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This paper addresses a neural network-based surrogate model that provides a structure-preserving approximation for the fivefold collision integral. The notion originates from the similarity in structure between the BGK-type relaxation model and residual neural network (ResNet) when a particle distribution function is treated as the input to the neural network function. We extend the ResNet architecture and construct what we call the relaxation neural network (RelaxNet). Specifically, two feed-forward neural networks with physics-informed connections and activations are introduced as building blocks in RelaxNet, which provide bounded and physically realizable approximations of the equilibrium distribution and velocity-dependent relaxation time respectively. The evaluation of the collision term is significantly accelerated since the convolution in the fivefold integral is replaced by tensor multiplication in the neural network. We fuse the mechanical advection operator and the RelaxNet-based collision operator into a unified model named the universal Boltzmann equation (UBE). We prove that UBE preserves the key structural properties in a many-particle system, i.e., positivity, conservation, invariance, and H-theorem. These properties promise that RelaxNet is superior to strategies that naively approximate the right-hand side of the Boltzmann equation using a machine learning model. The construction of the RelaxNet-based UBE and its solution algorithm are presented in detail. Several numerical experiments are investigated. The capability of the current approach for simulating non-equilibrium flow physics is validated through excellent in- and out-of-distribution performance.