Quick-release and quick-connection centrally installed switchgear self-following intelligent maintenance trolley of bionic operation robot

Abstract

The invention relates to the technical field of high-voltage power distribution equipment, in particular to a quick-release quick-connection centrally installed switchgear self-following intelligent maintenance trolley of a bionic operation robot, which comprises a UWB wireless intelligent following system, the UWB wireless intelligent following system comprises an integration box, a first UWB base station, a second UWB base station and a positioning label, the first UWB base station and the second UWB base station are both arranged in the integration box, and the positioning label is arranged in the integration box. The positioning label is arranged on a target operator needing to be positioned; a ZIF socket is installed on the top of the vehicle body, a connecting slot is formed in the ZIF socket, and a connecting contact matched with the connecting slot is arranged at the bottom of the integrated box. The UWB wireless intelligent following system is made into a rapid plugging module, so that the integrated box can be managed in a centralized manner, the integrated box does not need to be fixedly arranged on the trolley and is not easy to damage, the time-sharing following function of multiple maintenance trolleys with different functions can be realized, and one operator can control and process multiple trolleys to work together, so that the maintenance efficiency is improved. And the working efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of high-voltage power distribution equipment, and particularly to a quick-disassembly and quick-connection center-mounted cabinet self-following intelligent maintenance trolley for a bionic operation robot. Background Art

[0002] With the rapid development of the power grid, the number of 10kV devices has increased significantly, and the 10kV devices in many old substations have also been gradually transformed, and the use of center-mounted cabinet devices has become more and more extensive. When maintaining the circuit breaker in the center-mounted cabinet, it is necessary to pull out the circuit breaker from the cabinet body and place it on a special trolley for maintenance and test work.

[0003] The current bionic operation robot is also equipped with a split-type center-mounted cabinet intelligent maintenance trolley. Among them, the operation robot body is used as the main robot, and the split-type center-mounted cabinet intelligent maintenance trolley is used as the slave robot. The master and slave cooperate with each other. The center-mounted cabinet intelligent maintenance trolley mainly simulates the manual operation behavior to safely and reliably move the switch body onto the trolley platform. First, the operation robot assists in controlling the trolley to walk in front of the center-mounted cabinet, and the operation robot fine-tunes the locking device to link the trolley and the center-mounted cabinet together. Then, by using the function of the trolley to automatically adjust the platform height and levelness, the requirements of different cabinet bodies are met, such as factors such as cabinet installation deviation. By using the visual positioning system (VLS) technology on the operation robot, the operation robot system can accurately identify the operation object, making the trolley system have better flexibility as a whole. The automatic lifting maintenance platform of the center-mounted cabinet intelligent maintenance trolley can realize the intelligent maintenance operation of the switch, and the movement is more accurate and reliable, providing enough maintenance space for manual maintenance operations.

[0004] A center-mounted cabinet intelligent maintenance trolley body with the patent number 201620177136.4, the center-mounted cabinet intelligent maintenance trolley body includes a chassis, a gantry support frame, a lifting servo motor and a lifting frame. The chassis has a chassis frame, a pair of driving wheels and a pair of universal wheels respectively connected to the front side and the rear side of the chassis frame. Each driving wheel is driven by a driving servo motor through a gear transmission pair. The gantry support frame includes two columns fixed to the rear side of the chassis, a top plate fixed to the tops of the two columns, and a motor support frame fixed to the top plate. The above-mentioned lifting servo motor is fixed on the motor support frame. Each rear side of the two columns is provided with a lifting guide rail. The above-mentioned lifting frame is composed of a front plate on the front side of the two columns, a rear plate on the rear side of the two columns, and a connecting frame fixed between the front and rear plates. Each side of the rear plate is provided with two sliders. The lifting frame is movably connected with the two side lifting guide rails by using the two sliders on the rear plate. Each inner side of the two columns is provided with a ball screw group. The ball screws of the ball screw group are respectively supported by upper and lower bearing seats fixed on the columns. The front plate of the lifting frame is fixed to the nut of the ball screw group. The lifting servo motor drives the two ball screw groups to run synchronously through a chain drive, and the two ball screw groups jointly drive the lifting frame to lift along the two side lifting guide rails.

[0005] For the intelligent maintenance trolley of the medium-voltage switchgear cabinet in the above patent, during the transfer process, operations such as forward movement, backward movement, and turning are manually controlled, which is not convenient to use, has a low degree of automation, and inaccurate positioning.

[0006] In view of this, the present application proposes a self-following intelligent maintenance trolley for medium-voltage switchgear cabinets with quick disassembly and connection of bionic operation robots. Summary of the Invention

[0007] The purpose of the present invention is to provide a self-following intelligent maintenance trolley for medium-voltage switchgear cabinets with quick disassembly and connection of bionic operation robots in view of the deficiencies of the prior art.

[0008] To solve the above technical problems, the following technical solutions are adopted: The self-following intelligent maintenance trolley for medium-voltage switchgear cabinets with quick disassembly and connection of bionic operation robots includes a vehicle body, on which a UWB wireless intelligent following system is installed. The UWB wireless intelligent following system includes an integration box, a first UWB base station, a second UWB base station, and a positioning tag. The first UWB base station and the second UWB base station are both arranged in the integration box. The first UWB base station is arranged on one side of the integration box, and the second UWB base station is arranged on the other side of the integration box. The positioning tag is set on the target operator to be positioned. The first UWB base station, the second UWB base station, and the positioning tag are all connected by wireless communication; Both the first UWB base station and the second UWB base station are connected to a main controller, and the main controller is connected to a driving device. The driving device includes a motor driver, and the main controller is connected to the motor driver; An integration box seat is installed on the top of the vehicle body. A cavity for placing the integration box is formed in the middle of the integration box seat. A buckle is provided on the inner side wall of the cavity, and a groove matching the buckle is provided on the outer side wall of the integration box.

[0009] Furthermore, a rotation switch is provided on the top of the integration box seat. The rotation switch passes through the integration box seat and is connected to the buckle. An elastic member is provided on one side of the buckle close to the outside of the integration box seat, and the other end of the elastic member is connected to the inner wall of the integration box seat; When it is necessary to pull out the integration box from the integration box seat, the rotation switch toggles the buckle to move towards the outside of the integration box seat, and the buckle disengages from the groove.

[0010] Furthermore, a handle is provided on the top of the integration box.

[0011] Furthermore, the main controller is installed inside the vehicle body or inside the integration box.

[0012] Furthermore, the elastic member is a spring or an elastic block.

[0013] Furthermore, a chassis is provided at the bottom of the vehicle body. A pair of differential wheels are provided at the front side of the bottom of the chassis, and a pair of universal wheels are provided at the rear side of the bottom of the chassis. Both of the pair of differential wheels are connected to the driving device.

[0014] Furthermore, the driving device further includes a driving motor, a driving shaft, a driving gear, a driven gear and a transmission shaft. The driving motor is fixedly installed at the bottom of the chassis. The driving motor is connected to the driving shaft. The driving gear is installed on the driving shaft. The driving gear is meshed and connected with the driven gear. The transmission shaft is sleeved and installed inside the driven gear. The differential wheel is sleeved and installed on the transmission shaft.

[0015] Furthermore, the driving device further includes a coupling. One end of the coupling is connected to the output shaft of the driving motor, and the other end of the coupling is connected to the driving shaft.

[0016] Furthermore, the driving device further includes a driving bearing mount. The driving bearing mount includes a first driving bearing mount and a second driving bearing mount. The first driving bearing mount is installed on one side of the driving shaft, and the second driving bearing mount is installed on the other side of the driving shaft. Bearings are provided inside both the first driving bearing mount and the second driving bearing mount.

[0017] Furthermore, the driving device further includes a driven bearing mount. The driven bearing mount includes a first driven bearing mount and a second driven bearing mount. The first driven bearing mount is installed on one side of the transmission shaft, and the second driven bearing mount is installed on the other side of the transmission shaft. Bearings are provided inside both the first driven bearing mount and the second driven bearing mount.

[0018] Due to the adoption of the above technical solutions, the following beneficial effects are achieved: The present invention relates to a quick-release and quick-connection in-center cabinet self-following intelligent maintenance trolley for a bionic operation robot. A set of UWB wireless intelligent following system is arranged on the vehicle body of the trolley. The first UWB base station and the second UWB base station of the UWB wireless intelligent following system are both wirelessly communicatively connected to the positioning tag, and the first UWB base station and the second UWB base station are both connected to a main controller, and the main controller is connected to a motor driver of a driving device. Wireless signal receivers and transmitters are installed on both the first UWB base station and the second UWB base station, and wire signal receivers and transmitters are also installed on the positioning tag. Through the first UWB base station, the second UWB base station and the positioning tag, the distance between the first UWB base station and the positioning tag can be determined, and the distance between the second UWB base station and the positioning tag can also be determined. The first UWB base station, the second UWB base station and the positioning tag form a triangle, so as to determine the position of the positioning tag. Furthermore, by setting a distance threshold between the first UWB base station, the second UWB base station and the positioning tag through the main controller, the distances among the first UWB base station, the second UWB base station and the positioning tag are controlled within the distance threshold. Once the distance threshold is exceeded, the main controller controls the motor driver of the driving device to start working, driving the trolley to move in the direction of the positioning tag, so as to realize that the trolley can automatically follow the target operator for forward, backward, turning and other automatic operations, which is convenient for users to use and transfer, and further improves the automation degree of the in-center cabinet intelligent maintenance trolley.

[0019] By integrating the first UWB base station and the second UWB base station in an integration box, when not in use, the rotation switch toggles the buckle to move outward to the outside of the integration box seat, the buckle disengages from the groove, and the integration box can be taken out as a whole. The integration boxes are placed together for centralized management and are not easily damaged. When in use, only need to place the integration box into the cavity in the middle of the integration box seat. The integration box pushes the outside of the buckle to move. When the integration box is placed into the cavity of the integration box seat as a whole, under the action of the elastic member, the buckle returns to its original position and matches the groove on the outer side wall of the integration box, so as to clamp the integration box and prevent it from detaching from the integration box seat. In addition, the UWB wireless intelligent following system is respectively installed on different-function maintenance trolleys, and the UWB wireless intelligent following system is made into a module that can be quickly plugged and unplugged. Not only can the integration boxes be centralizedly managed, so that the integration boxes do not need to be fixedly arranged on the trolleys and are not easily damaged, but also the sharing following function of multiple different-function maintenance trolleys at different times can be realized. One operator can control and process multiple trolleys to work together, greatly improving the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below with reference to the drawings: Figure 1 It is a schematic structural diagram of the quick-release and quick-connection in-center cabinet self-following intelligent maintenance trolley of the bionic operation robot in the embodiment of the present invention.

[0021] Figure 2 It is a front view structural schematic diagram of the quick-disassembly and quick-connection in-cabinet self-following intelligent maintenance trolley of the bionic operation robot in the embodiment of the present invention.

[0022] Figure 3 It is a rear view structural schematic diagram of the quick-disassembly and quick-connection in-cabinet self-following intelligent maintenance trolley of the bionic operation robot in the embodiment of the present invention.

[0023] Figure 4 It is a bottom view structural schematic diagram of the quick-disassembly and quick-connection in-cabinet self-following intelligent maintenance trolley of the bionic operation robot in the embodiment of the present invention.

[0024] Figure 5 It is a front view structural schematic diagram of the driving device in the embodiment of the present invention.

[0025] Figure 6 It is a control principle schematic diagram of the UWB wireless intelligent following system in the embodiment of the present invention.

[0026] Figure 7 It is a structural schematic diagram of the cooperation and installation of the integrated box and the integrated box seat in the embodiment of the present invention.

[0027] Figure 8 It is a structural schematic diagram of the integrated box in the embodiment of the present invention.

[0028] Figure 9 It is a structural schematic diagram of the integrated box seat in the embodiment of the present invention.

[0029] Figure 10 It is a side view structural schematic diagram of the integrated box seat in the embodiment of the present invention.

[0030] Figure 11 It is a front view structural schematic diagram of the integrated box seat in the embodiment of the present invention.

[0031] Figure 12 It is the embodiment of the present invention Figure 11 A sectional structural schematic diagram in the A direction.

[0032] Figure 13 It is a structural schematic diagram of the first UWB base station and the second UWB base station in the embodiment of the present invention.

[0033] In the figure: 1 - vehicle body; 2 - UWB wireless intelligent following system; 3 - chassis; 4 - differential wheel; 5 - universal wheel; 6 - driving device; 21 - first UWB base station; 22 - second UWB base station; 23 - positioning tag; 24 - integrated box; 25 - integrated box seat; 26 - handle; 241 - groove; 251 - cavity; 252 - buckle; 253 - rotating switch; 254 - elastic member; 61 - Driving motor; 62 - Driving shaft; 63 - Driving gear; 64 - Driven gear; 65 - Transmission shaft; 66 - Motor driver; 67 - Coupling; 68 - Driving bearing mount; 681 - First driving bearing mount; 682 - Second driving bearing mount; 69 - Driven bearing mount; 691 - First driven bearing mount; 692 - Second driven bearing mount. Detailed implementation manner

[0034] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of the present invention. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0035] As Figures 1 to 13 As shown, the quick-release and quick-connection center-mounted cabinet self-following intelligent maintenance trolley of the bionic operation robot according to an embodiment of the present invention includes a vehicle body 1. An UWB wireless intelligent following system is installed on the vehicle body 1. The UWB wireless intelligent following system includes an integration box 24, a first UWB base station 21, a second UWB base station 22, and a positioning tag 23. The first UWB base station 21 and the second UWB base station 22 are both arranged in the integration box 24. The first UWB base station 21 is arranged on one side of the integration box 24, and the second UWB base station 22 is arranged on the other side of the integration box 24. The positioning tag 23 is arranged on the target operator to be positioned. The first UWB base station 21 and the second UWB base station 22 are both wirelessly communicatively connected to the positioning tag 23. The first UWB base station 21 and the second UWB base station 22 are both connected to a main controller, and the main controller is connected to a driving device. The driving device includes a motor driver 66, and the main controller is connected to the motor driver 66.

[0036] A UWB wireless intelligent following system is provided on the vehicle body 1 of the trolley. The first UWB base station 21 and the second UWB base station 22 of the UWB wireless intelligent following system are both wirelessly communicatively connected to the positioning tag 623, and both the first UWB base station 21 and the second UWB base station 22 are connected to a main controller, and the main controller is connected to the motor driver 66 of the driving device. Wireless signal receivers and transmitters are installed on both the first UWB base station 21 and the second UWB base station 22, and wire signal receivers and transmitters are also installed on the positioning tag 23. Through the first UWB base station 21, the second UWB base station 22 and the positioning tag 23, the distance between the first UWB base station 21 and the positioning tag 23 can be determined, and the distance between the second UWB base station 22 and the positioning tag 23 can also be determined. The first UWB base station 21, the second UWB base station 22 and the positioning tag 23 form a triangle, so as to determine the position of the positioning tag 23. Furthermore, the distance thresholds between the first UWB base station 21 and the second UWB base station 22 and the positioning tag 23 are set through the main controller, so that the distances among the first UWB base station 21, the second UWB base station 22 and the positioning tag 23 are controlled within the distance thresholds. In this embodiment, the threshold is set between 0.5 m and 1 m. Once the distance threshold is exceeded, the main controller controls the motor driver 66 of the driving device to start working, driving the trolley to move in the direction of the positioning tag 23, so as to realize that the trolley can automatically follow the target operator for forward, backward, turning and other automated operations, which is convenient for users to use and transfer, and further improves the automation degree of the intelligent maintenance trolley for medium-voltage switchgear cubicles.

[0037] See Figures 7 - 12 , an integrated box seat 25 is installed on the top of the vehicle body 1. A cavity 251 for placing the integrated box 24 is formed in the middle of the integrated box seat 25. A buckle 252 is provided on the inner side wall of the cavity 251, and a groove 241 matching the buckle 252 is provided on the outer side wall of the integrated box 24. A rotary switch 253 is provided on the top of the integrated box seat 25. The rotary switch 253 passes through the integrated box seat 25 and is connected to the buckle 252. An elastic member 254 is provided on one side of the buckle 252 close to the outside of the integrated box seat 25, and the other end of the elastic member 254 is connected to the inner wall of the integrated box seat 25.

[0038] See Figure 12The elastic member 254 is a spring or an elastic block. When the integrated box seat 25 is not placed in the integrated box seat 25, the elastic member 254 is in a natural state or a compressed state. Under the action of the elastic member 254, the buckle 252 is exposed in the cavity 251 of the integrated box seat 25. When the integrated box 24 is placed in the cavity 251 in the middle of the integrated box seat 25, the integrated box 24 pushes the buckle 252 to move outside. When the integrated box 24 is placed in the cavity 251 of the integrated box seat 25 as a whole, under the action of the elastic member 254, the buckle 252 returns to its original position and matches with the groove 241 on the outer wall of the integrated box 24, thereby locking the integrated box 24 and preventing it from leaving the integrated box seat 25.

[0039] See also Figures 7 - 12 , by integrating the first UWB base station 21 and the second UWB base station 22 in the integrated box 24, when not in use, the rotary switch 253 toggles the buckle 252 to move to the outside of the integrated box seat 25, the buckle 252 disengages from the groove 241, the integrated box 24 can be taken out as a whole, and the integrated box 24 is placed together for centralized management, and is not easily damaged. When it is needed, it is only necessary to place the integrated box 24 in the cavity 251 in the middle of the integrated box seat 25, and the integrated box 24 pushes the buckle 252 to move outward. When the integrated box 24 is placed in the cavity 251 of the integrated box seat 25, under the action of the elastic member 254, the buckle 252 returns to its original position and matches the groove 241 on the outer wall of the integrated box 24, thereby blocking the integrated box 24 from disengaging from the integrated box seat 25. In addition, UWB wireless intelligent following systems are installed on maintenance carts with different functions, and the UWB wireless intelligent following systems are made into modules that can be quickly plugged in and out. Not only can the integrated box 24 be centrally managed, so that the integrated box 24 does not need to be fixed on the cart and is not easily damaged, but also a number of maintenance carts with different functions can realize time-sharing sharing of the following function. One operator can control and handle multiple carts to work together, which greatly improves work efficiency.

[0040] See also Figures 7 - 8 As a further explanation of this embodiment, a handle 26 is provided on the top of the integrated box 24. The handle 26 is provided to facilitate taking out the integrated box 24.

[0041] See also Figures 1 - 13 As a further explanation of this embodiment, the main controller is installed in the vehicle body 1 or in the integrated box 24. When the main controller is installed in the vehicle body 1, the first UWB base station 21 and the second UWB base station 22 are installed in the integrated box 24, and the first UWB base station 21 and the second UWB base station 22 are electrically connected or wirelessly connected to the main controller. When the main controller is installed in the integrated box 24, the first UWB base station 21, the second UWB base station 22 and the main controller are installed in the integrated box 24, and the three are integrated together.

[0042] See Figures 4 - 5 Figures 4 - 5 , as a further illustration of this embodiment, a chassis 3 is provided at the bottom of the vehicle body 1, a pair of differential wheels 4 are provided at the front side of the bottom of the chassis 3, a pair of universal wheels 5 are provided at the rear side of the bottom of the chassis 3, and a pair of the differential wheels 4 are both connected to the driving device 6.

[0043] See Figures 4 - 5 Figures 4 - 5 , as a further illustration of this embodiment, the driving device 6 further includes a driving motor 61, a driving shaft 62, a driving gear 63, a driven gear 64 and a transmission shaft 65. The driving motor 61 is fixedly installed at the bottom of the chassis 3. The driving motor 61 is connected to a driving shaft 62. A driving gear 63 is installed on the driving shaft 62. The driving gear 63 is meshed and connected to a driven gear 64. A transmission shaft 65 is sleeved and installed inside the driven gear 64, and a differential wheel 4 is sleeved and installed on the transmission shaft 65.

[0044] See Figures 4 - 5 Figures 4 - 5 , as a further illustration of this embodiment, the driving device 6 further includes a coupling 67. One end of the coupling 67 is connected to the output shaft of the driving motor 61, and the other end of the coupling 67 is connected to the driving shaft 62. The coupling 67 is arranged between the output shaft of the driving motor 61 and the driving shaft 62. It is a part that has functions of buffering, vibration reduction and improving the dynamic performance of the shafting. It rotates together during the process of transmitting motion and power and does not disengage under normal circumstances.

[0045] See Figures 4 - 5 Figures 4 - 5 , as a further illustration of this embodiment, the driving device 6 further includes a driving bearing mount 68. The driving bearing mount 68 includes a first driving bearing mount 681 and a second driving bearing mount 682. The first driving bearing mount 681 is installed on one side of the driving shaft 62, and the second driving bearing mount 682 is installed on the other side of the driving shaft 62, and bearings are provided in both the first driving bearing mount 681 and the second driving bearing mount 682. By installing bearing mounts at both ends of the driving shaft 62 respectively, it is convenient for the bearings to better support the driving shaft 62, reduce the friction coefficient during the movement of the driving shaft 62, and ensure the rotational accuracy of the driving shaft 62.

[0046] See Figures 4 - 5, as a further illustration of this embodiment, the driving device 6 further includes a driven bearing mount 69, which includes a first driven bearing mount 691 and a second driven bearing mount 692. The first driven bearing mount 691 is installed on one side of the transmission shaft 65, and the second driven bearing mount 692 is installed on the other side of the transmission shaft 65. Bearings are provided in both the first driven bearing mount 691 and the second driven bearing mount 692. By installing bearing mounts at both ends of the transmission shaft 65, it is convenient for the bearings to better support the transmission shaft 65, reduce the friction coefficient during the movement of the drive shaft 62, and ensure the rotational accuracy of the drive shaft 62.

[0047] The working principle of the present invention: A set of UWB wireless intelligent following system is provided on the vehicle body 1 of the trolley. The first UWB base station 21 and the second UWB base station 22 of the UWB wireless intelligent following system are both wirelessly communicatively connected to the positioning tag 23. The first UWB base station 21 and the second UWB base station 22 are both connected to a main controller, and the main controller is connected to the motor driver 66 of the driving device 6. Wireless signal receivers and transmitters are installed on both the first UWB base station 21 and the second UWB base station 22, and wire signal receivers and transmitters are also installed on the positioning tag 23. Through the first UWB base station 21, the second UWB base station 22, and the positioning tag 23, the distance between the first UWB base station 21 and the positioning tag 23 can be determined, and the distance between the second UWB base station 22 and the positioning tag 23 can also be determined. The first UWB base station 21, the second UWB base station 22, and the positioning tag 23 form a triangle, thereby determining the position of the positioning tag 23. Furthermore, by setting the distance threshold between the first UWB base station 21, the second UWB base station 22, and the positioning tag 23 through the main controller, the distances among the first UWB base station 21, the second UWB base station 22, and the positioning tag 23 are controlled within the distance threshold. Once the distance threshold is exceeded, the main controller controls the motor driver 66 of the driving device 6 to start working, driving the trolley to move in the direction of the positioning tag 23, so as to realize the automatic operations of the trolley such as moving forward, backward, and turning following the target operator independently, which is convenient for users to use and transfer, and further improves the automation degree of the intelligent maintenance trolley for medium-voltage switchgear.

[0048] By integrating the first UWB base station 21 and the second UWB base station 22 into the integration box 24, when not in use, the rotary switch 253 toggles the buckle 252 to move outward from the integration box base 25, and the buckle 252 disengages from the groove 241, so that the integration box 24 can be taken out as a whole. The integration boxes 24 can be placed together for centralized management and are not easily damaged. When in use, only need to place the integration box 24 into the cavity 251 in the middle of the integration box base 25. The integration box 24 pushes the outside of the buckle 252 to move. After the integration box 24 is placed entirely into the cavity 251 of the integration box base 25, under the action of the elastic member 254, the buckle 252 returns to its original position and matches the groove 241 on the outer side wall of the integration box 24, thereby clamping the integration box 24 so that it will not disengage from the integration box base 25. In addition, the UWB wireless intelligent following system is respectively installed on the maintenance trolleys with different functions, and the UWB wireless intelligent following system is made into a module that can be quickly plugged and unplugged. This can not only manage the integration box 24 centralizedly, making the integration box 24 not need to be fixedly arranged on the trolley and not being easily damaged, but also can realize the time-sharing sharing following function of multiple maintenance trolleys with different functions. One operator can control and process multiple trolleys to work together, greatly improving the work efficiency.

[0049] The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent replacements or modifications made based on the present invention to solve basically the same technical problems and achieve basically the same technical effects are all covered by the protection scope of the present invention.

Claims

1. A quick-disconnect and quick-connect self-following intelligent maintenance vehicle for a central cabinet of a bionic operating robot, including a vehicle body, characterized in that: The vehicle body is equipped with a UWB wireless intelligent following system, which includes an integrated box, a first UWB base station, a second UWB base station and a positioning tag. The first UWB base station and the second UWB base station are both arranged in the integrated box, and the first UWB base station is arranged on one side of the integrated box, and the second UWB base station is arranged on the other side of the integrated box. The positioning tag is arranged on a target operator to be located, and the first UWB base station and the second UWB base station are connected to the positioning tag through wireless communication; The first UWB base station and the second UWB base station are both connected to a main controller, the main controller is connected to a driving device, the driving device includes a motor driver, and the main controller is connected to the motor driver; An integrated box seat is installed on the top of the vehicle body, a cavity for placing the integrated box is formed in the middle of the integrated box seat, a buckle is arranged on the inner side wall of the cavity, and a groove matching the buckle is arranged on the outer side wall of the integrated box.

2. The quick-release and quick-connect self-following intelligent maintenance trolley for the bionic operating robot according to claim 1 is characterized by: A rotary switch is provided on the top of the integrated box seat, and the rotary switch passes through the integrated box seat to connect to the buckle, and an elastic member is provided on one side of the buckle close to the outside of the integrated box seat, and the other end of the elastic member is connected to the inner wall of the integrated box seat; When the integrated box needs to be pulled out from the integrated box seat, the rotating switch moves the buckle toward the outside of the integrated box seat, and the buckle is disengaged from the groove.

3. The quick-disconnect and quick-connect self-following intelligent maintenance trolley for the bionic operating robot according to claim 1 or 2, characterized in that: A handle is provided on the top of the integrated box.

4. The quick-disconnect and quick-connect self-following intelligent maintenance trolley for the bionic operating robot according to claim 1 or 2, characterized in that: The main controller is installed in the vehicle body or in the integrated box.

5. The quick-disconnect and quick-connect self-following intelligent maintenance trolley for the bionic operating robot according to claim 2 is characterized by: The elastic member is a spring or an elastic block.

6. The quick-release and quick-connect self-following intelligent maintenance trolley for the bionic operating robot according to claim 1 or 2, characterized in that: A chassis is provided at the bottom of the vehicle body, a pair of differential wheels is provided at the front side of the bottom of the chassis, a pair of universal wheels is provided at the rear side of the bottom of the chassis, and both of the pair of differential wheels are connected to the driving device.

7. The quick-disconnect and quick-connect self-following intelligent maintenance vehicle for the bionic operating robot according to claim 6 is characterized by: The driving device also includes a driving motor, a driving shaft, a driving gear, a driven gear and a transmission shaft. The driving motor is fixedly installed at the bottom of the chassis, the driving motor is connected to the driving shaft, the driving shaft is equipped with a driving gear, the driving gear is meshingly connected with the driven gear, the driven gear is sleeved with a transmission shaft, and the transmission shaft is sleeved with a differential wheel.

8. The quick-release and quick-connect self-following intelligent maintenance vehicle for the bionic operating robot according to claim 7 is characterized in that: The driving device further comprises a coupling, one end of which is connected to the output shaft of the driving motor, and the other end of which is connected to the driving shaft.

9. The quick-release and quick-connect self-following intelligent maintenance vehicle for the bionic operating robot according to claim 8 is characterized by: The driving device also includes an active bearing mounting seat, which includes a first active bearing mounting seat and a second active bearing mounting seat. The first active bearing mounting seat is installed on one side of the driving shaft, and the second active bearing mounting seat is installed on the other side of the driving shaft. Bearings are provided in both the first active bearing mounting seat and the second active bearing mounting seat.

10. The quick-release and quick-connect self-following intelligent maintenance vehicle for the bionic operating robot according to claim 8, characterized in that: The driving device also includes a driven bearing mounting seat, which includes a first driven bearing mounting seat and a second driven bearing mounting seat. The first driven bearing mounting seat is installed on one side of the transmission shaft, and the second driven bearing mounting seat is installed on the other side of the transmission shaft. Bearings are provided in both the first driven bearing mounting seat and the second driven bearing mounting seat.

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