Centrally installed switchgear intelligent maintenance trolley for bionic operation robot

Abstract

The invention relates to the technical field of high-voltage power distribution equipment, in particular to a centrally installed switchgear intelligent maintenance trolley for a bionic operation robot, which comprises a chassis, a first pair of universal wheels arranged on the front side of the bottom of the chassis, and a second pair of universal wheels arranged on the rear side of the bottom of the chassis, the first pair of universal wheels and the second pair of universal wheels are both connected with universal wheel steering adjusting devices, the first pair of universal wheels or the second pair of universal wheels are connected with universal wheel driving devices, or the first pair of universal wheels and the second pair of universal wheels are both connected with universal wheel driving devices. According to the intelligent maintenance trolley, a movement device of an original intelligent maintenance trolley is changed, four wheels are all arranged to be universal wheels, each universal wheel is matched with an independent universal wheel steering adjusting device, the purposes of turning in situ and passing through a space with a large turning radius can be achieved, and the problems that the intelligent maintenance trolley is difficult in posture adjustment and high in practicability are solved. And the maintenance time is long.

Description

Technical Field

[0001] The present invention relates to the technical field of high-voltage power distribution equipment, and particularly relates to a medium-voltage cabinet 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. Many 10kV devices in old substations have also been gradually renovated, and the use of medium-voltage cabinet devices is becoming more and more extensive. When overhauling the circuit breaker in the medium-voltage cabinet, the circuit breaker needs to be pulled out of the cabinet body and placed on a special trolley for overhaul and test work.

[0003] The current bionic operation robot is also equipped with a split-type medium-voltage cabinet intelligent maintenance trolley. Among them, the operation robot body serves as the main robot, and the split-type medium-voltage cabinet intelligent maintenance trolley serves as the slave robot. The master and slave cooperate. The medium-voltage 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 medium-voltage cabinet, and the operation robot finely adjusts the locking device to link the trolley and the medium-voltage cabinet together. Then, by using the function of the trolley to automatically adjust the platform height and levelness, the requirements of different cabinet bodies, factors such as cabinet installation deviation, etc. are met. 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 medium-voltage cabinet intelligent maintenance trolley can realize the intelligent maintenance operation of the switch, and the movement is more accurate and reliable, providing sufficient maintenance space for manual maintenance operation.

[0004] A medium-voltage cabinet intelligent maintenance trolley body with the patent number 201620177136.4 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 fixed to the top plate. The walking chassis of the medium-voltage cabinet intelligent maintenance trolley in the above patent is composed of two universal wheels in the front and two differential wheels in the rear, which has problems such as inability to turn in place, large turning radius, difficult pose adjustment of the trolley during the maintenance of the medium-voltage cabinet, and long maintenance time.

[0005] In view of this, the present application proposes a medium-voltage cabinet intelligent maintenance trolley for a bionic operation robot. Summary of the Invention

[0006] The purpose of the present invention is to provide a medium-voltage cabinet intelligent maintenance trolley for a bionic operation robot in view of the deficiencies of the prior art.

[0007] To solve the above technical problems, the following technical solutions are adopted: A smart maintenance trolley for a medium-voltage switchgear of a bionic operation robot, comprising a chassis, characterized in that: a pair of universal wheels are provided on the front side and the rear side of the chassis, the universal wheels include a first pair of universal wheels and a second pair of universal wheels, the first pair of universal wheels are provided on the front side of the bottom of the chassis, the second pair of universal wheels are provided on the rear side of the bottom of the chassis, the first pair of universal wheels and the second pair of universal wheels are both connected with universal wheel steering adjustment devices, the first pair of universal wheels or the second pair of universal wheels are connected with universal wheel drive devices, or the first pair of universal wheels and the second pair of universal wheels are both connected with universal wheel drive devices; The universal wheel steering adjustment device includes a steering motor, a synchronous belt assembly, a steering shaft and a steering bracket, the steering motor is fixedly installed on the upper part of the chassis, the output shaft of the steering motor is connected to one side of the synchronous belt assembly, the other side of the synchronous belt assembly is sleeved with the steering shaft, the lower part of the steering shaft is connected with the steering bracket, and the steering bracket is connected with the universal wheel.

[0008] Further, the universal wheel steering adjustment device further includes a corner sensor, the corner sensor is connected to the steering motor, and the corner sensor is connected with a main controller, and the main controller is connected with a control switch.

[0009] Further, the universal wheel steering adjustment device further includes a steering shaft cover, the steering shaft cover is located on the side of the steering motor, and the corner sensor is arranged in the steering shaft cover.

[0010] Further, the steering bracket includes a first connecting plate at the top and a second connecting plate at the lower part, the first connecting plate is connected with the second connecting plate, and the first connecting plate and the second connecting plate form an inverted L-shaped steering bracket.

[0011] Further, a first mounting shaft hole is arranged on the first connecting plate, the first mounting shaft hole is matched with the steering shaft, a second mounting shaft hole is arranged on the second connecting plate, and the second mounting shaft hole is matched with the universal wheel drive device.

[0012] Further, a reinforcing rib plate is installed between the first connecting plate and the second connecting plate.

[0013] Further, the universal wheel drive device includes a drive motor, a drive motor bracket and a drive shaft, the drive motor bracket is installed on the second connecting plate, the drive motor bracket is installed with the drive motor, the drive motor is connected with the drive shaft, and the universal wheel is arranged on the drive shaft.

[0014] Further, the universal wheel steering adjustment device further includes a bearing mounting seat. The active bearing mounting seat is mounted on the chassis. A bearing is provided inside the active bearing mounting seat, and the bearing is matched with the steering shaft.

[0015] Further, the chassis includes a left chassis plate, a right chassis plate, a rear chassis plate, and a middle chassis plate. The vertical cross-sections of the left chassis plate, the right chassis plate, and the middle chassis plate are all U-shaped. Support rib plates are provided inside the left chassis plate and the right chassis plate; The left chassis plate is located on the left side of the chassis, and universal wheels located on the left side of the maintenance trolley are mounted on the left chassis plate; The right chassis plate is located on the right side of the chassis, and universal wheels located on the right side of the maintenance trolley are mounted on the right chassis plate; The rear chassis plate is disposed between the rear sides of the left chassis plate and the right chassis plate, and a support frame is mounted on the rear chassis plate; The middle chassis plate is disposed between the middle parts of the left chassis plate and the right chassis plate.

[0016] Further, handrails are provided on both sides of the upper part of the support frame, and the control switches are provided on the handrails.

[0017] Due to the adoption of the above technical solutions, the following beneficial effects are achieved: The present invention is a central cabinet intelligent maintenance trolley for a bionic operation robot. Based on the original movement device with two universal wheels at the front and two differential wheels at the rear, the original movement device is changed. A first pair of universal wheels is provided at the front side of the bottom of the chassis, and a second pair of universal wheels is provided at the rear side of the bottom of the chassis. The first pair of universal wheels and the second pair of universal wheels are both connected with universal wheel steering adjustment devices. The first pair of universal wheels or the second pair of universal wheels is connected with a universal wheel drive device, or both the first pair of universal wheels and the second pair of universal wheels are connected with universal wheel drive devices. Thus, the original movement device of the intelligent maintenance trolley is changed to form a four-wheel six-drive or four-wheel eight-drive movement device. Since all four wheels are set as universal wheels, and each universal wheel is matched with an independent universal wheel steering adjustment device. Thus, it is convenient to adjust the direction of the trolley, and then 2 universal wheel drive devices or 4 universal wheel drive devices are set as power according to needs to drive the trolley to move, which can achieve the purpose of turning in place and passing through spaces with a large turning radius, and solves the problems of difficult pose adjustment and long maintenance time of the intelligent maintenance trolley. Description of the Drawings

[0018] The following further describes the present invention with reference to the drawings: Figure 1It is a schematic structural diagram of the in - cabinet intelligent maintenance trolley for a bionic operation robot in Embodiment 1 of the present invention.

[0019] Figure 2 It is a front - view structural schematic diagram of the in - cabinet intelligent maintenance trolley for a bionic operation robot in Embodiment 1 of the present invention.

[0020] Figure 3 It is a rear - view structural schematic diagram of the in - cabinet intelligent maintenance trolley for a bionic operation robot in Embodiment 1 of the present invention.

[0021] Figure 4 It is a bottom - view structural schematic diagram of the in - cabinet intelligent maintenance trolley for a bionic operation robot in Embodiment 1 of the present invention.

[0022] Figure 5 It is a top - view structural schematic diagram of the in - cabinet intelligent maintenance trolley for a bionic operation robot in Embodiment 1 of the present invention.

[0023] Figure 6 It is a side - view structural schematic diagram of the in - cabinet intelligent maintenance trolley for a bionic operation robot in Embodiment 1 of the present invention.

[0024] Figure 7 It is a schematic structural diagram of the universal - wheel steering adjustment device and the universal - wheel drive device in Embodiment 1 of the present invention.

[0025] Figure 8 It is a three - dimensional structural schematic diagram of the universal - wheel steering adjustment device and the universal - wheel drive device in Embodiment 1 of the present invention.

[0026] Figure 9 It is a control principle diagram of the in - cabinet intelligent maintenance trolley for a bionic operation robot in Embodiment 1 of the present invention.

[0027] Figure 10 It is a three - dimensional structural schematic diagram of the universal - wheel steering adjustment device and the universal - wheel drive device in Embodiment 1 of the present invention.

[0028] Figure 11 It is a schematic structural diagram of the universal - wheel steering adjustment device and the universal - wheel drive device in Embodiment 2 of the present invention.

[0029] Figure 12 It is a schematic structural diagram of the universal - wheel steering adjustment device and the universal - wheel drive device in Embodiment 3 of the present invention.

[0030] In the figure: 1 - chassis; 2 - support frame; 3 - the first pair of universal wheels; 4 - the second pair of universal wheels; 5 - universal - wheel steering adjustment device; 6 - universal - wheel drive device; 7 - handrail; 8 - control switch.

[0031] 11 - Left chassis plate; 12 - Right chassis plate; 13 - Rear chassis plate; 14 - Middle chassis plate; 15 - Support rib plate.

[0032] 51 - Steering motor; 52 - Synchronous belt assembly; 53 - Steering shaft; 54 - Steering bracket; 55 - Steering shaft cover; 56 - Bearing mounting seat.

[0033] 541 - First connecting plate; 542 - Second connecting plate; 543 - Reinforcing rib plate.

[0034] 61 - Driving motor; 62 - Driving motor bracket; 63 - Driving shaft. Specific embodiments

[0035] 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. Embodiment 1

[0036] As Figures 1 to 10 shown, a central cabinet intelligent maintenance trolley for a bionic operation robot includes a chassis 1. A pair of universal wheels are provided on the front side and the rear side of the chassis 1. The universal wheels include a first pair of universal wheels 3 and a second pair of universal wheels 4. The first pair of universal wheels 3 are provided on the front side of the bottom of the chassis 1, and the second pair of universal wheels 4 are provided on the rear side of the bottom of the chassis 1. The first pair of universal wheels 3 and the second pair of universal wheels 4 are both connected with a universal wheel steering adjustment device 5, and the first pair of universal wheels 3 are connected with a universal wheel driving device 6. A universal wheel steering adjustment device 5 is provided for each universal wheel, so that each universal wheel can perform independent steering and movement. The theoretical turning radius can be equivalent to the vehicle body length, and it can turn 360 degrees in place. It can achieve the purpose of turning in place and passing through spaces with a large turning radius, and solves the problems of difficult pose adjustment and long maintenance time of the intelligent maintenance trolley.

[0037] The universal wheel steering adjustment device 5 includes a steering motor 51, a synchronous belt assembly 52, a steering shaft 53, and a steering bracket 54. The steering motor 51 is fixedly installed on the upper part of the chassis 1. The output shaft of the steering motor 51 is connected to one side of the synchronous belt assembly 52. The other side of the synchronous belt assembly 52 is sleeved with the steering shaft 53. The lower part of the steering shaft 53 is connected with the steering bracket 54, and the steering bracket 54 is connected to the universal wheel. The synchronous belt assembly 52 includes a first synchronous belt pulley, a second synchronous belt pulley, and a synchronous belt. The first synchronous belt pulley is sleeved on the output shaft of the steering motor 51, the second synchronous belt pulley is sleeved on the steering shaft 53, and the synchronous belt is connected between the first synchronous belt pulley and the second synchronous belt pulley. By setting the synchronous belt assembly 52, the transmission accuracy is improved, there is no slippage during operation, and it has a constant transmission ratio. The transmission from the output shaft of the steering motor 51 to the steering shaft 53 is more accurate. The steering motor 51 can be a servo motor, and the overall transmission method uses a synchronous belt, with low mechanical noise.

[0038] As a further description of this embodiment, the universal wheel steering adjustment device 5 further includes a corner sensor (not shown in the figure). The corner sensor is connected to the steering motor 51 and is also connected to a main controller. The main controller is arranged inside the trolley and is not marked in the attached drawings. The main controller is connected to a control switch 8. The universal wheel steering adjustment device 5 further includes a steering shaft cover 55. The steering shaft cover 55 is located on the side of the steering motor 51, and the corner sensor is arranged inside the steering shaft cover 55. By setting the main controller and the control switch 8, when the operator operates the control switch 8, the main controller controls the corner sensor to work, and then the steering motor 51 drives the steering shaft 53 to rotate. By setting the corner sensor, the rotation angle of the universal wheel can be accurately controlled, reducing the angle feedback error caused by mechanical errors and clearances, making the control of the steering angle more accurate in actual control. When the trolley makes a U-turn or turns around in place or passes through a space with a large turning radius, the operator operates the handrail, and under the action of the four universal wheels, the direction of the trolley can be adjusted faster than the original motion device, facilitating the trolley to complete the steering work faster and perform pose adjustment.

[0039] As a further illustration of this embodiment, the steering bracket 54 includes a first connecting plate 541 at the top and a second connecting plate 542 at the bottom. The first connecting plate 541 connects the second connecting plate 542, and the first connecting plate 541 and the second connecting plate 542 form an inverted L-shaped steering bracket 54. A first mounting shaft hole (not shown in the figure) is provided on the first connecting plate 541, and the first mounting shaft hole matches the steering shaft 53. A second mounting shaft hole (not shown in the figure) is provided on the second connecting plate 542, and the second mounting shaft hole matches the universal wheel driving device 6. By providing the inverted L-shaped steering bracket 54, the first connecting plate 541 is used to connect the steering shaft 53, and the second connecting plate 542 is used to connect the universal wheels. Since the axial direction of the universal wheel is perpendicular to the axial direction of the steering shaft 53, through the inverted L-shaped steering bracket 54, there is no need to add an additional transmission mechanism to achieve the transmission connection, making the overall layout reasonable.

[0040] As a further illustration of this embodiment, a reinforcing rib plate 543 is installed between the first connecting plate 541 and the second connecting plate 542. By providing the reinforcing rib plate 543, the overall strength of the steering bracket 54 is improved.

[0041] As a further illustration of this embodiment, the universal wheel driving device 6 includes a driving motor 61, a driving motor bracket, and a driving shaft 63. The driving motor bracket is installed on the second connecting plate 542. The driving motor 61 is installed on the driving motor bracket. The driving motor 61 is connected to the driving shaft 63, and the universal wheel is provided on the driving shaft 63. By connecting the universal wheel driving device 6 to the first pair of universal wheels 3, it serves as a power source to drive the entire trolley to move. The driving motor 61 is connected to a driving controller. When the trolley needs to move, the driving motor 61 drives the driving shaft 63 to work, thereby driving the universal wheel to rotate, serving as a power source to better push the trolley forward.

[0042] As a further illustration of this embodiment, the universal wheel steering adjustment device 5 further includes a bearing mounting seat 56. The active bearing mounting seat 56 is installed on the chassis 1. A bearing is provided inside the active bearing mounting seat 56, and the bearing matches the steering shaft 53. By installing the bearing mounting seat 56 on the steering shaft 53, it is convenient for the bearing to better support the steering shaft 53, reduce the friction coefficient during the movement of the steering shaft 53, and ensure the rotational accuracy of the steering shaft 53.

[0043] As a further illustration of this embodiment, the chassis 1 includes a left chassis plate 11, a right chassis plate 12, a rear chassis plate 13, and a middle chassis plate 14. The vertical cross-sections of the left chassis plate 11, the right chassis plate 12, and the middle chassis plate 14 are all U-shaped. Support ribs 15 are provided inside the left chassis plate 11 and the right chassis plate 12. The left chassis plate 11 is located on the left side of the chassis 1, and a universal wheel located on the left side of the maintenance trolley is installed on the left chassis plate 11. The right chassis plate 12 is located on the right side of the chassis 1, and a universal wheel located on the right side of the maintenance trolley is installed on the right chassis plate 12. The rear chassis plate 13 is disposed between the rear sides of the left chassis plate 11 and the right chassis plate 12, and a support frame 2 is installed on the rear chassis plate 13. The middle chassis plate 14 is disposed between the middle parts of the left chassis plate 11 and the right chassis plate 12. The vertical cross-sections of the left chassis plate 11, the right chassis plate 12, and the middle chassis plate 14 are all U-shaped. A space for installing the universal wheels and the universal wheel drive device 6 is formed in the inner grooves of the U-shaped left chassis plate 11, right chassis plate 12, and middle chassis plate 14, which is convenient for better layout and design of the universal wheels, the universal wheel drive device 6, and the universal wheel steering adjustment device 5.

[0044] As a further illustration of this embodiment, handrails 7 are provided on both sides of the upper part of the support frame 2, and the control switches 8 are provided on the handrails 7. Handrails 7 are provided on both sides of the upper part of the support frame 2, and the control switches 8 are provided on the handrails 7. By designing the control switches 8 on the handrails 7 and each handrail 7 is provided with a control switch 8, it is convenient for the operator to operate. In addition, each control switch 8 includes a switch button for opening and closing the universal wheel drive device 6, an adjustment button for adjusting the rotation speed of the universal wheel, and a steering switch for adjusting the steering of the universal wheel, so that the operator can better complete the work of transporting the circuit breaker.

[0045] The working principle of the present invention: A first pair of universal wheels 3 is provided on the front side of the bottom of the chassis 1, and a second pair of universal wheels 4 is provided on the rear side of the bottom of the chassis 1. The first pair of universal wheels 3 and the second pair of universal wheels 4 are both connected to a universal wheel steering adjustment device 5. The first pair of universal wheels 3 or the second pair of universal wheels 4 is connected to a universal wheel drive device 6, or both the first pair of universal wheels 3 and the second pair of universal wheels 4 are connected to a universal wheel drive device 6. Thus, the original movement device of the intelligent maintenance trolley is changed. When it is necessary to turn in place, turn around, or pass through a space with a large turning radius, a universal wheel steering adjustment device 5 is provided for each universal wheel, so that each universal wheel can perform independent steering and movement, and the theoretical turning radius can be equal to the body length, and it can turn 360 degrees in place. It can achieve the purpose of turning in place and passing through a space with a large turning radius, and solve the problems of difficult pose adjustment and long maintenance time of the intelligent maintenance trolley.

[0046] Specifically, by setting the main controller and the control switch 8, when the operator operates the control switch 8, the main controller controls the rotation angle sensor to work, and then the steering motor 51 drives the steering shaft 53 to rotate. By setting the rotation angle sensor, the rotation angle of the universal wheel can be accurately controlled, reducing the angle feedback error caused by mechanical errors and clearances, making the control of the steering angle in actual control more accurate. When the trolley makes a U-turn in place or passes through a space with a large turning radius, the operator operates the handrail 7, and under the action of the four universal wheels, the direction of the trolley can be adjusted faster than the original moving device, facilitating the trolley to complete the steering work faster and perform pose adjustment. Embodiment 2

[0047] See Figure 11 , the difference from Embodiment 1 is that: both the first pair of universal wheels 3 and the second pair of universal wheels 4 are connected with universal wheel drive devices 6, thus forming a four-wheel and eight-drive moving device. Since all four wheels are set as universal wheels, and each universal wheel is matched with an independent universal wheel steering adjustment device 5. Thus, it is convenient to adjust the direction of the trolley. Then, all 4 universal wheels are provided with universal wheel drive devices 6 to drive the trolley to move, which can achieve the purpose of making a U-turn in place and passing through a space with a large turning radius, and solve the problems of difficult pose adjustment and long maintenance time of the intelligent maintenance trolley. Embodiment 3

[0048] See Figure 12 , the difference from Embodiment 1 is that: the first pair of universal wheels 3 is connected with a universal wheel drive device 6, and the second pair of universal wheels 4 is not connected with a universal wheel drive device 6, thus forming a four-wheel and six-drive moving device. Since all four wheels are set as universal wheels, and each universal wheel is matched with an independent universal wheel steering adjustment device 5. Thus, it is convenient to adjust the direction of the trolley. Then, the 2 front universal wheels are provided with universal wheel drive devices 6 to drive the trolley to move, which can achieve the purpose of making a U-turn in place and passing through a space with a large turning radius, and solve the problems of difficult pose adjustment and long maintenance time of the intelligent maintenance trolley.

[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 substantially the same technical problems and achieve substantially the same technical effects are all covered by the protection scope of the present invention.

Claims

1. A central cabinet intelligent maintenance trolley for a bionic operating robot, comprising a chassis, characterized in that: A pair of universal wheels is provided on the front and rear sides of the chassis, the universal wheels include a first pair of universal wheels and a second pair of universal wheels, the first pair of universal wheels is provided on the front side of the bottom of the chassis, the second pair of universal wheels is provided on the rear side of the bottom of the chassis, the first pair of universal wheels and the second pair of universal wheels are both connected to a universal wheel steering adjustment device, the first pair of universal wheels or the second pair of universal wheels are connected to a universal wheel driving device, or the first pair of universal wheels and the second pair of universal wheels are both connected to the universal wheel driving device; The universal wheel steering adjustment device includes a steering motor, a synchronous belt assembly, a steering shaft and a steering bracket. The steering motor is fixedly installed on the upper part of the chassis, the output shaft of the steering motor is connected to one side of the synchronous belt assembly, the other side of the synchronous belt assembly is sleeved with a steering shaft, the lower part of the steering shaft is connected to the steering bracket, and the steering bracket is connected to the universal wheel.

2. According to claim 1, the intelligent maintenance vehicle for the central cabinet of the bionic operating robot is characterized by: The universal wheel steering adjustment device also includes a rotation angle sensor, which is connected to the steering motor, and the rotation angle sensor is connected to a main controller, which is connected to a control switch.

3. According to claim 2, the intelligent maintenance vehicle for the central cabinet of the bionic operating robot is characterized by: The universal wheel steering adjustment device also includes a steering shaft cover, which is located on the side of the steering motor, and the steering angle sensor is arranged inside the steering shaft cover.

4. The intelligent maintenance vehicle for the central cabinet of a bionic operating robot according to claim 1 or 2, characterized in that: The steering bracket includes a first connecting plate at the top and a second connecting plate at the bottom, the first connecting plate is connected to the second connecting plate, and the first connecting plate and the second connecting plate form an inverted L-shaped steering bracket.

5. The intelligent maintenance vehicle for the central cabinet of a bionic operating robot according to claim 4 is characterized in that: The first connecting plate is provided with a first mounting shaft hole, which matches the steering shaft; the second connecting plate is provided with a second mounting shaft hole, which matches the universal wheel driving device.

6. The intelligent maintenance vehicle for the central cabinet of a bionic operating robot according to claim 4 is characterized in that: A reinforcing rib is installed between the first connecting plate and the second connecting plate.

7. The intelligent maintenance vehicle for the central cabinet of a bionic operating robot according to claim 4 is characterized in that: The universal wheel driving device includes a driving motor, a driving motor frame and a driving shaft. The driving motor frame is installed on the second connecting plate. The driving motor is installed on the driving motor frame. The driving motor is connected to the driving shaft. The universal wheel is provided on the driving shaft.

8. The intelligent maintenance vehicle for the central cabinet of a bionic operating robot according to claim 1 or 2, characterized in that: The universal wheel steering adjustment device also includes a bearing mounting seat, which is mounted on the chassis. A bearing is arranged in the bearing mounting seat, and the bearing matches the steering shaft.

9. The intelligent maintenance vehicle for the central cabinet of a bionic operating robot according to claim 2 is characterized in that: The chassis comprises a left chassis plate, a right chassis plate, a rear chassis plate and a middle chassis plate, the vertical cross-sections of the left chassis plate, the right chassis plate and the middle chassis plate are all U-shaped, and supporting ribs are provided inside the left chassis plate and the right chassis plate; The left chassis plate is located on the left side of the chassis, and a universal wheel located on the left side of the maintenance trolley is installed on the left chassis plate; The right chassis plate is located on the right side of the chassis, and a universal wheel located on the right side of the maintenance trolley is installed on the right chassis plate; The rear chassis plate is arranged between the rear sides of the left chassis plate and the right chassis plate, and a support frame is installed on the rear chassis plate; The middle chassis plate is arranged between the middle parts of the left chassis plate and the right chassis plate.

10. The intelligent maintenance vehicle for the central cabinet of a bionic operating robot according to claim 9, characterized in that: Both sides of the upper part of the support frame are provided with handrails, and the control switches are provided on the handrails.

Images