A dangerous chemical filling robot and a filling method

Abstract

The application relates to the technical field of dangerous chemical filling equipment, in particular to a dangerous chemical filling robot and a filling method, which comprises a filling stack, a multi-degree-of-freedom mechanical arm system, a 3D visual positioning system, an automatic docking system, a safety monitoring system and a driving mechanism. The multi-degree-of-freedom mechanical arm system comprises three mechanical arms, and 3D visual cameras are installed at the ends of the three mechanical arms and used for identifying the spatial position and posture of a tank truck interface; the automatic docking system realizes the automatic docking of a grounding wire structure, a gas phase recovery pipeline and a filling main pipeline through a flange clamping quick-change module; the safety monitoring system realizes the real-time monitoring of a grounding state, a gas phase recovery state and a leakage concentration; and the driving mechanism adjusts the position of the filling stack to adapt to different vehicle types. The application solves the problems of insufficient filling operation automation, imperfect safety monitoring and poor equipment adaptability in the prior art, and realizes the automation, intelligentization and safety of the whole process of dangerous chemical filling.

Description

Technical Field

[0001] This invention relates to the field of hazardous chemical filling equipment technology, and in particular to a hazardous chemical filling robot and filling method. Background Technology

[0002] In industries such as petrochemicals, the manual filling of hazardous chemicals (such as liquid ammonia, liquid chlorine, and liquefied petroleum gas) is an essential high-risk operation. Traditional filling operations rely heavily on operators manually completing a series of tasks, including connecting grounding wires, connecting gas phase recovery pipelines, and connecting filling pipelines. This is not only labor-intensive and inefficient, but also exposes operators to toxic, harmful, flammable, and explosive hazardous environments for extended periods, posing a serious threat to their personal safety.

[0003] In recent years, with the development of automation technology, some companies have introduced automated filling equipment, such as the Chinese patent with publication number CN120383289A, which uses robotic arms or automatic docking devices to automatically connect filling pipelines. However, existing automated filling equipment has the following technical defects: Firstly, its functions are limited, typically only achieving automatic connection of filling pipelines, lacking the ability to automatically connect grounding wires and gas phase recovery pipelines throughout the entire process. Manual assistance is still required to complete some key steps, thus failing to truly achieve fully unmanned filling operations. Secondly, safety monitoring is inadequate. Most existing equipment only focuses on monitoring filling flow and liquid level, neglecting real-time monitoring and interlocking protection of key safety elements such as grounding reliability, smooth gas phase recovery, and leak detection. It cannot shut down operations in time under abnormal conditions, resulting in significant safety hazards. Third, poor adaptability. Tankers of different models and at different parking locations have significant differences in interface positions and postures. Existing automated equipment lacks accurate spatial positioning and posture recognition capabilities, making it difficult to achieve accurate automatic docking for multiple models and scenarios.

[0004] Application content The purpose of this application is to provide a hazardous chemical filling robot and filling method to solve the problems of insufficient automation, imperfect safety monitoring, and poor equipment adaptability in the existing technology, so as to realize the automation, intelligence and safety of the entire hazardous chemical filling process.

[0005] The technical solution of this invention is implemented as follows: A hazardous chemical filling robot includes a filling platform, a multi-degree-of-freedom robotic arm system, a vision positioning system, an automatic docking system, a safety monitoring system, and a drive mechanism; The multi-degree-of-freedom robotic arm system includes a first robotic arm, a second robotic arm, and a third robotic arm mounted on the filling platform. The visual positioning system includes 3D vision cameras installed at the ends of the first robotic arm, the second robotic arm, and the third robotic arm. The 3D vision cameras are used to identify the spatial position and orientation of the tanker's filling port, grounding socket, and gas phase recovery port. The automatic docking system includes a first flange clamping quick-change module, a second flange clamping quick-change module, a third flange clamping quick-change module, a main filling pipeline, a vapor recovery pipeline, and a grounding wire mechanism. The first flange clamping quick-change module is installed at the end of the first robotic arm and drives the grounding wire mechanism to connect or disconnect. The second flange clamping quick-change module is installed at the end of the second robotic arm and drives the vapor recovery pipeline to connect or disconnect. The third flange clamping quick-change module is installed at the end of the third robotic arm and drives the main filling pipeline to connect or disconnect. The safety monitoring system includes a grounding status detection module, a gas phase recovery status detection module, and a leakage detection module; the grounding status detection module is installed on the grounding wire mechanism, and the gas phase recovery status detection module is installed on the gas phase recovery pipeline; The driving mechanism includes a lateral driving mechanism and a longitudinal driving mechanism. The filling platform is mounted on the lateral driving mechanism via the longitudinal driving mechanism. The lateral driving mechanism and the longitudinal driving mechanism are used to adjust the horizontal position of the filling platform. The filling platform is also equipped with a controller, which is electrically connected to the multi-degree-of-freedom robotic arm system, the visual positioning system, the automatic docking system, and the safety monitoring system.

[0006] Furthermore, the 3D vision camera is a binocular structured light 3D vision camera with a built-in YOLOv5s target detection model, which is used to identify the three-dimensional spatial coordinates (X, Y, Z) and attitude information (Rx, Ry, Rz) of each interface of the tanker truck under different lighting conditions and vehicle models.

[0007] Furthermore, the safety monitoring system also includes a pressure detection module and an alarm module; the pressure detection module is installed on the gas phase recovery pipeline; a flow sensor and an electrically controlled valve body are installed on the main filling pipeline; the controller is equipped with a central processing unit and an interlock control unit, which is used to automatically cut off the filling operation and trigger the alarm module when a safety abnormality is detected.

[0008] Furthermore, the drive mechanism also includes a support mechanism, which includes height-adjustable support legs and casters. The support mechanism is installed below the end of the filling platform away from the lateral drive mechanism to ensure the stability of the filling platform when it moves horizontally.

[0009] Furthermore, the first flange clamping quick-change module, the second flange clamping quick-change module, and the third flange clamping quick-change module all adopt the same flange clamping quick-change module structure. The flange clamping quick-change module includes a clamping body, a locking mechanism, and a guide positioning pin, which are used to achieve quick connection and reliable sealing with the corresponding interface.

[0010] A method for filling hazardous chemicals, using the aforementioned hazardous chemical filling robot, is characterized by comprising the following steps: S1: Vehicle positioning and identification: The spatial position and orientation of the tank truck's filling port, grounding socket, and gas phase recovery port are identified through the visual positioning system; S2: Automatic grounding wire connection: Control the first robotic arm to move the first flange clamping quick-change module equipped with the grounding wire mechanism, and automatically plug the grounding wire plug into the preset grounding socket of the tank truck. The grounding reliability is confirmed by the grounding status detection module. S3: Automatic docking of gas phase recovery pipe: Control the second robotic arm to move the second flange clamping quick-change module with the gas phase recovery pipe installed, and automatically dock the gas phase recovery pipe to the gas phase recovery port of the tank truck. The gas path is confirmed to be unobstructed by the gas phase recovery status detection module. S4: Automatic docking of filling pipeline: The third robotic arm is controlled to move the third flange clamping quick-change module on which the filling pipeline is installed, and the filling pipeline is automatically docked to the filling port of the tank truck. The leakage detection module confirms that there is no leakage. S5: Safety Confirmation and Filling: After the controller confirms that the grounding is reliable, the gas path is unobstructed and there is no leakage, it opens the filling valve to start filling. During the filling process, the safety monitoring system monitors the grounding resistance value, pipeline pressure and leakage concentration in real time. S6: Filling End and Reset: After filling reaches the preset value, stop filling, close the valve, control each robotic arm to dismantle the main filling pipeline, gas phase recovery pipeline and grounding wire mechanism in reverse order, and reset to the initial position; S7: Operation Recording and Reporting: The controller records and packages the time, filling volume, and various safety monitoring data of this filling operation, and uploads them to the remote monitoring platform via wired network or 4G / 5G wireless network for subsequent safety auditing and operation optimization.

[0011] Furthermore, in step S5, when any monitoring parameter in the safety monitoring system exceeds a preset safety threshold, the interlock control unit immediately performs an emergency stop operation, cuts off the power supply to the filling valve and closes the corresponding pipeline valve, and simultaneously triggers the audible and visual alarm of the alarm module and uploads the abnormal information to the remote monitoring platform.

[0012] By adopting the above technical solution, the beneficial effects of the present invention are as follows: 1. This application utilizes three robotic arms working in concert, along with a vision positioning system and an automatic docking system, to sequentially complete all key steps such as grounding wire docking, gas phase recovery pipe docking, and filling main pipeline docking, without the need for manual intervention. This truly achieves fully unmanned operation from vehicle positioning to filling completion, significantly reducing the labor intensity and safety risks for operators.

[0013] 2. This application integrates multi-dimensional safety monitoring functions such as grounding status detection, gas phase recovery status detection, leakage detection, and pressure detection. It also realizes real-time monitoring and logical judgment of each safety element through the interlocking control unit in the controller. When any safety parameter is abnormal, the filling operation is automatically cut off and an alarm is triggered immediately, forming a safety closed-loop control for the entire filling process, which significantly improves the safety of the operation.

[0014] 3. This application uses a binocular structured light 3D vision camera in conjunction with a deep learning target detection model, which can accurately identify the three-dimensional spatial coordinates and posture information of each interface of the tank truck under different lighting conditions and vehicle models. At the same time, the position of the filling platform is adjusted by the horizontal drive mechanism and the vertical drive mechanism, and with the flexible movement of the multi-degree-of-freedom robotic arm, accurate automatic docking under multiple vehicle models and multiple parking positions is achieved. The equipment has strong versatility and environmental adaptability. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a first perspective view of the filling robot of the present invention; Figure 2 This is a second perspective view of the filling robot of the present invention; Figure 3 This is a schematic diagram of the tanker truck structure of the present invention; Figure 4 This is a schematic diagram of the flange clamping quick-change module structure of the present invention; Figure 5 This is a circuit structure block diagram of the present invention; Figure 6 This is a schematic flowchart of the filling method of the present invention.

[0017] The annotations in the attached figures are explained as follows: 1. Filling platform; 2. First robotic arm; 3. Second robotic arm; 4. Third robotic arm; 5. 3D vision camera; 51. First flange clamping quick-change module; 52. Second flange clamping quick-change module; 53. Third flange clamping quick-change module; 54. Filling main pipeline; 55. Electrically controlled valve body; 56. Gas phase recovery pipeline; 57. Gas phase recovery status detection module; 6. Longitudinal drive mechanism; 7. Grounding wire mechanism; 71. Grounding status detection module; 8. Support mechanism; 9. Lateral drive mechanism; 10. Controller; 11. Tank truck; 11a. Filling port; 11b. Grounding socket; 11c. Gas phase recovery port. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] like Figures 1-4 As shown, a hazardous chemical filling robot and filling method include a filling platform 1, a multi-degree-of-freedom robotic arm system, a vision positioning system, an automatic docking system, a safety monitoring system, and a drive mechanism. The multi-degree-of-freedom robotic arm system includes a first robotic arm 2, a second robotic arm 3, and a third robotic arm 4 installed on the filling platform 1. The first robotic arm 2, the second robotic arm 3, and the third robotic arm 4 are all six-degree-of-freedom robotic arms. The visual positioning system includes 3D vision cameras 5 installed at the ends of the first robotic arm 2, the second robotic arm 3, and the third robotic arm 4. The 3D vision cameras 5 are used to identify the spatial position and orientation of the filling port 11a, the grounding socket 11b, and the gas phase recovery port 11c of the tank truck 11. In this embodiment, the 3D vision cameras 5 on the first robotic arm 2, the second robotic arm 3, and the third robotic arm 4 work independently, each responsible for identifying the interface that its corresponding robotic arm needs to operate. That is, the 3D vision camera 5 of the first robotic arm 2 identifies the grounding socket 11b, the 3D vision camera 5 of the second robotic arm 3 identifies the gas phase recovery port 11c, and the 3D vision camera 5 of the third robotic arm 4 identifies the filling port 11a. The controller 10 plans the motion trajectory of each robotic arm according to the position and orientation information identified by each camera, thus avoiding mutual interference when multiple robotic arms work together. The automatic docking system includes a first flange clamping quick-change module 51, a second flange clamping quick-change module 52, a third flange clamping quick-change module 53, a filling main pipeline 54, a vapor recovery pipeline 56, and a grounding mechanism 7. The first flange clamping quick-change module 51 is installed at the end of the first robotic arm 2 and drives the grounding mechanism 7 to connect or disconnect. The second flange clamping quick-change module 52 is installed at the end of the second robotic arm 3 and drives the vapor recovery pipeline 56 to connect or disconnect. The third flange clamping quick-change module 53 is installed at the end of the third robotic arm 4 and drives the filling main pipeline 54 to connect or disconnect. Both the filling main pipeline 54 and the vapor recovery pipeline 56 are flexible pressure-resistant hoses with redundant lengths to accommodate the movement range of the corresponding robotic arms. The pipelines are fitted with anti-static corrugated sleeves to prevent static electricity or wear during movement. The grounding mechanism 7 includes a grounding plug, a grounding wire, and a grounding status detection module 71. The grounding status detection module 71 includes a grounding resistance sensor and a clamp position sensor. The safety monitoring system includes a grounding status detection module 71, a gas phase recovery status detection module 57, and a leak detection module. The leak detection module is a fixed combustible gas detector or a toxic gas detector, the specific type of which is selected according to the hazardous chemical medium being filled (for example, a catalytic combustion combustible gas detector is used when filling liquefied petroleum gas, and an electrochemical ammonia detector is used when filling liquid ammonia). This detector is installed on the clamping body of the third flange clamping quick-change module 53 and moves together with the filling main pipeline 54 to detect the gas concentration in the docking area in real time. The grounding status detection module 71 is installed on the grounding wire mechanism 7, and the gas phase recovery status detection module 57 is installed on the gas phase recovery pipeline 56. The gas phase recovery status detection module 57 includes a pressure sensor and a flow sensor installed on the gas phase recovery pipeline 56. The gas phase recovery pipeline 56 is also equipped with an electrically controlled valve body, which has the same structure as the electrically controlled valve body 55 on the filling main pipeline 54 and is controlled by the controller 10 to open and close. The drive mechanism includes a transverse drive mechanism 9 and a longitudinal drive mechanism 6. The filling platform 1 is mounted on the transverse drive mechanism 9 via the longitudinal drive mechanism 6. The transverse drive mechanism 9 and the longitudinal drive mechanism 6 are used to adjust the horizontal position of the filling platform 1 so that it reaches the filling docking position of the tank truck 11. Specifically, the transverse drive mechanism 9 is a ball screw mechanism fixed to the ground or wall and driven by an explosion-proof motor. The longitudinal drive mechanism 6 is mounted on the slide of the transverse drive mechanism 9 and adopts a linear guide rail and ball screw nut structure or an electric telescopic rod, driven by another explosion-proof motor. The filling platform 1 is fixed on the telescopic end of the longitudinal drive mechanism 6. A controller 10 is also installed on the filling platform 1. The controller 10 is electrically connected to the multi-degree-of-freedom robotic arm system, the vision positioning system, the automatic docking system, and the safety monitoring system.

[0020] As another preferred embodiment of the present invention, the 3D vision camera 5 adopts a binocular structured light 3D vision camera with a built-in YOLOv5s target detection model, which is used to identify the three-dimensional spatial coordinates (X, Y, Z) and attitude information (Rx, Ry, Rz) of each interface of the tank truck 11 under different lighting conditions and vehicle models.

[0021] As another preferred embodiment of the present invention, the safety monitoring system further includes a pressure detection module and an alarm module; the pressure detection module is installed on the gas phase recovery pipeline 56; a flow sensor and an electrically controlled valve body 55 are installed on the filling main pipeline 54; a central processing unit and an interlocking control unit are installed in the controller 10. The interlocking control unit is used to automatically cut off the filling operation and trigger the alarm module when a safety abnormality is detected. The controller 10 is an explosion-proof programmable logic controller (PLC). Its central processing unit is responsible for logic operations and flow control. The interlocking control unit is an independent functional module or a piece of fixed program inside the PLC. It is directly connected to the analog or digital input ports of the grounding status detection module 71, the gas phase recovery status detection module 57, and the leakage detection module, and is connected to the electrically controlled valve body 55, the alarm module, and the drive motor control circuit of each robotic arm through an intermediate relay; when any safety monitoring parameter exceeds the preset threshold, the interlocking control unit does not go through the program loop scan of the central processing unit, but directly performs an emergency stop through hardware interrupt or the highest priority task, outputs a cut-off signal to the electrically controlled valve body 55, and disconnects the power supply of each robotic arm. The controller 10 communicates with the remote monitoring platform via wired or wireless means to achieve data upload and remote control. All electrical equipment in this embodiment is explosion-proof (Ex d or Exi) and conforms to the GB3836 series standards. All metal parts of the filling robot exposed to hazardous environments (such as the robotic arm housing, filling platform 1, flange clamping quick-change module, etc.) are reliably connected to the ground via the grounding wire mechanism 7 to prevent static electricity buildup.

[0022] As another preferred embodiment of the present invention, the drive mechanism further includes a support mechanism 8, which includes a height-adjustable support leg and a caster wheel. The support mechanism 8 is installed below the end of the filling platform 1 away from the transverse drive mechanism 9 to ensure the stability of the filling platform 1 when it moves horizontally. The support leg is a spiral lifting structure, including a nut sleeve fixed to the filling platform 1 and a screw leg screwed into the nut sleeve. A caster wheel is installed at the lower end of the screw leg.

[0023] In another preferred embodiment of the present invention, the first flange clamping quick-change module 51, the second flange clamping quick-change module 52, and the third flange clamping quick-change module 53 adopt flange clamping quick-change modules with the same structure. The flange clamping quick-change module includes a clamping body, a locking mechanism, and a guide positioning pin, which are used to achieve quick connection and reliable sealing with the corresponding interface. The flange clamping quick-change module adopts a pneumatic or hydraulically driven claw structure. The front end of the clamping body is provided with multiple radially retractable claws. The locking mechanism is a built-in piston cylinder, which is used to drive the claws to clamp or release the corresponding interface flange on the tank truck 11. The guide positioning pin is set at the front edge of the clamping body, which is used to engage with the positioning hole on the interface flange before the claws during the docking process to achieve coarse positioning. The clamping body is also provided with a sealing ring. When the claws clamp the flange, the sealing ring is pressed against the docking surface to form a reliable seal.

[0024] like Figure 6 As shown, a method for filling hazardous chemicals, using the aforementioned hazardous chemical filling robot, is characterized by comprising the following steps: S1: Vehicle positioning and identification: After the tanker truck 11 enters the preset filling area, the controller 10 starts the 3D vision camera 5 to collect side images of the tanker truck 11. The 3D vision camera 5 has a built-in YOLOv5s target detection model and a binocular structured light depth calculation algorithm to identify the spatial position and attitude of the filling port 11a, grounding socket 11b and gas phase recovery port 11c of the tanker truck 11. S2: Automatic grounding connection: Based on the coordinates of the grounding terminal 11b obtained in S1, the controller 10 plans the movement trajectory of the first robotic arm 2 and controls the first robotic arm 2 to move the first flange clamping quick-change module 51, which is equipped with the grounding wire mechanism 7, to automatically connect the grounding wire plug to the preset grounding socket 11b of the tank truck 11. The grounding status detection module 71 confirms that the grounding is reliable. The grounding resistance sensor detects the grounding resistance value in real time. When the detected grounding resistance value is not greater than 10 ohms (meets the safety specifications) and the clamp position sensor confirms that the clamping is in place, the controller 10 determines that the grounding is reliable and sends a grounding completion signal to the interlock control unit. S3: Automatic docking of gas phase recovery pipe: After grounding is completed, the controller 10 plans the movement trajectory of the second robotic arm according to the coordinates of the gas phase recovery port 11c, and controls the second robotic arm 3 to move the second flange clamping quick-change module 52, which is equipped with the gas phase recovery pipe 56, and docks the gas phase recovery pipe 57 to the gas phase recovery port 11c under the guidance of the 3D vision camera 5. The gas phase recovery status detection module 57 detects the pipe pressure and gas flow status. After confirming that the gas path is unobstructed, it sends a gas path completion signal to the interlock control unit. S4: Automatic docking of filling pipeline: The controller 10 plans the motion trajectory according to the coordinates of the filling port 11a. Under the guidance of the 3D vision camera 5, it controls the third robotic arm 4 to move the third flange clamping quick-change module 53, which is equipped with the filling main pipeline 54, to automatically dock the filling main pipeline 54 to the filling port 11a of the tank truck 11. The leakage detection module selects according to the filling medium, such as filling oil. It detects the concentration of combustible gas in the docking area by a combustible gas detector installed near the filling main pipeline 54. When the concentration is not greater than 25%LEL (lower explosive limit) and the response time is less than 2 seconds, it is determined that there is no leakage and sends a filling pipeline completion signal to the interlock control unit. S5: Safety Confirmation and Filling: After receiving the grounding completion signal, gas path completion signal, and filling pipeline completion signal simultaneously, the interlocking control unit sends a safety confirmation signal to the central processing unit. The central processing unit then opens the valves on the main filling pipeline 54 and the gas phase recovery pipeline 56, initiating the filling of hazardous chemicals into the tank truck 11 through the main filling pipeline 54 or the extraction of hazardous chemicals from the tank truck into the storage tank. During the filling process, the safety monitoring system monitors the grounding resistance value, pipeline pressure, and leakage concentration in real time at a 100-millisecond cycle. S6: Filling End and Reset: When the filling volume reaches the preset value, the controller 10 closes the valves on the main filling pipeline 54 and the gas phase recovery pipeline 56 to stop filling; subsequently, the controller 10 controls each robotic arm to dismantle the main filling pipeline 54, the gas phase recovery pipeline 56 and the grounding wire in the reverse order of docking: the third robotic arm 4 pulls the filling tube connector out of the filling port 11a and resets it; the second robotic arm 3 pulls the gas phase recovery connector out of the gas phase recovery port 11c and resets it; the first robotic arm 2 removes the grounding wire plug from the grounding terminal 11b and resets it. After the robotic arms return to the initial position, the longitudinal drive mechanism 6 drives the filling platform 1 away from the filling truck 11 to wait for the next filling instruction to be issued; S7: Operation Recording and Reporting: Controller 10 records and packages the time, filling volume, and various safety monitoring data of this filling operation, and uploads them to the remote monitoring platform via wired network or 4G / 5G wireless network for subsequent safety auditing and operation optimization.

[0025] In another preferred embodiment of the present invention, in step S5, when any monitoring parameter in the safety monitoring system exceeds the preset safety threshold, the interlock control unit immediately performs an emergency stop operation, cuts off the power supply to the filling valve and closes the corresponding pipeline valve, and at the same time triggers the audible and visual alarm of the alarm module and uploads the abnormal information to the remote monitoring platform.

[0026] like Figure 5 As shown, the grounding status detection module, gas phase recovery status detection module, leakage detection module, and pressure detection module are electrically connected to the interlocking control unit within the controller 10.

[0027] During the filling process, if the grounding resistance sensor detects a sudden increase in grounding resistance to a value exceeding the safety threshold of 10 ohms (e.g., due to a loose or poorly connected grounding wire plug), the grounding status detection module immediately sends a grounding abnormality signal to the interlock control unit. Upon receiving the abnormal signal, the interlock control unit triggers an emergency stop procedure within 100 milliseconds: immediately closing the valves on the main filling pipeline 54 and the vapor recovery pipeline 56, cutting off the power supply to the filling valves, simultaneously triggering the alarm module to issue an audible and visual alarm signal, and uploading the abnormal information to the remote monitoring platform via the communication module to notify on-site management personnel for timely handling. The filling operation can only be restarted after the fault has been cleared, the grounding resistance has returned to normal, and manual confirmation is required.

[0028] Similarly, when the gas phase recovery status detection module detects abnormal pressure in the gas phase recovery pipeline 56 (such as blockage or detachment causing pressure over-limit), or when the leak detection module detects that the flammable gas concentration exceeds 25% LEL, the interlock control unit will immediately execute the same emergency stop and alarm procedures to ensure that the entire filling operation is safe and controllable.

[0029] The circuit connection involved in this invention is a conventional method used by those skilled in the art, and technical inspiration can be obtained through a limited number of experiments. It belongs to the widely used prior art.

[0030] Components not described in detail in this article are existing technologies.

[0031] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A hazardous chemical filling robot, characterized in that: It includes a filling platform (1), a multi-degree-of-freedom robotic arm system, a vision positioning system, an automatic docking system, a safety monitoring system, and a drive mechanism; The multi-degree-of-freedom robotic arm system includes a first robotic arm (2), a second robotic arm (3), and a third robotic arm (4) mounted on the filling platform (1). The visual positioning system includes a 3D vision camera (5) installed at the ends of the first robotic arm (2), the second robotic arm (3) and the third robotic arm (4). The 3D vision camera (5) is used to identify the spatial position and orientation of the filling port (11a), grounding socket (11b) and gas phase recovery port (11c) of the tanker (11). The automatic docking system includes a first flange clamping quick-change module (51), a second flange clamping quick-change module (52), a third flange clamping quick-change module (53), a filling main pipeline (54), a gas phase recovery pipeline (56), and a grounding wire mechanism (7). The safety monitoring system includes a grounding status detection module (71), a gas phase recovery status detection module (57), and a leakage detection module; the grounding status detection module (71) is installed on the grounding wire mechanism (7), and the gas phase recovery status detection module (57) is installed on the gas phase recovery pipeline (56); The driving mechanism includes a lateral driving mechanism (9) and a longitudinal driving mechanism (6). The filling platform (1) is mounted on the lateral driving mechanism (9) via the longitudinal driving mechanism (6). The lateral driving mechanism (9) and the longitudinal driving mechanism (6) are used to adjust the horizontal position of the filling platform (1). The filling platform (1) is also equipped with a controller (10), which is electrically connected to the multi-degree-of-freedom robotic arm system, the visual positioning system, the automatic docking system and the safety monitoring system.

2. The hazardous chemical filling robot according to claim 1, characterized in that: The first flange clamping quick-change module (51) is installed at the end of the first robotic arm (2) and drives the grounding wire mechanism (7) to connect or disconnect; the second flange clamping quick-change module (52) is installed at the end of the second robotic arm (3) and drives the gas phase recovery pipeline (56) to connect or disconnect; the third flange clamping quick-change module (53) is installed at the end of the third robotic arm (4) and drives the filling main pipeline (54) to connect or disconnect.

3. The hazardous chemical filling robot according to claim 1, characterized in that: The 3D vision camera (5) adopts a binocular structured light 3D vision camera and has a built-in YOLOv5s target detection model, which is used to identify the three-dimensional spatial coordinates (X, Y, Z) and attitude information (Rx, Ry, Rz) of each interface of the tank truck (11) under different lighting conditions and vehicle models.

4. The hazardous chemical filling robot according to claim 1, characterized in that: The safety monitoring system also includes a pressure detection module and an alarm module; the pressure detection module is installed on the gas phase recovery pipeline (56); a flow sensor and an electrically controlled valve body (55) are installed on the filling main pipeline (54); a central processing unit and an interlock control unit are installed in the controller (10), and the interlock control unit is used to automatically cut off the filling operation and trigger the alarm module when a safety abnormality is detected.

5. A hazardous chemical filling robot according to claim 1, characterized in that: The drive mechanism also includes a support mechanism (8), which includes height-adjustable support legs and casters. The support mechanism (8) is installed below the end of the filling platform (1) away from the lateral drive mechanism (9) to ensure the stability of the filling platform (1) when it moves horizontally.

6. A hazardous chemical filling robot according to claim 1, characterized in that: The first flange clamping quick-change module (51), the second flange clamping quick-change module (52) and the third flange clamping quick-change module (53) adopt the same flange clamping quick-change module structure. The flange clamping quick-change module includes a clamping body, a locking mechanism and a guide positioning pin, which are used to achieve quick connection and reliable sealing with the corresponding interface.

7. A method for filling hazardous chemicals, using the hazardous chemical filling robot according to any one of claims 1-6, characterized in that, Includes the following steps: S1: Vehicle positioning and identification: The spatial position and orientation of the filling port (11a), grounding socket (11b) and gas phase recovery port (11c) of the tank truck (11) are identified by the visual positioning system; S2: Automatic grounding connection: Control the first robotic arm (2) to move the first flange clamping quick-change module (51) with the grounding mechanism (7) installed, and automatically plug the grounding plug into the preset grounding socket (11b) of the tank truck (11), and confirm the grounding reliability through the grounding status detection module (71); S3: Automatic docking of gas phase recovery pipe: Control the second robotic arm (3) to move the second flange clamping quick-change module (52) on which the gas phase recovery pipe (56) is installed, and automatically dock the gas phase recovery pipe (56) to the gas phase recovery port (11c) of the tank truck (11), and confirm the gas path is unobstructed through the gas phase recovery status detection module (57). S4: Automatic docking of filling pipeline: Control the third robotic arm (4) to move the third flange clamping quick-change module (53) on which the filling main pipeline (54) is installed, and automatically dock the filling main pipeline (54) to the filling port (11a) of the tank truck (11), and confirm that there is no leakage through the leakage detection module. S5: Safety Confirmation and Filling: After the controller (10) confirms that the grounding is reliable, the gas path is unobstructed and there is no leakage, it opens the filling valve to start filling. During the filling process, the safety monitoring system monitors the grounding resistance value, pipeline pressure and leakage concentration in real time. S6: Filling end and reset: After filling reaches the preset value, stop filling, close the valve, control each robotic arm to dismantle the main filling pipeline (54), gas phase recovery pipeline (56) and grounding wire mechanism (7) in reverse order, and reset to the initial position; S7: Operation Recording and Reporting: The controller (10) records and packages the time, filling volume, and various safety monitoring data of this filling operation, and uploads them to the remote monitoring platform through a wired network or 4G / 5G wireless network for subsequent safety auditing and operation optimization.

8. A hazardous chemical filling robot according to claim 7, characterized in that: In step S5, when any monitoring parameter in the safety monitoring system exceeds a preset safety threshold, the interlock control unit immediately performs an emergency stop operation, cuts off the power supply to the filling valve and closes the corresponding pipeline valve, and simultaneously triggers the audible and visual alarm of the alarm module and uploads the abnormal information to the remote monitoring platform.

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