A supercritical extraction reactor for plant element extraction

By using the combination of outer sealing ring, butt ring and hydraulic sensor in the supercritical extraction reactor, real-time monitoring and emergency treatment of the sealing state of the reactor is achieved, and the problems of unstable sealing performance and low leakage detection accuracy are solved, improving the The safety and stability of the reactor are reduced and maintenance costs are reduced.

CN118949475BActive Publication Date: 2024-12-27NANTONG RUNDA AGRI DEV CO LTD
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Patent Information

Application Number
CN202411430862.8
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-10-14
Publication Date
2024-12-27
Estimated Expiration
2044-10-14

AI Technical Summary

Technical Problem

The sealing performance of the existing supercritical extraction reactor is unstable, and it is prone to leakage problems. The leakage detection methods are limited, the detection accuracy is not high and the real-time monitoring is impossible, making it difficult to detect and deal with small leaks in a timely manner.

Method used

A supercritical extraction reactor including the main body of the reactor and the sealing cover was designed. It adopts an outer sealing ring, docking ring, hydraulic sensor and seal monitoring system to monitor leakage in real time through the liquid seal structure and hydraulic sensor, and timely identify and deal with carbon dioxide leakage. , prevent environmental pollution.

Benefits of technology

It effectively prevents carbon dioxide leakage, improves the safety and stability of the reactor, reduces maintenance costs and time, realizes rapid identification and emergency treatment of leakage, and avoids environmental pollution.

✦ Generated by Eureka AI based on patent content.

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Abstract

The invention relates to a supercritical extraction reactor for extracting plant elements in the field of supercritical extraction reactors. The reactor comprises a reactor body and a sealing cover. An outer sealing ring is installed at the opening of the reactor body. A docking ring matching the outer sealing ring is installed at the lower end of the sealing cover. An annular groove is provided on the outer sealing ring. An outer sealing frame matching the annular groove is installed at the outer end of the docking ring. Sealing gaskets are installed at the lower ends of the docking ring and the outer sealing frame. An auxiliary sealing structure matching the position of the annular groove is installed on the docking ring. The auxiliary sealing structure comprises a water inlet ring installed at the upper end of the docking ring. A water collecting ring is installed at the outer side of the lower end of the outer sealing ring. Liquid sealing of the space between the reactor body and the outer sealing frame is achieved, and leakage of carbon dioxide is effectively prevented. When carbon dioxide leakage is detected, it can be quickly identified and emergency treatment can be performed to discharge the leaked carbon dioxide and the extract carried by it.
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Description

Technical Field

[0001] The invention relates to a supercritical extraction reactor for extracting plant elements, in particular to a supercritical extraction reactor for extracting plant elements applied in the field of supercritical extraction reactors. Background Art

[0002] The existing supercritical extraction reactor is an advanced chemical equipment, which uses the unique properties of supercritical fluid to perform extraction operations under high pressure and high temperature conditions. The equipment is mainly composed of an extraction kettle, a separator, a CO2 storage tank, a heat exchanger and a distillation column, among which the extraction kettle is the core component. The supercritical extraction reactor has the characteristics of no residue and green environmental protection, and is widely used in the extraction of natural plant essences and effective ingredients such as ginger essential oil, cinnamon essential oil, angelica oil, ginseng oil, etc.

[0003] In addition, the supercritical extraction reactor also has the advantages of easy operation, fast reaction speed, high product purity, and convenient solvent recovery. It can complete the extraction process in a shorter time, improve production efficiency, and reduce the generation of chemical waste, which meets the environmental protection and safety requirements of modern chemical production. With the continuous advancement of science and technology, the design and manufacturing level of supercritical extraction reactors are also constantly improving to meet the needs of more industries.

[0004] In order to solve the problem of reactor sealing, a certain reactor in the market adopts a sealing ring design, which has a certain market share.

[0005] The specification of Chinese invention patent CN112827214B ​​discloses a high-sealing supercritical extraction reactor, which belongs to the technical field of reactors. The high-sealing supercritical extraction reactor comprises a lower reactor body and an upper reactor body, wherein the upper reactor body is located on the upper side of the lower reactor body, an inspection port is fixedly connected to the upper end of the upper reactor body, and the inspection port is connected to the upper reactor body, an upper clamping plate is fixedly connected to the circumferential inner wall of the upper reactor body, and a lower clamping plate is fixedly connected to the circumferential inner wall of the lower reactor body, and the upper clamping plate corresponds to the lower clamping plate, an annular groove is cut at the lower end of the upper clamping plate, an annular clamping block is fixedly connected to the upper end of the lower clamping plate, and the annular clamping block is inserted into the annular groove, and a sealing ring is arranged between the upper clamping plate and the lower clamping plate, aiming to solve the problem that the existing reactors in the prior art are usually sealed by sealing rings, and the sealing rings are fastened to the reactor by clamps, but when the reactor is used for too long, the clamps are prone to loosening, thereby causing the sealing effect of the sealing ring to deteriorate, affecting the extraction of the reactor.

[0006] The sealing performance of existing supercritical extraction reactors is unstable. The sealing structure design of some reactors is unreasonable or the materials are improperly selected, resulting in unstable sealing performance and prone to leakage problems. In addition, the means of leakage detection are limited. At present, leakage detection of supercritical extraction reactors mainly adopts traditional pressure testing and visual inspection methods. These methods have limitations such as low detection accuracy and inability to monitor in real time, making it difficult to detect and deal with small leakage problems in time. Summary of the invention

[0007] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that the sealing structure design of some reactors is unreasonable or the material selection is inappropriate, resulting in unstable sealing performance and prone to leakage problems; and the leakage detection means are limited. At present, the leakage detection of supercritical extraction reactors mainly adopts traditional pressure testing and visual inspection methods, which have limitations such as low detection accuracy and inability to monitor in real time.

[0008] In order to solve the above problems, the present invention provides a supercritical extraction reactor for plant element extraction, comprising a reactor body and a sealing cover, an outer sealing ring is installed at the opening of the reactor body, a docking ring matching the outer sealing ring is installed at the lower end of the sealing cover, and an annular groove is provided on the outer sealing ring;

[0009] An outer sealing frame matching the annular groove is installed at the outer end of the docking ring, and sealing gaskets are installed at the lower ends of the docking ring and the outer sealing frame;

[0010] An auxiliary sealing structure matching the position of the annular groove is installed on the docking ring, and the auxiliary sealing structure includes a water inlet ring installed on the upper end of the docking ring, and a mounting groove matching the annular groove is opened at the lower end of the docking ring, and a plurality of water inlets communicating with the water inlet ring are installed in the mounting groove; the plurality of water inlets are distributed in a circumference along the mounting groove, and a hydraulic sensor is installed at the water inlet;

[0011] A water collecting ring is installed on the outer side of the lower end of the outer sealing ring. A water collecting groove is opened at one end of the water collecting ring close to the side wall surface of the outer sealing ring. An L-shaped conduit is fixedly connected to one end of the water collecting ring close to the annular groove. A drain pipe is connected between the water collecting groove and the L-shaped conduit; a siphon bucket is connected between the annular groove and the L-shaped conduit.

[0012] In the above-mentioned supercritical extraction reactor for plant element extraction, liquid sealing of the space between the reactor body and the outer sealing frame is achieved, and emergency treatment is carried out in case of carbon dioxide leakage, and the leaked carbon dioxide and the extracts it carries are discharged to avoid environmental pollution.

[0013] As a further improvement of the present application, the outer sealing ring includes two parallel planar portions in an upper and lower direction, and a vertical portion is arranged between the two planar portions. When the sealing cover is sealed with the reactor body, the sealing gaskets on the docking ring and the outer sealing frame are respectively tightly fitted with the two planar portions of the outer sealing ring.

[0014] As a further improvement of the present application, a through hole matching the siphon bucket and the L-shaped conduit is provided on the annular groove, the siphon bucket includes a fixed tube connected to the top of the L-shaped conduit, a movable tube is sleeved on the top of the fixed tube, an electromagnet is fixedly connected to the outer end of the fixed tube, a permanent magnet matching the electromagnet is installed in the movable tube, a water-permeable cover covering the movable tube is installed at the opening of the through hole, a compression spring sleeved on the fixed tube is connected between the movable tube and the electromagnet, and a sealing groove matching the top of the movable tube is provided at the lower end of the water-permeable cover.

[0015] As a further improvement of the present application, a hydraulic sensor is installed at the outer end of the water outlet, the hydraulic sensor includes a piezoresistive hydraulic sensor and a strain gauge hydraulic sensor, and the sensing end of the hydraulic sensor is installed at a position lower than the lower end surface of the output end of the water outlet.

[0016] As another improvement of the present application, a liquid pump is connected to the liquid discharge pipe, and an electromagnetic three-way valve is connected between the liquid discharge pipe and the L-shaped conduit.

[0017] As another improvement of the present application, the spacing between the outer sealing frame and the vertical portion of the annular groove is 2-5 cm, and the outer end of the annular groove is provided with a 45° chamfer for diversion, and the chamfer is located on the outside of the sealing gasket.

[0018] As another improvement of the present application, a sealing monitoring system is also included, the sealing monitoring system includes a processor, and the processor is connected to a monitoring module, a data processing module, an alarm module and a control module;

[0019] The monitoring module monitors the hydraulic pressure of the inner space of the annular groove after it is sealed by the sealing cover in real time;

[0020] The data processing module receives the hydraulic data from the monitoring module, processes and analyzes it, and determines whether there is a carbon dioxide leak by identifying abnormal changes in the hydraulic data;

[0021] When the data processing module detects hydraulic abnormality, the alarm module triggers the alarm mechanism to issue an alarm;

[0022] The control module is responsible for executing emergency control measures after confirming the carbon dioxide leakage. The emergency control measures include adjusting the pressure in the reactor body, starting the electromagnetic three-way valve, siphon bucket and liquid pump for drainage.

[0023] As another improvement supplement of the present application, when the data processing module performs hydraulic data analysis, it analyzes the detection values ​​of multiple hydraulic sensors and the differences in the detection value change time, and locates the leakage point by identifying whether the hydraulic sensor detection value change time is consistent and the difference in the detection value of each hydraulic sensor.

[0024] In summary, this solution achieves a liquid seal for the space between the reactor body and the outer sealing frame, effectively preventing the leakage of carbon dioxide. At the same time, when a carbon dioxide leakage is detected, it can be quickly identified and emergency treatment can be carried out to discharge the leaked carbon dioxide and the extracts it carries, avoiding environmental pollution, improving the safety and stability of the reactor, and reducing maintenance costs and time. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a three-dimensional diagram of the first embodiment of the present application;

[0026] Figure 2 This is a cross-sectional view of the first embodiment of the present application;

[0027] Figure 3 for Figure 2 The structural diagram at A in the middle;

[0028] Figure 4 for Figure 3 The structural diagram at B in the middle;

[0029] Figure 5 It is a partial cross-sectional view of the siphon bucket when the first and second embodiments of the present application are opened;

[0030] Figure 6 This is a schematic diagram of the changes in the working states of the auxiliary sealing structure and the siphon bucket when carbon dioxide leaks in the first and second embodiments of the present application;

[0031] Figure 7 This is a system block diagram of the second implementation mode of this application.

[0032] Description of the numbers in the figure:

[0033] 1 reactor body, 11 outer sealing ring, 12 annular groove, 2 sealing cover, 21 docking ring, 22 outer closing frame, 3 water collecting ring, 4 auxiliary sealing structure, 41 water inlet ring, 42 water delivery port, 5 drainage pipe, 6 L-shaped conduit, 7 siphon bucket, 71 fixed pipe, 72 movable pipe, 73 water permeable cover. DETAILED DESCRIPTION

[0034] The following describes two implementation modes of the present application in detail with reference to the accompanying drawings.

[0035] The first implementation method:

[0036] Figure 1-6 A supercritical extraction reactor for plant element extraction is shown, comprising a reactor body 1 and a sealing cover 2. An outer sealing ring 11 is installed at the opening of the reactor body 1, a docking ring 21 matching the outer sealing ring 11 is installed at the lower end of the sealing cover 2, and an annular groove 12 is opened on the outer sealing ring 11;

[0037] An outer sealing frame 22 matching the annular groove 12 is installed at the outer end of the docking ring 21, and sealing gaskets are installed at the lower ends of the docking ring 21 and the outer sealing frame 22; the distance between the outer sealing frame 22 and the vertical part of the annular groove 12 is 2-5 cm, and a 45° chamfer for diversion is provided at the outer end of the annular groove 12, and the chamfer is located on the outer side of the sealing gasket;

[0038] An auxiliary sealing structure 4 matching the position of the annular groove 12 is installed on the docking ring 21, and the auxiliary sealing structure 4 includes a water inlet ring 41 installed on the upper end of the docking ring 21, and a water pipe is connected to the water inlet ring 41. A mounting groove matching the annular groove 12 is opened at the lower end of the docking ring 21, and a plurality of water inlets 42 communicating with the water inlet ring 41 are installed in the mounting groove; the plurality of water inlets 42 are distributed along the mounting groove in a circumference, and a hydraulic sensor is installed at the water inlet 42; a diversion channel communicating with the plurality of drain ports 42 is arranged in the water inlet ring 41;

[0039] When the sealing cover 2 is sealed to the reactor body 1 , the water inlet ring 41 supplies water to the space between the outer sealing frame 22 and the annular groove 12 to achieve liquid sealing.

[0040] A water collecting ring 3 is installed on the outer side of the lower end of the outer sealing ring 11. A water collecting groove is provided at one end of the water collecting ring 3 close to the side wall surface of the outer sealing ring 11. An L-shaped conduit 6 is fixedly connected to one end of the water collecting ring 3 close to the annular groove 12. A drainage pipe 5 is connected between the water collecting groove and the L-shaped conduit 6. A siphon 7 is connected between the annular groove 12 and the L-shaped conduit 6. A liquid pump is connected to the drainage pipe 5, and an electromagnetic three-way valve is connected between the drainage pipe 5 and the L-shaped conduit 6.

[0041] The outer sealing ring 11 includes two upper and lower parallel plane parts, and a vertical part is arranged between the two plane parts. When the sealing cover 2 is sealed with the reactor body 1, the sealing gaskets on the docking ring 21 and the outer sealing frame 22 are tightly fitted with the two plane parts of the outer sealing ring 11 respectively.

[0042] A through hole matching the siphon hopper 7 and the L-shaped conduit 6 is provided on the annular groove 12. The siphon hopper 7 includes a fixed tube 71 connected to the top of the L-shaped conduit 6. A movable tube 72 is sleeved on the top of the fixed tube 71. An electromagnet is fixedly connected to the outer end of the fixed tube 71. A permanent magnet matching the electromagnet is installed in the movable tube 72. A water-permeable cover 73 covering the movable tube 72 is installed at the opening of the through hole. A compression spring sleeved on the fixed tube 71 is connected between the movable tube 72 and the electromagnet, and a sealing groove matching the top of the movable tube 72 is provided at the lower end of the water-permeable cover 73; a plurality of evenly distributed water-permeable holes are provided on the water-permeable cover 73. When the battery iron is not opened, the movable tube 72 is supported by the compression spring, and its top is fitted with the sealing groove. At the same time, the wall of the movable tube 72 closes the water-through hole, and the siphon hopper 7 cannot drain water.

[0043] When the hydraulic pressure sensor detects that the hydraulic pressure is higher than the set value, it can be judged as a carbon dioxide leak. At this time, the equipment alarms, takes emergency measures on the reactor body 1, adjusts the pressure in the reactor body 1, and when the pressure in the reactor body 1 returns to normal pressure;

[0044] The electromagnet can be controlled to work to attract the permanent magnet, thereby causing the movable tube 72 to descend. At this time, the water-permeable cover 73 is opened, and the liquid enters the movable tube 72 through the water-permeable cover 73 and is then discharged through the fixed tube 71 and the L-shaped conduit 6, so that the leaked carbon dioxide and the extract carried by it are uniformly discharged through the drain pipe 5, thereby preventing the leaked carbon dioxide from carrying the extract to the surrounding environment and causing pollution;

[0045] The hydraulic sensor is installed at the outer end of the water inlet 42. The hydraulic sensor includes a piezoresistive hydraulic sensor and a strain gauge hydraulic sensor. The sensing end of the hydraulic sensor is installed at a position lower than the lower end surface of the output end of the water inlet 42. Hydraulic sensors are provided at multiple water inlets 42. When carbon dioxide leaks, the volume of the liquid at the leakage point expands. Since the liquid level sensors of this scheme detect through the deformation of the sensing end, when carbon dioxide leaks at the leakage point and causes the volume of the liquid at the leakage point to expand, the detection value of the hydraulic sensor near the leakage point changes first, which is convenient for quickly locating the leakage point area and facilitating subsequent maintenance work.

[0046] During the use of the reactor body 1, if the hydraulic sensors do not detect any abnormal changes in hydraulic pressure, it can be determined that there is no leakage of carbon dioxide. At this time, the sealing cover 2 can be opened normally. After the sealing cover 2 is opened, the liquid in the annular groove 12 flows to the water collecting groove on the water collecting ring 3, thereby achieving rapid drainage.

[0047] Second implementation method:

[0048] Figure 7 It is shown that the present solution also includes a sealing monitoring system, which includes a processor, and a monitoring module, a data processing module, an alarm module and a control module are connected to the processor;

[0049] The monitoring module monitors the hydraulic pressure of the inner space of the annular groove 12 after being sealed by the sealing cover 2 in real time, and the monitoring is achieved by a hydraulic sensor installed at the outer end of the water delivery port 42;

[0050] The data processing module receives the hydraulic data from the monitoring module, processes and analyzes it, and determines whether there is a carbon dioxide leak by identifying abnormal changes in the hydraulic data, providing a basis for subsequent alarms and control decisions;

[0051] When the data processing module performs hydraulic data analysis, it analyzes the detection values ​​of multiple hydraulic sensors and the difference in the detection value change time. By identifying whether the change time of the hydraulic sensor detection values ​​is consistent and the difference in the detection values ​​of each hydraulic sensor, the leakage point can be quickly located;

[0052] For example, when the data processing module determines that the hydraulic sensor position with the largest hydraulic detection value at the same time point is determined as the leakage point area;

[0053] When the data processing module detects hydraulic anomalies, the alarm module triggers the alarm mechanism to issue an alarm, and sends an audible and visual alarm signal to the operator to indicate carbon dioxide leakage.

[0054] The control module is responsible for executing emergency control measures after confirming the leakage of carbon dioxide, and the emergency control measures include adjusting the pressure in the reactor body 1, starting the electromagnetic three-way valve, the siphon hopper 7 and the liquid pump to discharge liquid; the pressure in the reactor body 1 is adjusted by the relevant equipment of the reactor in the prior art, and the technicians in this field select appropriate equipment to implement it, such as a high-pressure pump;

[0055] The drainage workflow after confirming the carbon dioxide leakage includes: after the data processing module confirms the carbon dioxide leakage, after adjusting the pressure in the reactor to normal pressure, the control module controls the electromagnet to work, attracts the permanent magnet, causes the movable tube 72 to descend, and opens the water-permeable cover 73, thereby realizing the discharge of the leaked liquid; thereby ensuring that the leaked carbon dioxide and the extracts it carries can be uniformly collected and discharged from the reactor system.

[0056] The sealing monitoring system realizes real-time monitoring and emergency treatment of the sealing status of the supercritical extraction reactor through the coordinated work of the monitoring module, data processing module, alarm module and control module. This system not only improves the safety and stability of the reactor, but also effectively prevents the leakage from polluting the surrounding environment. At the same time, by quickly locating the leakage point and timely draining the liquid, it reduces maintenance costs and time.

[0057] In summary, this solution achieves a liquid seal for the space between the reactor body and the outer sealing frame, effectively preventing the leakage of carbon dioxide. At the same time, when a carbon dioxide leakage is detected, it can be quickly identified and emergency treatment can be carried out to discharge the leaked carbon dioxide and the extracts it carries, avoiding environmental pollution, improving the safety and stability of the reactor, and reducing maintenance costs and time.

[0058] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. A supercritical extraction reactor for extracting plant elements, comprising a reactor body (1) and a sealing cover (2), characterized in that: An outer sealing ring (11) is installed at the opening of the reactor body (1), a docking ring (21) matching the outer sealing ring (11) is installed at the lower end of the sealing cover (2), and an annular groove (12) is provided on the outer sealing ring (11); An outer sealing frame (22) matching the annular groove (12) is installed at the outer end of the docking ring (21), and sealing gaskets are installed at the lower ends of the docking ring (21) and the outer sealing frame (22); An auxiliary sealing structure (4) matching the position of the annular groove (12) is installed on the docking ring (21), the auxiliary sealing structure (4) comprising a water inlet ring (41) installed on the upper end of the docking ring (21), a mounting groove matching the annular groove (12) is provided on the lower end of the docking ring (21), a plurality of water delivery ports (42) communicating with the water inlet ring (41) are installed in the mounting groove; the plurality of water delivery ports (42) are distributed in a circumference along the mounting groove, and a hydraulic sensor is installed at the water delivery port (42); A water collecting ring (3) is installed on the outer side of the lower end of the outer sealing ring (11); a water collecting groove is provided at one end of the water collecting ring (3) close to the side wall surface of the outer sealing ring (11); an L-shaped conduit (6) is fixedly connected to one end of the water collecting ring (3) close to the annular groove (12); a drainage pipe (5) is connected between the water collecting groove and the L-shaped conduit (6); and a siphon hopper (7) is connected between the annular groove (12) and the L-shaped conduit (6); The annular groove (12) is provided with a through hole matching the siphon hopper (7) and the L-shaped conduit (6); the siphon hopper (7) comprises a fixed tube (71) connected to the top of the L-shaped conduit (6); a movable tube (72) is sleeved on the top of the fixed tube (71); an electromagnet is fixedly connected to the outer end of the fixed tube (71); a permanent magnet matching the electromagnet is installed in the movable tube (72); a water-permeable cover (73) covering the movable tube (72) is installed at the opening of the through hole; a compression spring sleeved on the fixed tube (71) is connected between the movable tube (72) and the electromagnet; and a sealing groove matching the top of the movable tube (72) is provided at the lower end of the water-permeable cover (73); The hydraulic sensor is installed at the outer end of the water delivery port (42), the hydraulic sensor comprises a piezoresistive hydraulic sensor and a strain gauge hydraulic sensor, and the installation position of the sensing end of the hydraulic sensor is lower than the lower end surface of the output end of the water delivery port (42); The liquid discharge pipe (5) is connected to a liquid pump, and an electromagnetic three-way valve is connected between the liquid discharge pipe (5) and the L-shaped conduit (6).

2. A supercritical extraction reactor for plant element extraction according to claim 1, characterized in that: The outer sealing ring (11) comprises two upper and lower parallel planar portions, with a vertical portion provided between the two planar portions. When the sealing cover (2) is sealed with the reactor body (1), the sealing gaskets on the docking ring (21) and the outer sealing frame (22) are respectively tightly fitted with the two planar portions of the outer sealing ring (11).

3. A supercritical extraction reactor for plant element extraction according to claim 2, characterized in that: The distance between the outer sealing frame (22) and the vertical portion of the annular groove (12) is 2-5 cm, and the outer end of the annular groove (12) is provided with a 45° chamfer for guiding flow, and the chamfer is located outside the sealing gasket.

4. The supercritical extraction reactor for plant element extraction according to claim 1, characterized in that: It also includes a sealing monitoring system, which includes a processor, and the processor is connected to a monitoring module, a data processing module, an alarm module and a control module; The monitoring module monitors in real time the hydraulic pressure of the inner space of the annular groove (12) after being sealed by the sealing cover (2); The data processing module receives the hydraulic data from the monitoring module, processes and analyzes it, and determines whether the carbon dioxide is leaking by identifying abnormal changes in the hydraulic data; The alarm module triggers the alarm mechanism to give an alarm when the data processing module detects hydraulic abnormality; The control module is responsible for executing emergency control measures after confirming the leakage of carbon dioxide, and the emergency control measures include adjusting the pressure in the reactor body (1), starting the electromagnetic three-way valve, the siphon bucket (7) and the liquid pump to discharge liquid.

5. A supercritical extraction reactor for plant element extraction according to claim 4, characterized in that: When the data processing module performs hydraulic data analysis, it analyzes the detection values ​​of multiple hydraulic sensors and the difference in detection value change time, and locates the leakage point by identifying whether the change time of the hydraulic sensor detection values ​​is consistent and the difference in detection values ​​of each hydraulic sensor.