perpendicular to the second guide rails arranged on one side of the support platform. Each first guide rail is provided with an X-direction through-type stepper motor, and a support base is provided on the X-direction through-type stepper motor. The support base and the through-type stepper motor are used in pairs. A Y-direction through-type stepper motor is provided on the second guide rail. The hook, hook cylinder, and hook slide plate are connected together by a pin and assembled on the support base and the X-direction through-type stepper motor.

[0015] In one implementation, a first trapezoidal lead screw passes through each pair of support seats and through-type stepper motors. One of the first trapezoidal lead screws passes through the support seat on the first guide rail and the through-type stepper motor in the X direction, while the other first trapezoidal lead screw passes through the through-type stepper motor in the X direction on another first guide rail and the support seat, so that the pawl moves along the X direction under the drive of the two sets of stepper motors.

[0016] In one embodiment, a Y-direction through-type stepper motor and a pull-out slide are provided on the second guide rail. One side of the pull-out slide is fixed to the upper part of the Y-direction through-type stepper motor, and the other side is slidably connected to the second guide rail on that side. Second trapezoidal lead screw bearing seats are installed near both sides of the second guide rail. The Y-direction through-type stepper motor is slidably connected to the second guide rail, and the second trapezoidal lead screw is fixed between the second trapezoidal lead screw bearing seats.

[0017] In one implementation, a positioning pin and a locking hook are provided on the side of the component support platform opposite to the second guide rail. The locking hook is connected to a locking hook motor. The positioning pin determines the relative position of the automatic placement platform and the switch cabinet. After the position is set, the locking hook, driven by the fourth motor, locks the position between the placement platform and the switch cabinet.

[0018] In one implementation, a binocular camera is also provided on the side of the component support platform. The binocular camera is used to identify position feature information on the switch cabinet, provide the relative positional deviation between the placement platform and the switch cabinet, and guide the placement platform to adjust the relative position between the two, thereby realizing the automatic adjustment of the placement platform's pose.

[0019] In one implementation, two tilt sensors are installed on the slewing support plate to monitor the posture of the trolley-type circuit breaker pick-up and drop assembly in real time at a set detection cycle. By receiving data from the two tilt sensors, the real-time output angles of the slewing motor and the telescopic motor are calculated.

[0020] The second aspect of the present invention provides a robot comprising a quick switching device platform for switchgear operation tools as described in the first aspect, which can realize fully automatic position adjustment of the trolley circuit breaker without manual intervention, and increases the degree of rotational freedom, thereby solving the problem of the non-parallelism between the parking position of the mobile platform and the switchgear cabinet during field use.

[0021] The beneficial effects of this invention are:

[0022] 1. This invention innovatively proposes a fully automatic position adjustment device for trolley circuit breakers. It does not require manual intervention and adjusts the angular deviation between the automatic placement platform and the switchgear through rotational movement, thereby increasing the degree of rotational freedom. This solves the problem of the non-parallelism between the parking position of the mobile platform and the switchgear during field use, realizing fully automatic position adjustment of the trolley circuit breaker, reducing the cost of manual intervention, and improving the safety of operation.

[0023] 2. This invention uses a scissor mechanism to lift and lower the placement platform, which has the characteristics of high load-bearing capacity, simple structure and good stability.

[0024] 3. This invention uses a binocular camera to measure distance deviation, which enables fully automatic adjustment of the placement platform.

[0025] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0026] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0027] Figure 1 This is a schematic diagram of the overall structure of the electric placement platform for the high-voltage switchgear handcart circuit breaker provided in an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the handcart-type circuit breaker pick-and-place assembly structure provided in an embodiment of the present invention;

[0029] Figure 3 This is a partially enlarged view of the structure of the handcart-type circuit breaker pick-and-place assembly provided in an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the picking and placing component for picking up a handcart-type circuit breaker provided in an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the lifting and rotating component structure provided in an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the bottom structure of the rotating platform provided in an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of the top structure of the rotating platform provided in an embodiment of the present invention;

[0034] Figure 8 This is a schematic diagram of the rotary support plate adjustment motor assembly structure provided in an embodiment of the present invention.

[0035] Among them, 1-handcart-type circuit breaker pick-and-place assembly, 2-lifting and rotating assembly, 3-bottom moving platform, 111-hook claw, 112-hook claw electric cylinder, 113-hook claw sliding plate, 114-support base, 115-first trapezoidal lead screw, 116-first guide rail, 117-X-direction through-type stepper motor, 118-first lead screw bearing seat, 119-slide rail baffle, 120-pull-out sliding plate, 121-second lead screw bearing seat, 122-Y-direction through-type stepper motor, 123-long trapezoidal lead screw, 124-second guide rail, 125-binocular camera, 126-positioning pin, 127-component support platform, 128-locking hook, 129-locking hook motor, 221-rotating platform, 2211 2212-Ring rail slider, 2213-Ring rail, 2214-Rotary motor, 2215-Second reducer, 2216-Positioning pin, 222-Rotary support plate adjusting motor assembly, 2221-Adjusting support seat, 2222-Adjusting telescopic shaft, 2223-Base, 2224-Bearing fulcrum, 2225-Telescopic motor, 223-Rotary support plate, 224-Scissor lift bracket, 225-Bearing seat, 226-Bearing seat connecting block, 227-Base plate, 228-Stop block, 229-Linear guide rail, 230-Detection sensor, 231-Slider, 232-Scissor lift connecting plate, 233-First reducer, 234-Lifting motor, 235-Motor connecting seat. Detailed Implementation

[0036] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0037] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0038] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0039] In this invention, terms such as "connected" and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0040] It should be noted that this invention is a construction scheme. As for the individual devices involved, the specific structures for realizing their respective functions already exist in the prior art, as do the protocols, software, or programs involved in their operation. Those skilled in the art are fully aware of this. This invention does not make any improvements to the individual devices, and therefore does not involve software content. Instead, it relies on the organic integration and consolidation of the components into a whole, that is, it provides a construction scheme.

[0041] On one hand, the present invention provides an automatic placement platform for high-voltage switchgear trolley circuit breakers, the placement platform mainly comprising a trolley circuit breaker picking and placing assembly 1, a lifting and rotating assembly 2, and a moving platform 3.

[0042] like Figure 1 As shown, a lifting and rotating assembly 2 is fixed on the mobile platform 3, and a handcart-type circuit breaker pick-and-place assembly 1 is connected to the lifting and rotating assembly 2;

[0043] like Figure 5 As shown, the lifting and rotating assembly 2 includes: a rotating platform 221, a slewing support plate adjusting motor assembly 222, a slewing support plate 223, a scissor lift bracket 224, a bearing seat 225, a bearing seat connecting block 226, a base plate 227, a stop block 228, a linear guide rail 229, a detection sensor 230, a slider 231, a scissor lift connecting plate 232, a first reducer 233, a lifting motor 234, and a motor connecting seat 235.

[0044] The base plate 227 is fixed to the moving platform 3. The base plate 227 is provided with a bearing seat connecting block 226 and a linear guide rail 229. One end of the bottom of the scissor bracket 224 is fixed to the bearing seat connecting block 226 through a bearing seat 225, and the other end is fixed to the slider 231 through a bearing seat 225. The slider 231 and the linear guide rail 229 are slidably connected. The two sides of the linear guide rail 229 are fixed by the stop blocks 228.

[0045] Thus, the scissor lift bracket 224, bearing seat 225, bearing seat connecting block 226, linear guide rail 229 and slider 231 together form the scissor lift mechanism.

[0046] A motor connecting seat 235 is provided on the base plate 227. One end of the motor connecting seat 235 is connected to the lifting motor 234, and the other end is connected to the first reducer 233. The first reducer 233 is fixed on the scissor lift connecting plate 232. The scissor lift connecting plate 232 and the scissor lift bracket 224 are fixedly connected. The lifting motor 234 and the first reducer 233 convert the linear reciprocating motion of the slider 231 into the lifting motion of the scissor lift through the scissor lift connecting plate 232.

[0047] like Figures 6-7As shown, the top of the scissor lift bracket 224 is fixed with a rotary support plate 223, and a rotary platform 221 is mounted on the rotary support plate 223. The rotary platform 221 includes a ring rail slider 2211, a turntable plate 2212, a ring rail 2213, a loop motor 2214, a second reducer 2215, and a positioning pin 2216.

[0048] The bottom of the turntable plate 2212 is fixed with a ring rail slider 2211, and a ring rail 2213 is slidably connected to the ring rail slider 2211, which is fixed to the rotary support plate 223. The bottom of the turntable plate 2212 is also provided with a positioning pin 2216. One end of the positioning pin 2216 is connected to the second reducer 2215 and the loop motor 2214, and the other end is connected to the handcart-type circuit breaker pick-and-place assembly 1. The second reducer 2215 and the loop motor 2214 drive the rotating platform 221 and the handcart-type circuit breaker pick-and-place assembly 1 to rotate.

[0049] Furthermore, a detection sensor 230 is also provided on the base plate 227, which is used to detect the extreme positions on both sides of the stroke of the slider 231.

[0050] Furthermore, the top of the scissor lift bracket 224 is fixed with a rotary support plate 223. Specifically, one side of the top of the scissor lift bracket 224 is connected to the support plate 223 via the rotary support plate adjustment motor assembly 222, and the other side is connected to the support plate 223 via the scissor lift connecting plate 232.

[0051] like Figure 8 As shown, the rotary support plate adjustment motor assembly 222 includes an adjustment support seat 2221, a telescopic shaft 2222, a base 2223, a bearing fulcrum 2224, and a telescopic motor 2225.

[0052] The bearing fulcrum 2224 is connected to the top of the scissor lift bracket 224. The base 2223 is fixedly connected to the bearing fulcrum 2224. A telescopic motor 2225 and a telescopic shaft 2222 are mounted on the base 2223. An adjustment support 2221 is mounted on the telescopic shaft 2222 and is fixedly connected to the support plate 223 via the adjustment support 2221. The telescopic motor 222 drives a screw to rotate through a pair of bevel gears in the base 2223. The screw and the internal thread of the telescopic shaft 2222 then drive the adjustment telescopic shaft 2222 to achieve the telescopic movement.

[0053] like Figures 2-4As shown, the handcart-type circuit breaker pick-and-place assembly mainly includes: hook 111, hook cylinder 112, hook slide plate 113, support base 114, first trapezoidal lead screw 115, first guide rail 116, X-direction through stepper motor 117, first lead screw bearing seat 118, slide rail baffle 119, pull-out slide plate 120, second lead screw bearing seat 121, Y-direction through stepper motor 122, second trapezoidal lead screw 123, second guide rail 124, binocular camera 125, positioning pin 126, assembly support platform 127, locking hook 128, and locking hook motor 129.

[0054] The component support platform 127 is fixed to the rotating platform 221 by positioning pins 2216. The component support platform 127 is provided with multiple guide rails. The second guide rail 124 is symmetrically arranged on both sides of the component support platform 127. The first guide rail 116 is arranged perpendicular to the second guide rail 124 on one side of the component support platform 127. The second guide rail is provided with a support seat 114. Each first guide rail 116 is provided with an X-direction through stepper motor 117. The X-direction through stepper motor 117 is provided with a support seat 114. The support seat 114 and the through stepper motor 117 are used in pairs. A first trapezoidal lead screw 115 passes through each pair of support seats 114 and X-direction through stepper motor 117. The first trapezoidal lead screw 115 is fixed to the pull-out slide plate 120 by a first lead screw bearing seat 118.

[0055] The hook 111, hook cylinder 112 and hook slide plate 113 are connected together by a pin and are mounted on the support base 114 and the X-direction through stepper motor 117.

[0056] In this embodiment, the first guide rail 116 includes two guide rails arranged in parallel. One first trapezoidal lead screw 115 passes through the support seat 114 and the X-direction through stepper motor 117 on the first guide rail 116, and the other first trapezoidal lead screw 115 passes through the X-direction through stepper motor 117 and the support seat 114 on the other first guide rail 116. In this way, the two sets of hooks 111 can move along the X-direction under the drive of the two sets of stepper motors.

[0057] The second guide rail 124 is equipped with a long trapezoidal lead screw 123, a long lead screw bearing seat 121, a pull-out slide plate 120, and a Y-direction through stepper motor 122.

[0058] Specifically, the second guide rail 124 is mounted on the component support platform 127, and two second trapezoidal lead screw bearing seats 121 are mounted on the component support platform 127 close to both sides of the second guide rail 124. The Y-direction through stepper motor 122 is slidably connected to the second guide rail 124 through a sliding mechanism. The second trapezoidal lead screw 123 is fixed between the second trapezoidal lead screw bearing seats 121. One side of the pull-out slide plate 120 is fixed to the upper part of the Y-direction through stepper motor, and the other side is connected to the second guide rail 124 on that side through a sliding mechanism.

[0059] On the side of the component support platform 127 opposite to the first guide rail 124, a positioning pin 126, a binocular camera 125, and a locking hook 128 are provided. The locking hook 128 is connected to a locking hook motor 129. The relative positions of the automatic placement platform and the switch cabinet are determined by the binocular camera 125 and the positioning pin 126. After the positions are determined, the locking hook 128 locks the position between the placement platform and the switch cabinet under the drive of the locking hook motor 129.

[0060] The binocular camera is used to identify positional features on the switch cabinet, provide the relative positional deviation between the placement platform and the switch cabinet, and guide the placement platform to adjust the relative position between the two, thereby achieving automatic adjustment of the placement platform's pose.

[0061] During the process from when the trolley circuit breaker comes into contact with the trolley circuit breaker pick-up and drop assembly 1 until it is completely fixed on the trolley circuit breaker pick-up and drop assembly 1, the posture of the trolley circuit breaker pick-up and drop assembly 1 will change in an uncertain way due to the effect of gravity. This will cause the trolley circuit breaker to get stuck during the extraction process, resulting in extraction failure.

[0062] Therefore, adding a real-time attitude adjustment system for the handcart-type circuit breaker pick-up and drop assembly 1 can effectively solve the above problems.

[0063] The slewing support plate 223 is equipped with two-axis tilt sensors to monitor the posture of the handcart-type circuit breaker pick-up and drop assembly 1 in real time with a set detection cycle, such as 10ms. After receiving the data from the two-axis tilt sensors, the real-time output angle of the slewing motor 2214 and the telescopic motor 2225 is calculated using the following formula.

[0064] Ax = g·sin(α)

[0065] Ay=g·sin(β)

[0066] In the formula: Ax is the given angle input value of rotary motor 2214; Ay is the given angle input value of telescopic motor 2225; g is the acceleration due to gravity; α and β are the tilt angles.

[0067] The working principle of this invention is as follows:

[0068] Step 1: Automatically place the platform near the faulty switchgear circuit breaker.

[0069] Step 2: The binocular camera identifies the relative positions of the switch cabinet and the placement platform, and controls and adjusts the height of the scissor lift device and the rotation angle of the rotating platform to ensure that the positioning pin 126 and the pin hole of the switch cabinet are aligned.

[0070] Step 3: Control the moving platform 3 to slowly approach the switch cabinet, so that the positioning pin 126 is inserted into the positioning pin hole, and the locking hook motor 129 drives the locking hook 128 to move, ensuring that the platform and the switch cabinet are firmly locked.

[0071] Step 4: Pull out the slide plate 120 to move the hook 111 forward to the handle position of the handcart circuit breaker. The hook cylinder 112 moves to make the hook 111 hook the handle. The Y-direction through stepper motor 122 moves to pull the handcart circuit breaker out of the switch cabinet.

[0072] Step 5: The locking hook motor 129 drives the locking hook 128 to unlock, and the automatic placement platform carries the faulty handcart circuit breaker to the maintenance position, where manual maintenance of the handcart circuit breaker is carried out.

[0073] On the other hand, this embodiment provides a robot, including an automatic placement platform for high-voltage switchgear handcart-type circuit breakers, the specific structure of which is the same as the structure described above, and will not be repeated here.

[0074] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic placement platform for high-voltage switchgear handcart-type circuit breakers, characterized in that, include: Handcart-type circuit breaker pick-and-place assembly, lifting and rotating assembly, and mobile platform; The mobile platform is equipped with a lifting and rotating assembly, which is equipped with a linear guide rail and a scissor bracket. One end of the bottom of the scissor bracket is fixed to a bearing seat connecting block, and the other end is fixed to a slider. The slider and the linear guide rail are slidably connected. The top of the scissor lift bracket is fixed with a slewing support plate. A rotating platform is mounted on the slewing support plate. The rotating platform is rotatably connected to the handcart circuit breaker pick-and-place assembly. The handcart circuit breaker is pulled out of the switch cabinet through the handcart circuit breaker pick-and-place assembly. The lifting and rotating assembly includes a base plate, a scissor fork connecting plate on the scissor fork bracket, a motor connecting seat on the base plate, a lifting motor connected to one end of the motor connecting seat and a first reducer connected to the other end, the first reducer being fixed on the scissor fork connecting plate, and the lifting motor and the first reducer converting linear reciprocating motion into the lifting motion of the scissor fork through the scissor fork connecting plate; The rotating platform includes a ring rail slider, a turntable plate, a ring rail, a return motor, a second reducer, and positioning pins; The bottom of the turntable plate is fixed with a ring rail slider, and a ring rail is slidably connected to the ring rail slider. The turntable plate is fixed to the rotary support plate by the slidably connected ring rail. A positioning pin is provided at the bottom of the turntable plate. One end of the positioning pin is connected to the second reducer and the return motor, and the other end is connected to the handcart-type circuit breaker pick-and-place assembly. The second reducer and the return motor drive the rotating platform and the handcart-type circuit breaker pick-and-place assembly to rotate. The lifting and rotating assembly also includes a rotary support plate adjustment motor assembly, which includes an adjustment support base, a telescopic shaft, a base, a bearing fulcrum, and a telescopic motor. The bearing fulcrum is connected to the top of the scissor lift bracket. The base and the bearing fulcrum are fixedly connected. A telescopic motor and a telescopic shaft are installed on the base. An adjustment support seat is installed on the telescopic shaft. The adjustment support seat is connected to the rotary support plate. The telescopic motor drives the screw to rotate through a pair of bevel gears in the base. The screw and the internal thread of the telescopic shaft are then engaged to drive the adjustment telescopic shaft to achieve the telescopic action.

2. The automatic placement platform for high-voltage switchgear handcart-type circuit breakers as described in claim 1, characterized in that, The handcart-type circuit breaker pick-and-place assembly includes an assembly support platform, hooks, hook cylinders, and hook slide plates. The component support platform is provided with multiple guide rails. The second guide rails are symmetrically arranged on both sides of the support platform, and the first guide rails are arranged perpendicular to the second guide rails on one side of the support platform. Each first guide rail is provided with an X-direction through-type stepper motor, and a support base is provided on the X-direction through-type stepper motor. The support base and the X-direction through-type stepper motor are used in pairs. The hook, hook cylinder and hook slide are connected together by a pin and assembled on the support base and the X-direction through-type stepper motor.

3. The automatic placement platform for high-voltage switchgear handcart-type circuit breakers as described in claim 2, characterized in that, A first trapezoidal lead screw passes through each pair of support seats and X-direction through-stepper motors. One of the first trapezoidal lead screws passes through the support seat and X-direction through-stepper motor on the first guide rail, and the other first trapezoidal lead screw passes through the X-direction through-stepper motor and support seat on the other first guide rail, so that the hook pawl moves along the X direction under the drive of the two sets of stepper motors.

4. The automatic placement platform for high-voltage switchgear handcart-type circuit breakers as described in claim 2, characterized in that, A Y-direction through-type stepper motor and a pull-out slide are provided on the second guide rail. One side of the pull-out slide is fixed to the upper part of the Y-direction through-type stepper motor, and the other side is slidably connected to the second guide rail on that side. Second trapezoidal lead screw bearing seats are installed near both sides of the second guide rail. The Y-direction through-type stepper motor is slidably connected to the second guide rail, and the second trapezoidal lead screw is fixed between the second trapezoidal lead screw bearing seats.

5. The automatic placement platform for high-voltage switchgear handcart-type circuit breakers as described in claim 2, characterized in that, The component support platform on the opposite side of the second guide rail is provided with a positioning pin and a locking hook. The locking hook is connected to a locking hook motor. The positioning pin determines the relative position of the automatic placement platform and the switch cabinet. After the position is set, the locking hook, driven by the fourth motor, locks the position between the placement platform and the switch cabinet.

6. The automatic placement platform for high-voltage switchgear handcart-type circuit breakers as described in claim 5, characterized in that, The component support platform is also equipped with a binocular camera on its side. The binocular camera is used to identify the position feature information on the switch cabinet, provide the relative positional deviation between the placement platform and the switch cabinet, and guide the placement platform to adjust the relative position between the two, so as to realize the automatic adjustment of the placement platform's posture.

7. The automatic placement platform for high-voltage switchgear handcart-type circuit breakers as described in claim 1, characterized in that, Two tilt sensors are installed on the slewing support plate to monitor the posture of the handcart-type circuit breaker pick-up and drop assembly in real time at a set detection cycle. By receiving data from the two tilt sensors, the real-time output angles of the slewing motor and the telescopic motor are calculated.

8. A robot, characterized in that, The invention includes an automatic placement platform for a high-voltage switchgear handcart-type circuit breaker as described in any one of claims 1-7.

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