Novel intelligent hydrofluoric acid filling and connecting device

Abstract

The invention relates to the technical field of filling equipment, and particularly discloses a novel hydrofluoric acid intelligent filling connecting device which comprises a connecting assembly, a visual positioning assembly and an executing mechanism, the connecting assembly is installed on a connecting placing frame, the visual positioning assembly is installed on a visual placing frame, and the executing mechanism is installed on the connecting placing frame. The connecting placement frame and the visual placement frame are fixedly arranged on the filling platform, the visual positioning assembly is electrically connected with the control system and used for recognizing the positions of a vehicle body valve and a connecting assembly on the transport vehicle, and a cover plate is arranged on the vehicle body valve; the executing mechanism is installed on a six-axis mechanical arm of the filling platform and used for grabbing the connecting assembly, the visual positioning assembly and a cover plate on the vehicle body valve, the visual positioning assembly recognizes the position of the vehicle body valve on the transport vehicle, and the executing mechanism grabs the visual positioning assembly, the cover plate and the connecting assembly. The connecting assembly is automatically in butt joint with the vehicle body valve, the valve switch is turned on for filling, unmanned filling is achieved, and the flexibility of the parking position of the transport vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of filling equipment, and in particular to a novel intelligent filling connection device for hydrofluoric acid. Background Art

[0002] Hydrofluoric acid (liquid hydrogen fluoride) is a highly toxic and corrosive chemical. Upon contact with skin, it can penetrate the body in the form of small molecules, causing muscle paralysis. Ingestion of just 1.5g can be fatal. Hydrofluoric acid is colorless, fumes, and has a pungent odor. Contact with skin can cause severe poisoning, making it an extremely hazardous chemical.

[0003] Today's high-risk fluid medium filling platforms are constantly developing with the development of industrial automation and intelligence. However, there are still many shortcomings in terms of filling stability, accuracy, adaptability, flexibility, etc. For example, in the intelligent high-risk fluid medium filling platform that uses a gantry motor for precise fixation, the filling area is extremely limited, and during the filling process, the platform cannot meet the filling requirements due to the sinking of the tank truck, and manual inspection is still required. The existing filling connection device uses rigid connection fixing methods such as bolts. During the hydrofluoric acid filling process, the hydrofluoric acid pipeline needs to be manually connected to the transport vehicle. If the connection is not stable, it will cause hydrofluoric acid leakage and then a safety accident, which is low in safety. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the technical problem solved by the present invention is to provide a new type of hydrofluoric acid intelligent filling and connection device to solve the problem of low safety of the existing filling and connection devices.

[0005] To solve the above problems, the technical solution adopted by the present invention is: a new type of hydrofluoric acid intelligent filling connection device, including a connection component, a visual positioning component and an actuator, the connection component is installed on a connection placement rack, the visual positioning component is installed on the visual placement rack, the connection placement rack and the visual placement rack are fixedly arranged on the filling platform, the visual positioning component is electrically connected to the control system, the visual positioning component is used to identify the position of the vehicle body valve and the connection component on the transport vehicle, the vehicle body valve is provided with a cover plate, and the actuator is installed on the six-axis manipulator of the filling platform to grab the connection component, the visual positioning component and the cover plate on the vehicle body valve; The connecting assembly includes a pipeline valve, an upper connecting flange, a lower connecting flange, a pipeline placement plate, a grab plate and a quick-release connector. A valve switch is provided in the middle of the pipeline valve. A flange is provided at the upper end of the pipeline valve to connect with the upper connecting flange. The upper connecting flange is connected to the hydrofluoric acid inlet pipe. A flange is provided at the lower end of the pipeline valve to connect with the pipeline placement plate and the lower connecting flange. A positioning block is provided on the pipeline placement plate and a through hole is provided in the middle of the positioning block to cooperate with the connecting placement frame. The grab plate and the pipeline placement plate are arranged vertically. The grab plate is provided with a circular hole that cooperates with the actuator and a positioning block for positioning. The quick connector is used to connect the connecting assembly to the vehicle body valve.

[0006] Furthermore, the visual positioning assembly includes a visual camera and a camera mounting plate. The visual camera is mounted on the camera mounting plate. The camera mounting plate is provided with a positioning block and a camera clamping portion. The positioning block is used to cooperate with the visual placement frame, and the camera clamping portion cooperates with the actuator.

[0007] Furthermore, the actuator includes two sets of grippers, chucks, turntables, three-jaw chucks and pneumatic latches. The pneumatic latches cooperate with the positioning blocks on the grabbing plate to limit the connecting assembly. The grippers are used to grab the visual positioning assembly and the cover plate. The grippers are driven by a cylinder to slide up and down, and the grippers are driven by a cylinder to open and clamp. The chucks and turntables are respectively located on both sides of the actuator. The chucks are slidably installed above one of the sets of grippers. There are two chucks for clamping the cover plate. The chucks are driven by a cylinder to slide left and right, and the chucks are driven by a cylinder to clamp or release. The turntable is located above the other set of grippers. The turntable is provided with a groove corresponding to the valve switch. The turntable is driven by a cylinder to rotate to control the valve switch to open or close. The three-jaw chuck is located on the inner side of the turntable and is coaxial with the turntable. The three-jaw chuck cooperates with the circular hole on the grabbing plate of the connecting assembly. The three-jaw chuck is a pneumatic chuck, and the air circuit is connected to control its clamping and release.

[0008] Furthermore, the quick-release connector includes a quick-release male port and a quick-release female port. The quick-release male port is connected to the lower connecting flange, the quick-release female port is installed on the body valve on the transport vehicle, the cover plate is clamped on the quick-release female port, and the quick-release connector is made of plastic.

[0009] Furthermore, the connecting placement frame includes a first support and a first positioning plate. The first positioning plate is fixed above the first support. The first positioning plate is provided with a positioning pin that cooperates with the positioning block on the pipeline placement plate. A clamping plate is hinged on the outside of the positioning pin on the first positioning plate, and the clamping plate is driven to rotate by a cylinder.

[0010] Furthermore, the visual placement frame includes a second support and a second positioning plate, the second positioning plate is fixed above the second support, the second positioning plate is provided with a positioning pin that cooperates with the positioning block of the camera mounting plate, and the second positioning plate is hingedly connected to the side of the positioning pin, and the pressing plate is driven to rotate by a cylinder.

[0011] Furthermore, the quick-release male port is provided with a snap-in groove, and the quick-release female port is provided with a snap-in protrusion corresponding to the snap-in groove. When the quick-release female port is connected to the quick-release male port, the quick-release female port slides downward, and after the quick-release male port cooperates with the vehicle body valve, the quick-release female port slides up and snaps into the quick-release male port. The upper end of the cover plate is closed, and the lower end of the cover plate is provided with a snap-in groove that snaps into the quick-release female port.

[0012] The beneficial effects of this program are: 1. The quick-release connector replaces the rigid connection of bolts, which is convenient for tight connection and will not be corroded by hydrofluoric acid, effectively extending the service life of the connection device; 2. The position of the vehicle body valve on the transport vehicle is identified by the visual positioning component. The actuator grabs the visual positioning component, cover plate and connection component, automatically connects the connection component with the vehicle body valve and opens the valve switch for filling, realizing unmanned filling. The vehicle body valve is located in the filling port of the filling platform and can be accurately connected, which improves the flexibility of the transport vehicle's parking position. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 Schematic diagram of the overall structure of the connecting device of the present invention; Figure 2 A schematic diagram of a connecting assembly of a connecting device according to the present invention; Figure 3 A schematic diagram of the actuator of the connecting device of the present invention; Figure 4 This is a schematic diagram of the connection placement frame and the connection device of the connection device of the present invention; Figure 5 This is a schematic diagram of the cooperation between the visual positioning component and the visual placement frame of the connecting device of the present invention; Figure 6 This is a schematic diagram of the location of the filling port of the filling platform and the vehicle body valve; Figure 7 Schematic diagram of the actuator of the connection device of the present invention grabbing the connection assembly; Figure 8 Schematic diagram of the actuator grasping and visual positioning assembly of the connecting device of the present invention; Figure 9 A schematic diagram showing the markings of the cylinders and pneumatic components on the actuator of the connecting device of the present invention; In the picture: 1-Connection assembly, 2-Visual positioning assembly, 3-Actuator, 4-Connection rack, 5-Visual rack, 6-Filling platform, 7-Valve, 8-Cover, 9-Six-axis manipulator, 10-Positioning block, 11-Positioning pin, 12-Pressure plate, 101-Pipeline valve, 102-Upper connecting flange, 103-Lower connecting flange, 104-Pipeline placement plate, 105-Grabbing plate, 106-Quick release Male port, 107-quick-release female port, 108-valve switch, 109-round hole, 201-visual camera, 202-camera mounting plate, 203-camera clamping part, 301-gripper, 302-chuck, 303-turntable, 304-three-jaw chuck, 305-pneumatic latch, 401-first support, 402-first positioning plate, 501-second support, 502-second positioning plate, 601-filling port. DETAILED DESCRIPTION

[0014] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0015] Implementation example Figures 1 to 9 As shown: A new type of hydrofluoric acid intelligent filling connection device, including a connection component 1, a visual positioning component 2 and an actuator 3, the connection component 1 is installed on a connection placement rack 4, the visual positioning component 2 is installed on a visual placement rack 5, the connection placement rack 4 and the visual placement rack 5 are fixedly arranged on a filling platform 6, the visual positioning component 2 is electrically connected to the control system, the visual positioning component 2 is used to identify the position of the vehicle body valve 7 and the connection component 1 on the transport vehicle, the vehicle body valve 7 is provided with a cover plate 8, and the actuator 3 is installed on a six-axis manipulator 9 on the filling platform 6 for grabbing the connection component 1, the visual positioning component 2 and the cover plate 8 on the vehicle body valve 7; The connecting component 1 includes a pipeline valve 101, an upper connecting flange 102, a lower connecting flange 103, a pipeline placement plate 104, a grab plate 105 and a quick connector. A valve switch 108 is provided in the middle of the pipeline valve 101. The upper end of the pipeline valve 101 is provided with a flange connected to the upper connecting flange 102. The upper connecting flange 102 is connected to the hydrofluoric acid inlet pipe. The lower end of the pipeline valve 101 is provided with a flange connected to the pipeline placement plate 104 and the lower connecting flange 103. A positioning block 10 is provided on the pipeline placement plate 104 and a through hole is provided in the middle of the positioning block 10 to cooperate with the connecting placement frame 4. The grab plate 105 is vertically arranged to the pipeline placement plate 104. The grab plate 105 is provided with a circular hole 109 that cooperates with the actuator 3 and a positioning block 10 for positioning. The quick connector is used to connect the connecting component 1 to the vehicle body valve 7 for filling operations.

[0016] The visual positioning component 2 includes a visual camera 201 and a camera mounting plate 202. The visual camera 201 is installed on the camera mounting plate 202. A positioning block 10 and a camera clamping part 203 are provided on the camera mounting plate 202. The positioning block 10 is used to cooperate with the visual placement frame 5. The camera clamping part 203 cooperates with the actuator 3. The actuator 3 includes two sets of grippers 301, a chuck 302, a turntable 303, a three-jaw chuck 304 and a pneumatic latch 305. When grabbing, the pneumatic latch 305 cooperates with the positioning block 10 on the grabbing plate 105 to limit the connecting component 1. The gripper 301 is used to grab the visual positioning component 2 and the cover plate 8. The cylinder is used to drive the gripper 301 to slide up and down, and the cylinder is used to drive the gripper 301 to open and clamp. The chuck 302 and the turntable The disks 303 are located on both sides of the actuator 3, and the chucks 302 are slidably installed above one set of grippers 301. The chucks 302 are two and are used to clamp the cover plate 8. The cylinder is used to drive the chucks 302 to slide left and right, and the cylinder is used to drive the chucks 302 to clamp or loosen. The turntable 303 is located above the other set of grippers 301. The turntable 303 is provided with a groove corresponding to the valve switch 108. The cylinder is used to drive the turntable 303 to rotate and control the valve switch 108 to open or close. The three-jaw chuck 304 is located on the inner side of the turntable 303 and is coaxially arranged with the turntable 303. The three-jaw chuck 304 cooperates with the circular hole 109 on the grabbing plate 105 of the connecting component 1. The three-jaw chuck 304 is a pneumatic chuck, and the air circuit is connected to control its clamping, loosening, and then grabbing the connecting component 1.

[0017] The quick-release connector includes a quick-release male port 106 and a quick-release female port 107. The quick-release male port 106 is connected to the lower connecting flange 103. The quick-release female port 107 is installed on the vehicle body valve 7 on the transport vehicle. The cover plate 8 is clamped on the quick-release female port 107. The quick-release connector is made of plastic. During filling, the quick-release male port 106 is clamped with the quick-release female port 107. The quick-release male port 106 is provided with a clamping groove, and the quick-release female port 107 is provided with a clamping protrusion corresponding to the clamping groove. When the quick-release female port 107 is connected to the quick-release male port 106, the quick-release female port 107 slides downward. After the quick-release male port 106 is matched with the vehicle body valve 7, the quick-release female port 107 slides up and clamps with the quick-release male port 106. The upper end of the cover plate 8 is closed, and the lower end of the cover plate 8 is provided with a clamping groove that is clamped with the quick-release female port 107.

[0018] The connecting placement frame 4 includes a first support 401 and a first positioning plate 402, the first positioning plate 402 is fixed above the first support 401, and the first positioning plate 402 is provided with a positioning pin 11 that cooperates with the positioning block 10 on the pipe placement plate 104, and the first positioning plate 402 is hinged with a clamping plate 12 on the outside of the positioning pin 11, and the clamping plate 12 is driven by a cylinder to rotate and clamp the pipe placement plate 104 to limit the connection component 1; the visual placement frame 5 includes a second support 501 and a second positioning plate 502, the second positioning plate 502 is fixed above the second support 501, and the second positioning plate 502 is provided with a positioning pin 11 that cooperates with the positioning block 10 of the camera mounting plate 202, and the second positioning plate 502 is hinged on the side of the positioning pin 11. The clamping plate 12 is driven by a cylinder to rotate and clamp the camera mounting plate 202 to limit the visual positioning component 2.

[0019] The specific implementation process is as follows: like Figure 6 As shown, a filling port 601 is provided on the filling platform 6, and two sets of connecting components 1 correspond to the two body valves 7 provided on the transport vehicle. The transport vehicle enters the position to be filled, so that the body valve 7 is located in the filling port 601 of the filling platform 6. Since the connection placement rack 4 and the visual placement rack 5 are fixed, the coordinate positions of the connecting component 1 and the visual positioning component 2 can be preset in the control system. The six-axis manipulator 9 controls the actuator 3 to grab the visual positioning component 2 to scan the range of the filling port 601 of the filling platform 6, obtain the coordinate positions of the two body valves 7, and put the visual positioning component 2 back on the visual placement rack 5. The actuator 3 removes the cover plate 8 in sequence according to the obtained coordinates of the body valve 7, grabs the two connecting components 1 in sequence to connect with the body valve 7 and opens the valve switch 108 of the connecting component 1 to perform the filling operation. After the filling is completed, the connecting component 1 is put back on the connection placement rack 4 and the cover plate 8 is installed. like Figure 9 As shown, in order to clearly describe the implementation process, the cylinders and pneumatic components on the actuator 3 are marked with corresponding numbers, V01~V08, among which V01 is two cylinders, controlling the two sets of grippers 301 to slide up and down; V02 is two cylinders, controlling the grippers 301 to clamp and release; V03 is a three-jaw chuck 304, which can be clamped and released by connecting air pressure; V04 is a cylinder, controlling the extension and retraction of the pneumatic pin 305; V05 is a cylinder, controlling the rotation of the turntable 303; V06 is a cylinder, controlling the sliding of the chuck 302; V07 is two cylinders, controlling the clamping and release of the first chuck 302; V08 is two cylinders, controlling the clamping and release of the second chuck 302.

[0020] The process of grabbing visual positioning component 2 is as follows: Before grabbing, V01 and V02ZAI are in their original positions, the gripper 301 is at the highest position and is released, the actuator 3 moves to the visual positioning component 2, and the two sets of grippers 301 move to the outside of the camera clamping part 203. V02 controls the gripper 301 to clamp the camera clamping part 203, and the clamping plate 12 of the visual placement frame 5 is opened. The visual positioning component 2 is grabbed and leaves the visual placement frame 5. After scanning and obtaining the coordinate position of the vehicle body valve 7, the visual positioning component 2 is placed back on the visual placement frame 5.

[0021] The process of grabbing the cover plate 8 on the vehicle body valve 7 is as follows: Before grabbing, V01 is opened in place, V02, V06, V07, and V08 are in place, the gripper 301 is at the lowest position and released, and the actuator 3 reaches 72mm above the first cover plate 8. At this time, the gripper 301 is located on the side of the quick-install female port 107, and V02 controls the gripper 301 to clamp the quick-install female port 107. V01 is deflated, and the upper end of the actuator 3 moves downward toward the gripper 301 until the chuck 302 cooperates with the cover plate 8. V01 is opened for 1s to allow the gripper 301 to push the quick-install female port 107 downward to release the clamping state between the cover plate 8 and the quick-install female port 107. After that, V01 is deflated, and V07 controls the first chuck 302 to clamp the first cover plate 8. V01 is opened, and the actuator 3 grabs the first The first chuck 302 moves upward away from the vehicle body valve 7 to the safe position, V02 and V08 return to their original positions, the gripper 301 opens, and V06 controls the chuck 302 to slide so that the second chuck 302 is located above the gripper 301 and reaches 72 mm above the second cover plate 8. V02 controls the gripper 301 to clamp the quick-release female port 107, V01 is deflated, and the actuator 3 moves downward toward the gripper 301 until the chuck 302 cooperates with the cover plate 8. V01 is opened for 1 second to allow the gripper 301 to push the quick-release female port 107 downward to release the clamping state between the cover plate 8 and the quick-release female port 107. After that, V01 is deflated, and V08 controls the second chuck 302 to clamp the second cover plate 8. After returning to the safe position, V06 returns to its original position.

[0022] The process of grabbing the connection assembly 1 and connecting it to the vehicle body valve 7 is as follows: Before grabbing, V01, V02, V03, V04, and V05 return to their original positions. After reaching the position for grabbing the connecting component 1, the pneumatic latch 305 corresponds to the position of the positioning block 10 on the grabbing plate 105. V04 works to push the pneumatic latch 305 into the positioning block 10, and the three-jaw chuck 304 is located in the round hole 109 of the grabbing plate 105. V03 controls the three-jaw chuck 304 to clamp the grabbing plate 105, and the clamping plate 12 on the connecting rack 4 opens, grabbing the first connecting component 1 and leaving the connecting rack 4; before connecting with the vehicle body valve 7, V02 and V05 return to their original positions, V01, V03, and V04 are in the working position, and when they reach 76 mm above the vehicle body valve 7, V02 opens the control The gripper 301 clamps the quick-install female port 107 on the vehicle body valve 7, V01 is deflated, and the actuator 3 moves down to 13 mm above the vehicle body valve 7. V01 is opened for 1 second to cause the gripper 301 to move downward to push the quick-install female port 107, and the connecting component 1 moves downward to the engaging position of the quick-install male port 106 and the quick-install female port 107. V01 is deflated, and the quick-install female port 107 moves upward to engage with the quick-install male port 106. V01 returns to its original position, V02 returns to its original position, V03 returns to its original position, and the V05 working control dial 303 rotates to open the valve switch 108, and V04 returns to its original position. After the second connecting component 1 is connected to the second vehicle body valve 7 according to the above process, the filling operation can be started.

[0023] After the filling is completed, since the transport vehicle is full of hydrofluoric acid, the vertical coordinate position of the connecting component 1 will change. At this time, the actuator 3 grabs the visual positioning component 2 to scan the filling port 601, obtains the coordinate position of the connecting component 1, and grabs two connecting components 1 in turn and places them on the connecting placement rack 4. Before taking away the connecting component 1, the valve switch 108 is closed, and the cover plate 8 is installed on the body valve 7 of the transport vehicle. The transport vehicle drives out of the filling platform 6 and waits for the next transport vehicle to enter before continuing to fill. The connecting device can accurately identify the position of the body valve 7 of the transport vehicle, accurately grab the visual positioning component 2 to scan and obtain the coordinate position of the body valve 7 and the connecting component 1, realize the removal and placement of the cover plate 8 of the body valve 7, and the connecting component 1 is docked with the body valve 7. The valve switch 108 on the connecting component 1 is automatically opened for filling, realizing unmanned filling and avoiding safety accidents. The body valve 7 of the transport vehicle can be accurately connected when it is located in the filling port 601 of the filling platform 6, thereby improving the flexibility of the parking position of the transport vehicle.

[0024] The above is only an embodiment of the present invention, and the common knowledge such as the specific structure and characteristics of the scheme is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A novel intelligent hydrofluoric acid filling connection device, comprising a connection component, a visual positioning component, and an actuator, characterized in that: The connecting component is installed on the connecting rack, the visual positioning component is installed on the visual rack, the connecting rack and the visual rack are fixedly arranged on the filling platform, the visual positioning component is electrically connected to the control system, the visual positioning component is used to identify the position of the vehicle body valve and the connecting component on the transport vehicle, the vehicle body valve is provided with a cover plate, and the actuator is installed on the six-axis manipulator of the filling platform for grabbing the connecting component, the visual positioning component and the cover plate on the vehicle body valve; The connecting assembly includes a pipeline valve, an upper connecting flange, a lower connecting flange, a pipeline placement plate, a grab plate and a quick-release connector. A valve switch is provided in the middle of the pipeline valve. A flange is provided at the upper end of the pipeline valve to connect with the upper connecting flange. The upper connecting flange is connected to the hydrofluoric acid inlet pipe. A flange is provided at the lower end of the pipeline valve to connect with the pipeline placement plate and the lower connecting flange. A positioning block is provided on the pipeline placement plate and a through hole is provided in the middle of the positioning block to cooperate with the connecting placement frame. The grab plate and the pipeline placement plate are arranged vertically. The grab plate is provided with a circular hole that cooperates with the actuator and a positioning block for positioning. The quick connector is used to connect the connecting assembly to the vehicle body valve.

2. The novel intelligent hydrofluoric acid filling and connection device according to claim 1 is characterized in that: The visual positioning assembly includes a visual camera and a camera mounting plate. The visual camera is mounted on the camera mounting plate. A positioning block and a camera clamping portion are provided on the camera mounting plate. The positioning block is used to cooperate with the visual placement frame, and the camera clamping portion cooperates with the actuator.

3. The novel intelligent hydrofluoric acid filling and connection device according to claim 1 is characterized in that: The actuator includes two sets of grippers, a chuck, a turntable, a three-jaw chuck and a pneumatic latch. The pneumatic latch cooperates with the positioning block on the grab plate to limit the connecting component. The gripper is used to grab the visual positioning component and the cover plate. The cylinder is used to drive the gripper to slide up and down, and the cylinder is used to drive the gripper to open and clamp. The chuck and turntable are respectively located on both sides of the actuator. The chuck is slidably installed above one of the sets of grippers. There are two chucks for clamping the cover plate. The cylinder is used to drive the chuck to slide left and right, and the cylinder is used to drive the chuck to clamp or release. The turntable is located above the other set of grippers. The turntable is provided with a groove corresponding to the valve switch, and the cylinder is used to drive the turntable to rotate to control the valve switch to open or close. The three-jaw chuck is located on the inner side of the turntable and is coaxial with the turntable. The three-jaw chuck cooperates with the circular hole on the grab plate of the connecting component. The three-jaw chuck is a pneumatic chuck, and the air circuit is connected to control its clamping and release.

4. The novel intelligent hydrofluoric acid filling and connection device according to claim 1 is characterized in that: The quick-release connector includes a quick-release male port and a quick-release female port. The quick-release male port is connected to the lower connecting flange. The quick-release female port is installed on the vehicle body valve on the transport vehicle. The cover plate is clamped on the quick-release female port. The quick-release connector is made of plastic.

5. The novel intelligent hydrofluoric acid filling and connection device according to claim 1 is characterized in that: The connecting placement frame includes a first support and a first positioning plate. The first positioning plate is fixed above the first support. The first positioning plate is provided with a positioning pin that cooperates with the positioning block on the pipeline placement plate. A clamping plate is hinged on the outside of the positioning pin on the first positioning plate, and the clamping plate is driven to rotate by a cylinder.

6. The novel intelligent hydrofluoric acid filling and connection device according to claim 1 is characterized in that: The visual placement frame includes a second support and a second positioning plate. The second positioning plate is fixed above the second support. The second positioning plate is provided with a positioning pin that cooperates with the positioning block of the camera mounting plate. A clamping plate is hinged on the side of the positioning pin on the second positioning plate, and the clamping plate is driven to rotate by a cylinder.

7. The novel intelligent hydrofluoric acid filling and connection device according to claim 1 is characterized in that: The quick-release male port is provided with a snap-in groove, and the quick-release female port is provided with a snap-in protrusion corresponding to the snap-in groove. When the quick-release female port is connected to the quick-release male port, the quick-release female port slides downward. After the quick-release male port is matched with the vehicle body valve, the quick-release female port slides upward and snaps into the quick-release male port. The upper end of the cover plate is closed, and the lower end of the cover plate is provided with a snap-in groove that snaps into the quick-release female port.

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