A robot automatic filling system and method for hazardous chemical liquid

Abstract

The application discloses a kind of robot dangerous chemical liquid automatic filling system and method, the system includes truck scale, robot, work platform and control unit.Robot includes pipe clamping mechanism, vision camera and take screw cap mechanism arranged at terminal;Work platform is equipped with crane pipe zero position fixture, crane pipe assembly and verification barrel.When filling operation is carried out, tank truck enters field, control unit controls vision camera to carry out visual scanning to the filling hole cover of tank truck 1 top, extracts target position, take screw cap mechanism is opened and placed on work platform by filling hole cover;Pipe clamping mechanism inserts crane pipe assembly into verification barrel and verifies normal, after crane pipe assembly is inserted into the tank filling hole of tank truck and carries out tank filling operation;After filling is completed;Robot is homed and is tightened by filling hole cover, control unit informs tank truck driver to drive off the scene, and filling operation is completed.The automatic filling system of the application, filling operation is reliable, and safety and degree of automation are high.

Description

Technical Field

[0001] This invention belongs to the field of hazardous liquid filling technology, and more specifically, relates to a robotic automatic hazardous liquid filling system and method. Background Technology

[0002] In the chemical industry, loading non-volatile liquids typically involves manual operation of loading arms (or remote control via handles) to align and insert them into tank trucks. This process requires manual observation and adjustment of the loading arms. Furthermore, loading non-volatile liquids requires a series of safety procedures, including static electricity elimination, before loading can proceed. Manual or semi-automated loading methods cannot guarantee these safety procedures, creating significant safety hazards. Moreover, using loading arms consumes substantial manpower to meet loading demands, compromising efficiency and further increasing the likelihood of accidents.

[0003] Currently, achieving automated filling in the process of handling hazardous chemical liquids has become a pressing issue for chemical production enterprises. However, existing hazardous liquid filling methods require on-site operators to descend from the safety ladder of the work platform and manually align the loading arm and insert it into the tank truck's opening. Due to the considerable working height and the fact that the medium being handled is a hazardous chemical (such as hydrochloric acid, which is highly corrosive and harmful), manual filling is inefficient and poses significant safety hazards, making it impossible to effectively guarantee the safety of operators.

[0004] Therefore, there is an urgent need for an automated hazardous liquid filling system that can solve the problems of complex filling procedures, poor safety of manual operation, and low work efficiency in existing hazardous liquid filling processes. It can also be applied to different tank truck models, greatly improving the automation level of hazardous liquid filling. Summary of the Invention

[0005] To address the problems of complex chemical hazardous liquid filling processes, poor safety of manual operation, and low work efficiency in existing technologies, this invention provides a robotic automatic hazardous liquid filling system and method. By equipping the robot's end effector with a pipe clamping mechanism, a vision camera, and a cap-tightening mechanism, the vision camera can perform 3D visual scanning to determine the target location information, guide the pipe clamping mechanism to clamp the loading arm assembly, and guide the cap-tightening mechanism to unscrew or tighten the filling hole cap, thus avoiding the problems of poor safety and low work efficiency of manual operation.

[0006] To achieve the above objectives, the invention provides a robotic automatic hazardous liquid filling system, comprising: a truck scale mounted on a foundation; a working platform located on the side of the truck scale, on which a robot, an loading arm zero-position clamp, a verification bucket, and a turnover plate are fixedly mounted; the robot includes a pipe clamping mechanism, a vision camera, and a cap-removing mechanism at its end; and a control unit communicatively connected to the truck scale and the robot; the control unit communicates with a tanker truck entering a designated point on the top of the truck scale, controlling the vision camera at the end of the robot to visually scan the filling hole cap on the top of the tanker truck, extract the target location, and obtain the filling hole... The robot, using its cap-lifting mechanism, unscrews the filling port cap and places it on the turnover plate of the work platform. The pipeline clamping mechanism then inserts the loading arm assembly into the verification bucket to verify normal operation. Afterward, the loading arm assembly is inserted into the tank truck's filling port. The control unit activates the corresponding valves and pumps to begin the filling operation. Once the filling is complete, the valves and pumps close sequentially, ending the filling process. The robot then places the loading arm assembly in the designated position, grabs the filling port cap, places it in the tank truck's filling port, and tightens it. The control unit records the filling information, resets the robot, and notifies the tank truck driver to leave the site, completing the filling operation.

[0007] Furthermore, the loading arm assembly includes a loading arm, a liquid injection tube and a vacuum tube disposed at the end of the loading arm, and a liquid level sensor disposed inside the loading arm.

[0008] Furthermore, the injection pipe is connected to the storage tank, and under the action of the pump set and the filling electric valve, the hazardous liquid is pumped into the injection pipe and then injected into the tank truck; the vacuum pipe is connected to the vacuum pump, and under the action of the vacuum pump, the gas in the tank truck is extracted to avoid pressure imbalance in the tank truck; the liquid level sensor is used to detect the liquid level height.

[0009] Furthermore, the pipe clamping mechanism clamps the loading arm assembly and is communicatively connected to the control unit. It includes a linear motor and a clamping clamp, and the linear motor drives the clamping clamp to open and close to adapt to loading arm assemblies of different diameters.

[0010] Furthermore, the vision camera is communicatively connected to the control unit, and extracts the target location through D vision scanning and sends the positioning information to the control unit.

[0011] Furthermore, the cap-tightening mechanism is communicatively connected to the control unit and is located on the side of the vision camera. It includes a servo motor and a clamping seat fixedly connected to the shaft end of the servo motor. The bottom of the clamping seat is vertically provided with a cross-shaped clamping groove composed of multiple clamping plates. By adapting the cross-shaped clamping groove to the cross-shaped protrusion on the top of the filling hole cap, the filling hole cap is unscrewed or tightened under the rotation drive of the servo motor.

[0012] Furthermore, the clamping plates are driven to move closer together by a drive motor to clamp the cross-shaped protrusion on the top of the filling hole cap.

[0013] Furthermore, the truck scale outlet is also equipped with a signal light and a displacement sensor, both of which are connected to the control unit. The displacement sensor detects the displacement distance of the tanker truck on the top of the truck scale. After reaching the designated filling area, it sends the detection information to the control unit. The control unit makes a judgment and controls the signal light to emit a red light to warn the driver to stop the tanker truck in the designated position.

[0014] Furthermore, the loading arm zero-position clamp is installed on the operating platform to fix the loading arm assembly.

[0015] According to another aspect of the present invention, a robotic automatic filling method for hazardous liquids is also provided, comprising the following steps:

[0016] S100: The tanker truck enters the site and connects to the control unit to upload its own relevant information;

[0017] S200: The vision camera at the end of the robot scans the tanker to obtain the position information of the filling hole and the filling hole cap; the cap-removing mechanism unscrews the filling hole cap and places it on the turnover table;

[0018] S300: The visual camera guides the robot to grasp the loading arm assembly through the pipeline clamping mechanism and insert it into the verification tank to verify whether the liquid level sensor feedback is normal.

[0019] S400: Visual camera canning hole, providing its height information, robot moves the loading arm assembly to the corresponding position, tilts upward to lift and then tilts downward to insert it into place;

[0020] S500: The control unit controls the corresponding valves and pumps to start operation in sequence, extracting the gas from the tanker and injecting liquid.

[0021] S600: After the liquid level sensor detects that the filling is in place, the control unit controls the corresponding valves and pumps to close in sequence according to the operation procedure requirements;

[0022] S700: The robot places the loading arm assembly on the loading arm zero-position clamp, tightens the filling hole cap, and then resets it;

[0023] S800: The truck scale transmits the total filling volume data to the control unit for storage;

[0024] S900: The control unit issues a prompt, instructing the driver to drive away and complete the filling operation on site.

[0025] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0026] 1. The automatic filling system of the present invention has a pipeline clamping mechanism, a vision camera and a cap-tightening mechanism at the end of the robot. The vision camera can perform 3D vision scanning to determine the target position information, guide the pipeline clamping mechanism to clamp the loading arm assembly, and guide the cap-tightening mechanism to unscrew or tighten the filling hole cap. This avoids the problems of poor safety and low work efficiency of manual operation. In addition, the system can be applied to different tank truck models, which greatly improves the automation level of hazardous liquid filling.

[0027] 2. The automatic filling system of the present invention, through the injection pipe, vacuum pipe and liquid level sensor provided in the loading arm assembly, and controlled by the control unit, can automatically start the pump group and filling electric valve to inject hazardous liquid into the tank truck through the injection pipe. The vacuum pump can extract gas through the vacuum pipe to avoid pressure imbalance in the tank truck. The liquid level sensor checks the liquid level position. When the liquid level reaches the set threshold, it sends a signal to the control unit to control the pump group to stop running and the filling electric valve to close, stopping the injection and preventing the hazardous liquid from overflowing. That is, by having the loading arm assembly and control unit communicate with each other, the liquid filling operation of the tank truck can be automatically performed, which can effectively ensure the smooth and safe operation of the liquid filling work.

[0028] 3. The automatic filling system of the present invention solves the problems of complex procedures, poor safety of manual operation, and low work efficiency in the existing hazardous liquid filling process. In addition, the system can be applied to different tank truck models, which greatly improves the degree of automation of hazardous liquid filling. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of a robotic automatic filling system for hazardous liquids according to an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the structure of the operating platform in an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of the robot's structure in an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of the process steps of an automated filling method for hazardous liquids using a robot, as described in an embodiment of the present invention.

[0033] In all the accompanying drawings, the same reference numerals indicate the same technical features, specifically: 1-tank truck, 2-truck scale, 3-signal light, 4-robot, 41-pipe clamping mechanism, 42-vision camera, 43-cap unscrewing mechanism, 5-working platform, 6-arm zero-position clamp, 7-arm assembly, 8-filling hole cap; 9-verification barrel. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0035] like Figure 1-4 As shown, the present invention provides a robotic automatic filling system for hazardous liquids, including a truck scale 2, a traffic light 3, a robot 4, a work platform 5, and a control unit. The robot 4 includes a pipe clamping mechanism 41, a vision camera 42, and a cap-removing mechanism 43 located at the end of the robotic arm; the work platform 5 is equipped with an arm-mounted zero-position clamp 6, an arm-mounted assembly 7, and a verification container 9. During the filling operation, the tanker truck 1 drives onto the top of the weighbridge 2 and stops at the designated point. The control unit controls the vision camera 42 at the end of the robot 4 to visually scan the filling hole cover 8 on the top of the tanker truck 1, extract the target position, and obtain the position information of the filling hole cover 8. The robot 4 drives the cap-screwing mechanism 43 to loosen the filling hole cover 8 and clamp it onto the turnover plate of the work platform 5. After the pipeline clamping mechanism 41 clamps the loading arm assembly 7 and inserts it into the verification barrel 9 to verify that it is normal, the loading arm assembly 7 is inserted into the filling hole of the tanker truck 1. The control unit controls the start of the corresponding control valve to carry out the filling operation. After the filling is detected to be in place, each control valve closes in sequence, and the filling is completed. After the robot 4 places the loading arm assembly 7 in the designated position, it grabs the filling hole cover 8, places it into the filling hole of the tanker truck 1 and tightens it. The control unit records the filling information, controls the robot to reset, and notifies the tanker truck driver to leave the site, completing the filling operation. The automatic filling system of this invention solves the problems of complex procedures, poor safety of manual operation, and low work efficiency in existing hazardous liquid filling processes. Furthermore, this system can be applied to different tank truck models, greatly improving the automation level of hazardous liquid filling.

[0036] like Figure 1-3 As shown, the truck scale 2 is fixedly mounted on the foundation and is used to weigh the tank truck 1. It is communicatively connected to the control unit, transmitting the weight information of the tank truck 1 to the control unit in real time. Furthermore, the outlet end of the truck scale 2 is also equipped with a signal light 3 and a displacement sensor, both of which are communicatively connected to the control unit. The displacement sensor detects the displacement distance of the tank truck 1 on the truck scale 2. After reaching the designated filling area, it sends the detection information to the control unit. The control unit makes a judgment and controls the signal light 3 to emit a red light to warn the driver to stop the tank truck 1 at the designated position.

[0037] The working platform 5 is located on the side of the truck scale 2, and a robot 4, a loading arm zero-position clamp 6, a verification bucket 9 and a turnover plate are fixed on it.

[0038] The robot 4 is a six-axis collaborative robot capable of six degrees of freedom at its end effector, offering advantages such as high flexibility, large load capacity, and high positioning accuracy. Its robotic arm end effector is fixed with a flange, on which a pipe clamping mechanism 41, a vision camera 42, and a cap-unscrewing mechanism 43 are sequentially fixed. The pipe clamping mechanism 41 clamps the loading arm assembly 7 and is communicatively connected to the control unit. It includes a linear motor and a gripper, with the linear motor driving the gripper to open and close to accommodate loading arm assemblies 7 of different diameters. The vision camera 42 is fixed in the center of the flange and is communicatively connected to the control unit. Through 3D vision scanning, it extracts the target position and sends the positioning information to the control unit. Furthermore, the vision camera 42 is also fixed with a transparent protective cover to effectively prevent corrosion from splashes of hazardous liquids. The cap-unscrewing mechanism 43 is communicatively connected to the control unit and is located on the side of the vision camera 42. It includes a servo motor and a clamping seat fixedly connected to the shaft end of the servo motor. The bottom of the clamping seat is vertically provided with a cross-shaped clamping groove composed of multiple clamping plates. By adapting the cross-shaped clamping groove to the cross-shaped protrusion on the top of the filling hole cap 8, the filling hole cap 8 can be unscrewed or tightened under the rotation drive of the servo motor. Furthermore, the clamping plates are driven to move closer to each other by the drive motor, clamping the cross-shaped protrusion on the top of the filling hole cap 8, and placing the filling hole cap 8 on the turnover board.

[0039] The loading arm zero-position clamp 6 is installed on the operating platform 5 to fix the loading arm assembly 7.

[0040] The loading arm assembly 7 includes a loading arm, an injection pipe and a vacuum pipe located at the end of the loading arm, and a liquid level sensor located inside the loading arm. The injection pipe is connected to the liquid storage tank. Under the action of the pump set and the filling electric valve, the hazardous chemical liquid is pumped into the injection pipe and then injected into the tank truck 1. The vacuum pipe evacuates the inside of the tank truck 1 to prevent the leakage of volatile gases and the occurrence of safety and environmental accidents. It is connected to a vacuum pump. Under the action of the vacuum pump, the gas entering the tank truck 1 is extracted and treated in a harmless manner. Furthermore, the tank truck 1 is also equipped with a pressure sensor, which is communicatively connected to the control unit. The pressure sensor transmits the detected pressure information to the control unit. The control unit controls the output power of the vacuum pump to evacuate the tank truck based on the real-time pressure detection value, so as to accurately control the pressure inside the tank truck 1 and avoid the adverse conditions caused by the pressure imbalance inside the tank truck 1. The liquid level sensor is used to detect the liquid level height. It is connected to the control unit in communication. After detecting that the liquid level height has reached the set threshold, it sends a signal to the control unit to control the pump to stop running, close the filling electric valve, stop the liquid injection, and prevent the hazardous liquid from overflowing.

[0041] The verification tank 9 is fixed on the operating platform 5 and contains liquid. It is used to detect whether the liquid level sensor of the loading arm assembly 7 is operating normally. The robot 4 clamps the loading arm assembly 7 and inserts it into the verification tank 9. When the liquid level in the verification tank 9 exceeds the known level, the liquid level sensor sends the detection information to the control unit. The control unit compares the detected liquid level with the known liquid level. If an error occurs, the operator is prompted to perform equipment maintenance. If the detection is normal, the next liquid injection work can be carried out.

[0042] When the automatic filling system of this invention performs filling operations, the tanker truck 1 drives onto the top of the truck scale 2 and stops at the designated point under the prompt of the signal light 3. The driver gets off the truck and leaves the work site. The tanker truck 1 communicates with the control unit via cable or wireless module, sending relevant information (such as tanker batch, storage value, and air pressure value) to the control unit. The control unit controls the robot 4 to operate, causing the vision camera 42 to perform 3D visual scanning of the filling hole and filling hole cover 8 of the tanker truck 1 to extract the target position. By obtaining the position information of the filling hole cover 8, the robot 4 drives the cap-removing mechanism 43 to align with the filling hole cover 8 and loosen it. After the filling hole cover 8 is unscrewed, it is clamped and placed on the turnover board. The vision camera 42 scans the loading arm zero-position clamp 6, loading arm assembly 7, and verification barrel 9 to obtain position information, and through the robot 4, the pipeline clamp... After the holding mechanism 41 clamps the loading arm assembly 7 and inserts it into the verification tank 7 to verify that the liquid level sensor is working properly, the vision re-scans the uncapped filling hole and provides its height information. The robot 4 moves the loading arm assembly 7 to the corresponding position, tilts it upward and then tilts it downward to insert it into place. The filling operation steps are as follows: the control vacuum pump extracts the gas from the tank truck 1, the unit controls the pump group and the filling electric valve to open, and injects liquid into the tank truck 1. After the liquid level sensor detects that the liquid level in the tank truck 1 has reached the set threshold, the control unit controls the corresponding valves and pump group to close in sequence, ending the filling. The robot 4 places the loading arm assembly 7 on the loading arm zero position clamp 6, tightens the filling hole cover 8, and the robot 4 resets. The truck scale 2 transmits the total filling data to the control unit for storage. The control unit issues a prompt to notify the driver to drive away, and the filling operation is completed on site.

[0043] like Figure 4 As shown, the present invention also provides a robotic automatic filling method for hazardous liquids, comprising the following steps:

[0044] S100: Tanker truck 1 enters the site and connects to the control unit to upload its own relevant information;

[0045] S200: The vision camera 42 at the end of the robot 4 scans the tanker 1 to obtain the position information of the filling hole and the filling hole cover 8; the cap-unscrewing mechanism 43 unscrews the filling hole cover 8 and places it on the turnover table.

[0046] S300: The vision camera 42 guides the robot 4 to grasp the loading arm assembly 7 through the pipeline clamping mechanism 41 and insert it into the verification tank 9 to verify whether the liquid level sensor feedback is normal.

[0047] S400: Vision camera 42 provides height information for the filling hole. Robot 4 moves loading arm assembly 7 to the corresponding position, tilts upward to lift and then tilts downward to insert it into place.

[0048] S500: The control unit controls the corresponding valves and pumps to start operation in sequence, extracting the gas from tank truck 1 and injecting liquid;

[0049] S600: After the liquid level sensor detects that the filling is in place, the control unit controls the corresponding valves and pumps to close in sequence according to the operation procedure requirements;

[0050] S700: Robot 4 places the loading arm assembly 7 on the loading arm zero-position clamp 6, tightens the filling hole cap 8, and then resets it;

[0051] S800: The truck scale 2 transmits the total filling volume data to the control unit for storage;

[0052] S900: The control unit issues a prompt, instructing the driver to drive away and complete the filling operation on site.

[0053] The automatic filling system of the present invention has a pipe clamping mechanism 41, a vision camera 42 and a cap-tightening mechanism 43 at the end of the robot 4. The vision camera 42 can perform 3D vision scanning to determine the target position information, guide the pipe clamping mechanism 41 to clamp the loading arm assembly 7, and guide the cap-tightening mechanism 43 to unscrew or tighten the filling hole cap 8, thus avoiding the problems of poor safety and low work efficiency of manual operation.

[0054] The automatic filling system of this invention, through the injection pipe, vacuum pipe, and liquid level sensor provided in the loading arm assembly 7, and controlled by the control unit, can automatically start the pump set and filling electric valve, and inject hazardous liquid into the tank truck 1 through the injection pipe. The vacuum pump can extract gas through the vacuum pipe to avoid pressure imbalance in the tank truck 1. The liquid level sensor checks the liquid level position. When the liquid level reaches the set threshold, it sends a signal to the control unit to control the pump set to stop running and the filling electric valve to close, stopping the injection and preventing the hazardous liquid from overflowing. In other words, by having the loading arm assembly 7 communicate with the control unit, the liquid filling operation of the tank truck 1 can be performed automatically, which can effectively ensure the smooth and safe operation of the liquid filling work.

[0055] The automatic filling system of this invention solves the problems of complex procedures, poor safety of manual operation, and low work efficiency in existing hazardous liquid filling processes. Furthermore, this system can be applied to different tank truck models, greatly improving the automation level of hazardous liquid filling.

[0056] The above description shows and illustrates the basic principles, main features, and advantages of the present invention. Standard parts used in the present invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

[0057] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A robotic automated filling system for hazardous liquids, characterized in that, include: A truck scale built on a foundation (2); A working platform (5) is located on the side of the truck scale (2), on which a robot (4), a loading arm zero-position clamp (6), a verification bucket (9), and a turnover plate are fixedly mounted; the robot (4) includes a pipe clamping mechanism (41), a vision camera (42), and a cap-removing mechanism (43) at its end; the cap-removing mechanism (43) is connected to the control unit and is located on the side of the vision camera (42), including a servo motor and a clamping seat fixedly connected to the shaft end of the servo motor, the bottom of the clamping seat is vertically provided with a cross-shaped clamping groove composed of multiple clamping plates; by adapting the cross-shaped clamping groove to the cross-shaped protrusion on the top of the filling hole cover (8), the filling hole cover (8) is unscrewed or tightened under the rotation drive of the servo motor; the clamping plates are driven to move closer to each other by the drive motor to clamp the cross-shaped protrusion on the top of the filling hole cover (8); the verification bucket (9) is fixedly mounted on the working platform (5), and contains liquid, which is used for... To check whether the liquid level sensor of the loading arm assembly (7) is operating normally, the robot (4) clamps the loading arm assembly (7) and inserts it into the verification tank (9). The liquid level height in the verification tank (9) is known. The liquid level sensor sends the detection information to the control unit. The control unit compares the detected liquid level height with the known liquid level height. If an error occurs, the operator is prompted to perform equipment maintenance. If the detection is normal, the next liquid injection work is carried out. The loading arm assembly (7) includes a loading arm, a liquid injection pipe and a vacuum pipe at the end of the loading arm, and a liquid level sensor in the loading arm. The liquid injection pipe is connected to the storage tank. Under the action of the pump group and the filling electric valve, the hazardous liquid is pumped into the liquid injection pipe and then injected into the tank truck (1). The vacuum pipe is connected to the vacuum pump. Under the action of the vacuum pump, the gas in the tank truck (1) is extracted to avoid the gas pressure imbalance in the tank truck. The liquid level sensor is used to detect the liquid level height. And a control unit that is connected to the truck scale (2) and robot (4) in communication; the control unit is connected to the air pressure sensor in the tank truck (1) in communication, and transmits the detected air pressure information to the control unit through the air pressure sensor. The control unit controls the output power of the vacuum pump to draw a vacuum according to the real-time air pressure detection value, so as to accurately control the air pressure in the tank truck (1). The control unit communicates with the tanker truck (1) that has entered the designated point on the top of the weighbridge (2). The vision camera (42) at the end of the control robot (4) performs a visual scan of the filling hole cover (8) on the top of the tanker truck (1) to extract the target position. By obtaining the position information of the filling hole cover (8), the robot (4) drives the cap-screwing mechanism (43) to unscrew the filling hole cover (8) and clamp it onto the turnover plate of the work platform (5). The pipeline clamping mechanism (41) clamps the loading arm assembly (7) and inserts it into the verification bucket. (9) After verifying that it can operate normally, insert the loading arm assembly (7) into the filling hole of the tank truck (1). The control unit controls the start of the corresponding valves and pumps to carry out the filling operation. After the filling is detected to be in place, the corresponding valves and pumps are closed in sequence, and the filling is completed. After the robot (4) places the loading arm assembly (7) in the designated position, it grabs the filling hole cover (8) and places it in the filling hole of the tank truck (1) and tightens it. The control unit records the filling information, controls the robot to reset, and notifies the tank truck driver to leave the site to complete the filling operation.

2. The robotic automatic filling system for hazardous liquids according to claim 1, characterized in that, The pipe clamping mechanism (41) clamps the loading arm assembly (7) and is connected to the control unit. It includes a linear motor and a clamping clamp. The linear motor drives the clamping clamp to open and close to adapt to loading arm assemblies (7) of different diameters.

3. The robotic automatic filling system for hazardous liquids according to claim 1, characterized in that, The vision camera (42) is connected to the control unit. It extracts the target position through 3D vision scanning and sends the positioning information to the control unit.

4. The robotic automatic filling system for hazardous liquids according to claim 1, characterized in that, The truck scale (2) is also equipped with a signal light (3) and a displacement sensor at the outlet end. Both of them are connected to the control unit. The displacement sensor detects the displacement distance of the tank truck (1) on the top of the truck scale (2). After reaching the designated filling area, it sends the detection information to the control unit. The control unit makes a judgment and controls the signal light (3) to emit a red light to warn the driver to stop the tank truck (1) at the designated position.

5. The robotic automatic filling system for hazardous liquids according to claim 1, characterized in that, The zero-position clamp (6) of the loading arm is installed on the working platform (5) to fix the loading arm assembly (7).

6. A robotic automatic filling method for hazardous liquids, implemented using the robotic automatic filling system for hazardous liquids as described in any one of claims 1-5, comprising the following steps: S100: The tanker (1) enters the site and communicates with the control unit to upload its own relevant information; S200: The vision camera (42) at the end of the robot (4) scans the tanker (1) to obtain the position information of the filling hole and the filling hole cover (8); the cap-removing mechanism (43) unscrews the filling hole cover (8) and places it on the turnover table; S300: The vision camera (42) guides the robot (4) to grab the loading arm assembly (7) through the pipe clamping mechanism (41) and insert it into the verification bucket (9) to verify whether the liquid level sensor feedback is normal. S400: The vision camera (42) provides the height information of the canning hole. The robot (4) moves the loading arm assembly (7) to the corresponding position, tilts it upward to lift it, and then tilts it downward to insert it into place. S500: The control unit controls the corresponding valves and pumps to start operation in sequence, extracting the gas in the tank truck (1) and injecting liquid; S600: After the liquid level sensor detects that the filling is in place, the control unit controls the corresponding valves and pumps to close in sequence according to the operation procedure requirements; S700: The robot (4) places the loading arm assembly (7) on the loading arm zero position clamp (6), tightens the filling hole cap (8), and then resets it; S800: The truck scale (2) transmits the total filling data to the control unit for storage; S900: The control unit issues a prompt, instructing the driver to drive away and complete the filling operation on site.

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