UWB centrally installed switchgear self-following 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 UWB centrally installed switchgear self-following intelligent maintenance trolley for 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; an integration box base is installed on the top of the vehicle body, a cavity for containing an integration box is formed in the middle of the integration box base, a buckle is arranged on the inner side wall of the cavity, and a groove matched with the buckle is formed in the outer side wall of the integration 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 UWB medium-voltage switchgear self-following intelligent maintenance trolley for bionic operation robots. Background Art

[0002] With the rapid development of the power grid, the number of 10 kV devices has increased significantly. The 10 kV devices in many old substations are also gradually being renovated, and medium-voltage switchgear devices are being used more and more widely. When overhauling the circuit breaker in the medium-voltage switchgear, 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 switchgear intelligent maintenance trolley. Among them, the operation robot body serves as the main robot, and the split-type medium-voltage switchgear intelligent maintenance trolley serves as the slave robot. The master and slave cooperate. The medium-voltage switchgear intelligent maintenance trolley mainly simulates 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 switchgear, and the operation robot finely adjusts the locking device to link the trolley and the medium-voltage switchgear together. Then, by using the function of the trolley to automatically adjust the platform height and levelness, the requirements of different cabinet bodies can be 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 automatically lifting maintenance platform of the medium-voltage switchgear intelligent maintenance trolley can realize intelligent maintenance operations of the switch, and the movement is more accurate and reliable, providing sufficient maintenance space for manual maintenance operations.

[0004] A medium-voltage switchgear intelligent maintenance trolley body with the patent number 201620177136.4. The medium-voltage switchgear 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 fixed to the top plate; the above-mentioned lifting servo motor is fixed on the motor support. 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. Two sliders are provided on each side of the rear plate. The lifting frame is movably connected to the two side lifting guide rails by using the two sliders on the rear plate. A ball screw group is provided on each inner side of the two columns. The ball screws of the ball screw group are each supported by upper and lower bearing seats fixed to 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 in - cabinet intelligent maintenance trolley of the above - mentioned patent, during the transfer process, it is manually operated to move forward, backward, turn, etc. It is not convenient to use, has a low degree of automation, and inaccurate positioning.

[0006] In view of this, the present application proposes a UWB in - cabinet self - following intelligent maintenance trolley for bionic operation robots. Summary of the Invention

[0007] The purpose of the present invention is to provide a UWB in - cabinet self - following intelligent maintenance trolley for bionic operation robots in view of the deficiencies of the prior art.

[0008] To solve the above - mentioned technical problems, the following technical solutions are adopted: A UWB in - cabinet self - following intelligent maintenance trolley for bionic operation robots includes a vehicle body. A UWB wireless intelligent following system is installed on the vehicle body. 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. 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; A ZIF socket is installed on the top of the vehicle body. A connection slot is provided on the ZIF socket, and connection contacts matching the connection slot are provided at the bottom of the integration box.

[0009] Further, the ZIF socket includes a first ZIF socket and a second ZIF socket. The first ZIF socket is arranged on the left side of the top of the vehicle body, and the second ZIF socket is arranged on the right side of the top of the vehicle body; A first connection slot is provided on the first ZIF socket, and a second connection slot is provided on the second ZIF socket. A first connection contact is provided on the left side of the bottom of the integration box, and a second connection contact is provided on the right side of the bottom of the integration box. The first connection slot matches the first connection contact, and the second connection slot matches the second connection contact.

[0010] Further, a socket opening - closing handle is provided on the first ZIF socket or the second ZIF socket, and the socket opening - closing handle controls the opening and closing of the connection slot.

[0011] Further, a connecting rod is provided between the first ZIF socket and the second ZIF socket, and the end of the connecting rod is connected to the socket opening and closing handle.

[0012] Further, a middle connecting contact is provided in the middle of the bottom of the integrated box, mounting bosses are provided around the bottom of the integrated box, a ZIF socket is provided below the middle connecting contact, a middle connecting slot is provided on the ZIF socket, and the middle connecting contact and the middle connecting slot are matched.

[0013] Further, a socket opening and closing handle is provided on the ZIF socket, and the socket opening and closing handle controls the opening and closing of the middle connecting slot.

[0014] Further, the main controller is installed inside the vehicle body or installed inside the integrated box.

[0015] Further, 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, a pair of universal wheels are 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.

[0016] Further, 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 with the driven gear, the transmission shaft is sleeved and installed inside the driven gear, and the differential wheel is sleeved and installed on the transmission shaft.

[0017] Further, 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.

[0018] Due to the adoption of the above technical solution, the following beneficial effects are achieved: The present invention relates to a UWB in - 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 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 the motor driver of the 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 the 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, thereby realizing 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 in - 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 socket opening - closing handle is toggled, and the connection slot is opened. The operator can directly take out the integration box, 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, the socket opening - closing handle is toggled, the connection slot is opened, the operator inserts the connection contacts of the integration box into the connection slot, and then releases the socket opening - closing handle, so that the electric card - connecting piece in the connection slot is electrically connected to the connection contacts, and the connection contacts are completely inserted into the connection slot. The electric card - connecting piece clamps the connection contacts, so that the integration box will not break away from the ZIF socket. In addition, UWB wireless intelligent following systems are respectively installed on 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 centralize the management of the integration box, make the integration box not fixedly set on the trolley and not easily damaged, but also realize the time - sharing sharing of the following function by multiple maintenance trolleys with different functions. 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 accompanying drawings: Figure 1 It is a schematic structural diagram of the UWB in - cabinet self - following intelligent maintenance trolley for a bionic operation robot in Embodiment 1 of the present invention.

[0021] Figure 2 It is the front view structure schematic diagram of the UWB in - cabinet self - following intelligent maintenance trolley for the bionic operation robot in Embodiment 1 of the present invention.

[0022] Figure 3 It is the rear view structure schematic diagram of the UWB in - cabinet self - following intelligent maintenance trolley for the bionic operation robot in Embodiment 1 of the present invention.

[0023] Figure 4 It is the bottom view structure schematic diagram of the UWB in - cabinet self - following intelligent maintenance trolley for the bionic operation robot in Embodiment 1 of the present invention.

[0024] Figure 5 It is the structure schematic diagram of the driving device in Embodiment 1 of the present invention.

[0025] Figure 6 It is the control principle schematic diagram of the UWB wireless intelligent following system in Embodiment 1 of the present invention.

[0026] Figure 7 It is the structure schematic diagram of the cooperation and installation of the integrated box and the ZIF socket in Embodiment 1 of the present invention.

[0027] Figure 8 It is the front view structure schematic diagram of the cooperation and installation of the integrated box and the ZIF socket in Embodiment 1 of the present invention.

[0028] Figure 9 It is the rear view structure schematic diagram of the cooperation and installation of the integrated box and the ZIF socket in Embodiment 1 of the present invention.

[0029] Figure 10 It is the top view structure schematic diagram of the cooperation and installation of the integrated box and the ZIF socket in Embodiment 1 of the present invention.

[0030] Figure 11 It is the bottom view structure schematic diagram of the cooperation and installation of the integrated box and the ZIF socket in Embodiment 1 of the present invention.

[0031] Figure 12 It is the side view structure schematic diagram of the cooperation and installation of the integrated box and the ZIF socket in Embodiment 1 of the present invention.

[0032] Figure 13 It is the structure schematic diagram of the integrated box in Embodiment 1 of the present invention.

[0033] Figure 14 It is the structure schematic diagram of the ZIF socket in Embodiment 1 of the present invention.

[0034] Figure 15 It is the top view structure schematic diagram of the ZIF socket in Embodiment 1 of the present invention.

[0035] Figure 16It is a schematic bottom view structure of the ZIF socket in Embodiment 1 of the present invention.

[0036] Figure 17 It is a schematic side view structure of the ZIF socket in Embodiment 1 of the present invention.

[0037] Figure 18 It is a schematic structure diagram of the UWB in - cabinet self - following intelligent maintenance trolley for a bionic operation robot in Embodiment 2 of the present invention.

[0038] Figure 19 It is a schematic front view structure diagram of the integrated box and the ZIF socket installed in cooperation in Embodiment 2 of the present invention.

[0039] Figure 20 It is a schematic structure diagram of the integrated box in Embodiment 2 of the present invention.

[0040] 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 - ZIF socket; 26 - socket opening and closing handle; 27 - connecting rod; 28 - mounting boss; 241 - connecting contact; 242 - first connecting contact; 243 - second connecting contact; 244 - middle connecting contact; 251 - connecting slot; 252 - first ZIF socket; 253 - second ZIF socket; 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 manners

[0041] To make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below through 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 do not 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

[0042] As Figures 1 to 17As shown in the figure, a UWB in - cabinet self - following intelligent maintenance trolley for a bionic operation robot according to an embodiment of the present invention includes a vehicle body 1. A UWB wireless intelligent following system 2 is installed on the vehicle body 1. The UWB wireless intelligent following system 2 includes an integration box 24, a first UWB base station 21, a second UWB base station 22, and a positioning tag 23. Both the first UWB base station 21 and the second UWB base station 22 are 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 set on the target operator to be positioned. The first UWB base station 21, the second UWB base station 22, and the positioning tag 23 are all connected by wireless communication. 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 a driving device 6. The driving device 6 includes a motor driver 66, and the main controller is connected to the motor driver 66.

[0043] A set of UWB wireless intelligent following system 2 is arranged on the vehicle body 1 of the trolley. The first UWB base station 21, the second UWB base station 22, and the positioning tag 23 of the UWB wireless intelligent following system 2 are all connected by wireless communication. 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 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, so as to determine the position of the positioning tag 23. Furthermore, the distance threshold between the first UWB base station 21, the second UWB base station 22, and the positioning tag 23 is 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 threshold. In this embodiment, the threshold is controlled within 0.5 - 1 m. 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 that the trolley can autonomously 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 in - cabinet intelligent maintenance trolley.

[0044] See Figures 7 - 17A ZIF socket 25 is installed on the top of the vehicle body 1 , and a connection slot 251 is provided on the ZIF socket 25 . A connection contact 241 matching the connection slot 251 is provided on the bottom of the integrated box 24 .

[0045] As a further explanation of this embodiment, the ZIF socket 25 includes a first ZIF socket 252 and a second ZIF socket 253, the first ZIF socket 252 is arranged on the left side of the top of the vehicle body 1, and the second ZIF socket 253 is arranged on the right side of the top of the vehicle body 1; the first ZIF socket 252 is provided with a first connection slot, and the second ZIF socket 253 is provided with a second connection slot, the left side of the bottom of the integrated box 24 is provided with a first connection contact 242, and the right side of the bottom of the integrated box 24 is provided with a second connection contact 243, the first connection slot matches the first connection contact 242, and the second connection slot matches the second connection contact 243.

[0046] As a further description of this embodiment, a socket opening and closing handle 26 is provided on the first ZIF socket 252 or the second ZIF socket 253 , and the socket opening and closing handle 26 controls the opening and closing of the connection slot 251 .

[0047] As a further description of this embodiment, a connecting rod 27 is provided between the first ZIF socket 252 and the second ZIF socket 253 , and an end of the connecting rod 27 is connected to the socket opening and closing handle 26 .

[0048] 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 socket opening and closing handle 26 is turned, the connection slot 251 is opened, and the operator directly takes out the integrated box 24, and 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 to be used, the socket opening and closing handle 26 is turned, the connection slot 251 is opened, and the operator inserts the connection contact 241 of the integrated box 24 into the connection slot 251, and then releases the socket opening and closing handle 26, so that the electric card contact in the connection slot 251 is electrically connected to the connection contact 241, and the connection contact 241 is completely inserted into the connection slot 251, and the electric card contact clamps the connection contact 241, so that the integrated box 24 will not be separated from the ZIF socket 25. In addition, UWB wireless intelligent following systems 2 are installed on maintenance carts with different functions, and the UWB wireless intelligent following systems 2 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.

[0049] As a further illustration of this embodiment, the main controller is installed inside the vehicle body 1 or inside the integrated box 24. When the main controller is installed inside the vehicle body 1, a first UWB base station 21 and a second UWB base station 22 are installed inside 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 inside the integrated box 24, a first UWB base station 21, a second UWB base station 22 and the main controller are installed inside the integrated box 24, and the three are integrated together.

[0050] 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 both of the pair of differential wheels 4 are connected to the driving device 6.

[0051] 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.

[0052] 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, and 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.

[0053] See 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, the second driving bearing mount 682 is installed on the other side of the driving shaft 62, and bearings are provided inside 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.

[0054] 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.

[0055] The present invention is a UWB in - cabinet self - following intelligent maintenance trolley for a bionic operation robot. A set of UWB wireless intelligent following system 2 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 2 are both wirelessly communicatively connected to the positioning tag 23. 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 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 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 in - cabinet intelligent maintenance trolley.

[0056] By integrating the first UWB base station 21 and the second UWB base station 22 into the integrated box 24, when not in use, the operator toggles the socket opening and closing handle 26, and the connection slot 251 is opened. The operator can directly take out the integrated box 24, and the integrated box 24 can be taken out as a whole. The integrated boxes 24 can be placed together for centralized management and are not easily damaged. When in use, the operator toggles the socket opening and closing handle 26, and the connection slot 251 is opened. The operator inserts the connection contact 241 of the integrated box 24 into the connection slot 251, and then releases the socket opening and closing handle 26, so that the electrical contact piece in the connection slot 251 is electrically connected to the connection contact 241, and the connection contact 241 is completely inserted into the connection slot 251. The electrical contact piece clamps the connection contact 241, so that the integrated box 24 will not break away from the ZIF socket 25. In addition, the UWB wireless intelligent following system 2 is respectively installed on the maintenance trolleys with different functions, and the UWB wireless intelligent following system 2 is made into a module that can be quickly plugged and unplugged. This not only enables centralized management of the integrated box 24, making the integrated box 24 not need to be fixedly installed on the trolley and not 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. Embodiment 2

[0057] As Figures 18 to 20 shown, the difference from Embodiment 1 is that there is one ZIF socket 25, which is located in the middle of the bottom of the integrated box 24. The specific description is as follows: As a further description of this embodiment, a middle connection contact 244 is provided in the middle of the bottom of the integrated box 24. Mounting bosses 28 are provided around the bottom of the integrated box 24. A ZIF socket 25 is provided below the middle connection contact 244. A middle connection slot is provided on the ZIF socket 25, and the middle connection contact 244 and the middle connection slot are matched.

[0058] As a further description of this embodiment, a socket opening and closing handle 26 is provided on the ZIF socket 25, and the socket opening and closing handle 26 controls the opening and closing of the middle connection slot 251.

[0059] 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 UWB mid-cabinet self-following intelligent maintenance vehicle for 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 the 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; A ZIF socket is installed on the top of the vehicle body, a connection slot is arranged on the ZIF socket, and a connection contact matching the connection slot is arranged on the bottom of the integrated box.

2. The UWB self-following intelligent maintenance vehicle for a bionic operating robot according to claim 1 is characterized in that: The ZIF socket includes a first ZIF socket and a second ZIF socket, wherein the first ZIF socket is arranged on the left side of the top of the vehicle body, and the second ZIF socket is arranged on the right side of the top of the vehicle body; The first ZIF socket is provided with a first connection slot, the second ZIF socket is provided with a second connection slot, the left side of the bottom of the integrated box is provided with a first connection contact, the right side of the bottom of the integrated box is provided with a second connection contact, the first connection slot matches the first connection contact, and the second connection slot matches the second connection contact.

3. The UWB self-following intelligent maintenance vehicle for a bionic operating robot according to claim 2 is characterized in that: The first ZIF socket or the second ZIF socket is provided with a socket opening and closing handle, and the socket opening and closing handle controls the opening and closing of the connection slot.

4. The UWB self-following intelligent maintenance vehicle for a bionic operating robot according to claim 3 is characterized in that: A connecting rod is provided between the first ZIF socket and the second ZIF socket, and an end of the connecting rod is connected to the socket opening and closing handle.

5. The UWB self-following intelligent maintenance vehicle for a bionic operating robot according to claim 1 is characterized in that: A middle connection contact is arranged in the middle of the bottom of the integrated box, mounting bosses are arranged around the bottom of the integrated box, a ZIF socket is arranged below the middle connection contact, a middle connection slot is arranged on the ZIF socket, and the middle connection contact matches the middle connection slot.

6. The UWB self-following intelligent maintenance vehicle for a bionic operating robot according to claim 5 is characterized in that: The ZIF socket is provided with a socket opening and closing handle, and the socket opening and closing handle controls the opening and closing of the middle connection slot.

7. The UWB self-following intelligent maintenance vehicle for a bionic operating robot according to any one of claims 1 to 6, characterized in that: The main controller is installed in the vehicle body or in the integrated box.

8. The UWB self-following intelligent maintenance vehicle for a bionic operating robot according to any one of claims 1 to 6, 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.

9. The UWB self-following intelligent maintenance vehicle for a bionic operating robot according to claim 8 is characterized in that: 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.

10. The UWB self-following intelligent maintenance vehicle for a bionic operating robot according to claim 9 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.

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