Plugging device for pressure-resistant test of pressure vessel

Abstract

The invention relates to the technical field of pressure test, and provides a plugging device for pressure vessel pressure test, which comprises a mechanical arm arranged on one side of a test station, and a grabbing mechanism is arranged at the moving end of the mechanical arm; the plugging assembly comprises a sealing plate and a clamping assembly arranged on the sealing plate, the clamping assembly comprises a clamping head movably arranged in the circumferential direction of the sealing plate, and after the grabbing mechanism grabs the sealing plate and gets close to the pipe opening of the pressure container, the clamping head can be matched with the sealing plate to clamp a pipe opening flange of the pressure container so as to seal the pipe opening of the pressure container. According to the plugging device for the pressure vessel pressure resistance test, the grabbing mechanism is arranged on the lower end face of the movable end to cooperate with the plugging assembly to act, rapid plugging of the pipe opening is achieved, and the technical problem that in the prior art, when the pressure vessel is subjected to the pressure resistance test, the installation efficiency of a blind plate is low is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pressure test, in particular to a plugging device for pressure test of pressure vessel. BACKGROUND

[0002] The pressure vessel needs to be tested after production, and the current pressure test is usually carried out by using water as the medium. The test pressure is higher than the normal working pressure, and the test is used to check whether there are potential cracks, deformation or weak points in the container material, weld and structure. The pressure vessel usually includes a plurality of pipe openings which are connected with the external pipeline and the inside of the container. During the test, the pipe openings are usually plugged by blind plates, one of which is provided with a water inlet pipe. After all the blind plates are installed, the water inlet pipe is connected with the water injection and pressure equipment to inject water and maintain pressure, and the condition of the pressure vessel is observed to achieve the purpose of pressure test.

[0003] Since a plurality of flange connection holes are arranged circumferentially on the pipe opening, the blind plate is usually installed on the pipe opening by bolts. During the pressure test, the number of bolts to be tightened is proportional to the number of pipe openings. For the pressure vessel with a large number of pipe openings, the tester usually needs to spend a lot of time tightening the bolts. Although the bolts can be tightened by using electric tools, the distribution positions of each pipe opening are different, and especially for the large-diameter pressure vessel pipe openings, the distribution positions may be at a high position. Even if the tester uses electric tools, the installation efficiency of the blind plate is still low. SUMMARY

[0004] To overcome the above defects, the embodiments of the present application provide a plugging device for pressure test of pressure vessel, which solves the technical problem of low installation efficiency of the blind plate during the pressure test of the pressure vessel in the related art.

[0005] According to one aspect, at least one embodiment of the present application provides a plugging device for pressure test of pressure vessel, comprising: a test station for carrying the pressure vessel; a plugging assembly, the plugging assembly comprising a sealing plate and a plurality of clamping assemblies distributed circumferentially along the sealing plate, the clamping assembly comprising a clamping head movably arranged circumferentially on the sealing plate, the clamping head being capable of cooperating with the sealing plate to clamp the flange of the pipe opening of the pressure vessel to seal the pipe opening of the pressure vessel; a mechanical arm located on one side of the test station, the moving end of the mechanical arm being connected with a grabbing mechanism for grabbing the plugging assembly, and the plugging assembly being moved to the pipe opening of the pressure vessel by the grabbing mechanism.

[0006] For example, in the plugging device for pressure test of pressure vessel provided by at least one embodiment of the present application, the clamping assembly comprises: a fixing frame arranged on the peripheral wall of the sealing plate; A limiting member is arranged on the fixing frame and slides along the radial direction of the sealing plate, and the clamping head is arranged on the limiting member and slides; A first telescopic member is connected to the fixing frame and the limiting member respectively at two ends thereof, and is used to drive the limiting member to move along the radial direction of the sealing plate; A second telescopic member is arranged on the limiting member and the clamping head respectively at two ends thereof, and is used to drive the clamping head to move along the direction perpendicular to the sealing plate.

[0007] For example, in the sealing device for pressure test of a pressure container provided by at least one embodiment of the present application, the first telescopic member and the second telescopic member are compression springs, the first telescopic member is used to elastically push the limiting member so that the limiting member slides towards the sealing plate, and the second telescopic member is used to elastically push the clamping head so that the clamping head is disengaged from the end of the pipe opening. The clamping assembly further comprises an adjusting plate and a driving assembly, the adjusting plate is arranged on the sealing plate in a rotatable manner, an upper end surface of the adjusting plate is provided with an adjusting block, an upper end of the adjusting block is provided with a first pushing surface which extends obliquely, the first pushing surface is used to abut against the sliding part of the clamping head, an outer side wall of the adjusting block is provided with a second pushing surface which is used to abut against the limiting member, the second pushing surface gradually protrudes towards one side away from the center of the sealing plate, and the driving assembly triggers the first telescopic member and the second telescopic member by driving the adjusting plate to rotate so that the clamping head is engaged with the end of the pipe opening.

[0008] For example, in the sealing device for pressure test of a pressure container provided by at least one embodiment of the present application, the driving assembly comprises a rotating driving member arranged on the moving end and a triggering assembly used to transmissionally connect the rotating driving member and the adjusting plate, the triggering assembly comprises a connecting nut arranged coaxially on the sealing plate and a driving head arranged on the output end of the rotating driving member, and the driving head is used to cooperate with the connecting nut to drive the connecting nut to rotate.

[0009] For example, in the sealing device for pressure test of a pressure container provided by at least one embodiment of the present application, the triggering assembly further comprises a driving sleeve, an outer side wall of the connecting nut is provided with a sliding groove which extends in the circumferential direction, the driving sleeve is sleeved on the outer side of the connecting nut and is inserted with a limiting rod which is in sliding connection with the sliding groove, and the driving head is inserted with the driving sleeve.

[0010] For example, in the sealing device for pressure test of a pressure container provided by at least one embodiment of the present application, the sealing device further comprises a tensioning assembly, the tensioning assembly is used to abut against the inner wall of the pipe opening, and the tensioning assembly comprises: A fixing sleeve is arranged on the sealing plate; a compression sleeve arranged at an end of the fixing sleeve; a pulling member movably arranged in the fixing sleeve and the compression sleeve, the pulling member having a pulling ring abutting against the end of the compression sleeve, the pulling member being configured to compress the compression sleeve by moving the pulling ring upward to abut the compression sleeve against the inner wall of the nozzle.

[0011] For example, the compression sleeve comprises a flexible sleeve connected with the fixing sleeve and a pulling part connected with the flexible sleeve, the flexible sleeve is used to abut against the inner wall of the nozzle, the expansion assembly further comprises a supporting member arranged in the flexible sleeve, the supporting member comprises: a plurality of folding members arranged in the flexible sleeve in a circumferential direction; an air bag arranged in the flexible sleeve and located inside the circumference of the plurality of folding members, the pulling part is used to press the air bag to expand the flexible sleeve to the side away from the center of the flexible sleeve through the folding members.

[0012] For example, the pulling member comprises: a pulling rod movably arranged in the fixing sleeve and connected with the compression sleeve, the pulling ring is arranged at an end of the pulling rod, the upper end of the pulling rod is threadedly connected with the adjusting plate to drive the compression sleeve to move towards the fixing sleeve.

[0013] For example, the pulling rod is provided with a through liquid inlet channel, and a plug is threadedly connected to the top of the liquid inlet channel.

[0014] For example, the pulling rod is provided with a through liquid inlet channel, and a plug is threadedly connected to the top of the liquid inlet channel. a mounting cover arranged at the moving end; a plurality of clamping jaws arranged on the mounting cover in a circumferential direction in a sliding manner, the clamping jaws are provided with guide rods; a limiting disc rotatably arranged in the mounting cover, the limiting disc is provided with a plurality of arc-shaped grooves, the number of the arc-shaped grooves corresponds to the number of the clamping jaws, the guide rods are slidably arranged in the arc-shaped grooves, the limiting disc can drive the plurality of clamping jaws to approach and clamp the sealing plate by rotating.

[0015] The present application has the following advantages: In the application, the lower end surface of the moving end of the mechanical arm is provided with a grabbing mechanism. After the grabbing mechanism grabs the sealing plate, the mechanical arm drives the sealing assembly to move to the pipe opening of the pressure container that needs to be sealed. The plurality of clamping assemblies are distributed along the circumference of the sealing plate. The clamping head of the clamping assembly moves to the side close to the center of the sealing plate. The clamping head and the sealing plate are matched to clamp the pipe opening flange of the pressure container. The plurality of clamping heads replace the connecting bolts between the sealing plate and the pipe opening end, thereby improving the efficiency during installation of the sealing plate. When the sealing plate needs to be removed, the clamping head is reversely moved to release the clamping between the sealing plate and the pipe opening, thereby facilitating operation. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some example embodiments of the present application. Other drawings can be obtained according to the contents of the example embodiments of the present application and the drawings by those skilled in the art without any creative effort.

[0017] Figure 1 FIG. 1 is a schematic diagram of the overall structure of the sealing device for pressure container pressure test in an embodiment of the present application; Figure 2 FIG. 2 is an enlarged structural schematic diagram of A in FIG. 1; Figure 1 Figure 3 FIG. 3 is a structural schematic diagram of the sealing assembly in an embodiment of the present application; Figure 1 Figure 4 FIG. 4 is a structural schematic diagram of the clamping assembly in an embodiment of the present application; Figure 1 Figure 5 FIG. 5 is a structural schematic diagram of the cooperation of the clamping assembly and the adjusting block in an embodiment of the present application; Figure 1 Figure 6 FIG. 6 is an enlarged structural schematic diagram of B in FIG. 1; Figure 3 Figure 7 FIG. 7 is a structural schematic diagram of the cooperation of the sealing assembly and the pipe opening in an embodiment of the present application; Figure 1 Figure 8 FIG. 8 is a top view structural schematic diagram of the sealing assembly in an embodiment of the present application; Figure 1 Figure 9 FIG. 9 is a sectional view structural schematic diagram of the sealing assembly and the tensioning assembly in an embodiment of the present application; Figure 1 Figure 10 FIG. 10 is an enlarged structural schematic diagram of C in FIG. 1; Figure 9 Figure 11 FIG. 11 is a structural schematic diagram of the sealing device for pressure container pressure test in another embodiment of the present application;​​​​​​​​​Figure 1 Structure diagram of the blocking assembly and the tightening assembly in the embodiment of the present application; Figure 12 The present application is Figure 1 Structure diagram of the gripping mechanism in the embodiment of the present application.

[0018] In the figure: 100, mechanical arm; 200, mobile end; 300, triggering assembly; 310, driving sleeve; 311, limiting rod; 320, driving head; 330, rotating driving piece; 400, gripping mechanism; 410, mounting cover; 420, clamping jaw; 430, limiting disc; 500, blocking assembly; 510, blocking plate; 520, clamping assembly; 521, clamping head; 522, fixing frame; 523, limiting piece; 524, first telescopic piece; 525, second telescopic piece; 526, adjusting plate; 527, adjusting block; 5271, first pushing surface; 5272, second pushing surface; 530, connecting nut; 531, sliding groove; 600, tightening assembly; 610, fixing sleeve; 620, compression sleeve; 621, flexible sleeve; 622, pulling part; 630, pulling piece; 631, pulling ring; 632, pulling rod; 633, liquid inlet channel; 634, plug; 640, supporting piece; 641, folding piece; 642, air bag. DETAILED DESCRIPTION

[0019] The present application will be further described below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

[0020] In order to make the drawing simple, only the parts related to the present application are shown in each figure, which does not represent the actual structure of the product. In addition, in order to make the drawing simple and easy to understand, in some figures, only one of the parts with the same structure or function is shown, or only one of them is marked. In this text, “one” not only means “only one”, but also means “more than one”, and “several” includes “two” and “more than two”.

[0021] In this text, it is necessary to point out that, unless otherwise explicitly specified and limited, the terms “mounting”, “connection” and “connection” should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the connection inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0022] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature is "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The first feature is "under", "below" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.

[0023] In the description of the present embodiment, the terms "upper", "lower", "left", "right" and the like orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0024] In addition, in the description of the present application, the terms "first", "second" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0025] As Figure 1 shown, it shows a plugging device for pressure test of pressure vessel in an embodiment of the present application, which includes a mechanical arm 100, a grabbing mechanism 400 and a plugging assembly 500. Wherein, the mechanical arm 100 includes a fixed base and a plurality of rotating arms, the fixed base can be fixed to a predetermined position outside the pressure vessel, the plurality of rotating arms are rotatably connected with each other, one end of the plurality of rotating arms is rotatably connected with the fixed base, and the other end is a moving end 200, the coordinated action of the plurality of rotating arms can drive the moving end 200 to move circumferentially around a test station where the pressure vessel is placed, so as to ensure that the moving end 200 can cover all positions of the pipe openings of the pressure vessel. The lower end surface of the moving end 200 is provided with the grabbing mechanism 400, the grabbing mechanism 400 includes a plurality of clamping jaws 420 distributed in the circumferential direction, each clamping jaw 420 can move to approach or move away from each other, and the plurality of clamping jaws 420 can grab the sealing plate 510 of the plugging assembly 500 after approaching each other. Figure 2 As shown, the triggering assembly 300 penetrates the center of the grabbing mechanism 400, so that after the grabbing mechanism 400 grabs the sealing plate 510, the triggering assembly 300 can trigger the clamping assembly 520, and then the clamping head 521 of the clamping assembly 520 is clamped with the end of the pipe opening.

[0026] Wherein, referring to Figures 3-5 , Figure 7The plugging assembly 500 comprises a sealing plate 510 and a clamping assembly 520. The sealing plate 510 is disc-shaped. One side end surface of the sealing plate 510 can be completely attached to an end surface of the pipe mouth. The side end surface can be provided with a sealing groove. The sealing groove continuously extends along the circumference of the sealing plate 510 and has a rectangular or trapezoidal cross section. A sealing element can be embedded in the sealing groove. The thickness of the sealing element is slightly greater than the depth of the sealing groove, so that the sealing element can be compressed when attached.

[0027] The clamping assembly 520 comprises a fixing frame 522, a limiting element 523, a first telescopic element 524 and a second telescopic element 525. The fixing frame 522 is fixed to the peripheral wall of the sealing plate 510 and can be integrally formed with the sealing plate 510 or fixedly installed on the sealing plate 510 by welding. The fixing frame 522 is provided with a limiting slide channel extending radially along the sealing plate 510. The limiting element 523 is a rectangular block and is slidingly arranged in the limiting slide channel. The side of the limiting element 523 close to the sealing plate 510 is provided with a slide channel perpendicular to the end surface of the sealing plate 510. One end of the clamping head 521 is slidingly embedded in the slide channel, and the other end is hook-shaped and extends out of the slide channel. The two ends of the first telescopic element 524 act on the limiting element 523 and the fixing frame 522, respectively, so as to make the limiting element 523 slide radially along the sealing plate 510. The two ends of the second telescopic element 525 act on the limiting element 523 and the clamping head 521, respectively, so as to make the clamping head 521 move along the slide channel. In this embodiment, the first telescopic element 524 and the second telescopic element 525 can be driving elements capable of active extension and contraction, such as micro pneumatic cylinders. The trigger assembly 300 can be a pressure sensor. The detection end of the pressure sensor penetrates the center of the grabbing mechanism 400 and can be connected with the telescopic elements, so that the pressure sensor can be close to or away from the sealing plate 510. After the moving end 200 of the mechanical arm 100 drives the grabbing mechanism 400 to grab the sealing plate 510 and press it against the pipe mouth, the telescopic elements drive the pressure sensor to move and approach the sealing plate 510, the position of the sealing plate 510 is confirmed, and then instructions are sent to the first telescopic element 524 and the second telescopic element 525, so that the limiting element 523 and the clamping head 521 are driven to move, respectively, so that the clamping head 521 is clamped on the end of the pipe mouth, and the fixing of the sealing plate 510 and the end of the pipe mouth is completed.

[0028] Further, in order to facilitate the simultaneous control of the action of multiple card joints 521 and reduce the use of active driving members, the first telescopic member 524 and the second telescopic member 525 can be replaced by compression springs from the active telescopic driving member. One end of the first telescopic member 524 is connected to the inner side wall of the fixed frame 522, and the other end is connected to the side of the limiting member 523 away from the sealing plate 510. In the natural state, the first telescopic member 524 pushes the limiting member 523 to move towards the sealing plate 510, so that the limiting member 523 is in close contact with the inner side wall of the fixed frame 522 on the side close to the sealing plate 510. One end of the second telescopic member 525 is connected to the limiting member 523, and the other end is connected to the upper end of the card joint 521. In the natural state, the second telescopic member 525 pushes the card joint 521 to move, so that the hook-shaped end of the card joint 521 is in close contact with the side wall of the limiting member 523. Referring to Figure 7The adjusting plate 526 is a circular plate and is rotationally arranged on the sealing plate 510 and can rotate under the driving of the driving assembly. The adjusting block 527 is a special-shaped block, the number of which is consistent with that of the clamping assembly 520, and the adjusting block 527 is distributed along the circumferential direction of the upper end surface of the adjusting plate 526. The upper end surface of the adjusting block 527 is a first pushing surface 5271, which is inclined away from the sealing plate 510 from bottom to top. The clamping head 521 is provided with a support block at one end of the slide rail. The first pushing surface 5271 is used to abut against the support block. With the rotation of the adjusting block 527, the first pushing surface 5271 can gradually push the support block to slide upward, so that the clamping head 521 abuts against the end of the pipe opening. The outer side wall of the adjusting block 527 is a second pushing surface 5272, which gradually protrudes away from the center of the sealing plate 510 along the circumferential direction of the adjusting block 527. The second pushing surface 5272 is used to abut against the side of the limiting piece 523 close to the sealing plate 510. When the sealing assembly 500 does not abut against the pipe opening, the limiting piece 523 is away from the sealing plate 510 under the action of the second pushing surface 5272. With the rotation of the adjusting block 527, the limiting piece 523 gradually contacts the side of the second pushing surface 5272 close to the center of the sealing plate 510, so that the limiting piece 523 can slide to the side close to the sealing plate 510. In the process of rotation of the adjusting plate 526, the clamping head 521 gradually approaches the sealing plate 510 and abuts against the end of the pipe opening under the joint action of the first pushing surface 5271 and the second pushing surface 5272, so as to realize the clamping of the sealing plate 510 and the pipe opening. In cooperation therewith, the trigger assembly 300 can selectively rotate the driving member 330, drive the adjusting plate 526 to rotate through the rotation of the trigger assembly 300, and the adjusting block 527 on the adjusting plate 526 also rotates. In the process of rotation of the adjusting block 527, the side of the second pushing surface 5272 of the adjusting block 527 close to the center of the sealing plate 510 gradually contacts the limiting piece 523, so that the limiting piece 523 moves to the side close to the sealing plate 510 under the elastic pushing of the first elastic member 524, and the clamping head 521 gradually moves to the side of the end of the pipe opening away from the sealing plate 510. At the same time, the first pushing surface 5271 of the adjusting block 527 extrudes the support block on the upper end of the clamping head 521, overcomes the elastic pushing of the second elastic member 525, and makes the clamping head 521 move to the side close to the sealing plate 510 along the slide rail, so as to finally make the clamping head 521 clamped with the end of the pipe opening. If the clamping is to be cancelled, the adjusting plate 526 is counterclockwise rotated under the driving of the motor, the clamping head 521 moves reversely under the action of the second elastic member 525, and the second pushing surface 5272 pushes the limiting piece 523 to overcome the elasticity of the first elastic member 524, so that the limiting piece 523 is away from the sealing plate 510. Thus, the clamping head 521 and the end of the pipe opening are disengaged.

[0029] In the embodiment, the elastic cooperation of the first telescopic part 524 and the second telescopic part 525 adjusts the action of the adjusting plate 526 and the adjusting block 527, so that the movement of the limiting part 523 and the clamping head 521 is realized, without the need of additionally setting a reset driving structure, so that the overall structure of the clamping assembly 520 is simplified; the first pushing surface 5271 and the second pushing surface 5272 of the adjusting block 527 cooperatively act, the position of the limiting part 523 is first adjusted by the second pushing surface 5272 so that the clamping head 521 is aligned with the pipe opening, and then the clamping head 521 is driven to be clamped by the first pushing surface 5271, so as to avoid the collision between the clamping head 521 and the pipe opening, and improve the clamping accuracy; the driving assembly drives the adjusting plate 526 to rotate by rotating driving, drives all the adjusting blocks 527 to synchronously act, and realizes the synchronous clamping and resetting of multiple clamping assemblies 520, compared with a single driving clamping assembly 520, further improves the plugging efficiency, at the same time, ensures that the forces of the clamping assemblies 520 are balanced, avoids the local force deformation of the sealing plate 510, and enhances the plugging sealing performance.

[0030] Further, referring to Figure 2 、 Figure 6 , the driving assembly includes a rotating driving part 330 arranged on the mobile end 200 and a trigger assembly 300 for drivingly connecting the rotating driving part 330 and the adjusting plate 526, the trigger assembly 300 includes a connecting nut 530 coaxially fixed on the upper end surface of the adjusting plate 526 and a driving head 320 arranged on the output end of the rotating driving part 330, and the driving head 320 is used for plug-in connection with the connecting nut 530. After the plug-in connection of the driving head 320 and the connecting nut 530, the adjusting plate 526 can be driven to rotate by the rotating driving part 330. An annular sliding groove 531 extending in the circumferential direction is arranged on the outer side wall of the connecting nut 530. The trigger assembly 300 further includes a driving sleeve 310, which is an annular cylinder coaxially sleeved on the outer side of the connecting nut 530, a limiting rod 311 is plug-in connected to the side wall of the driving sleeve 310, the limiting rod 311 is slidingly embedded in the sliding groove 531, so as to realize the circumferential synchronous rotation and axial relative sliding of the driving sleeve 310 and the connecting nut 530, and at the same time, the connecting nut 530 and the driving sleeve 310 can have a relative rotation allowance. The outer side wall of the driving sleeve 310 is surrounded to form a polygon. The rotating driving part 330 can be a servo motor fixed to the lower end surface of the mobile end 200, the output shaft is fixedly connected with the driving head 320, the inner cavity of the driving head 320 is a polygonal cylindrical space matched with the outer side wall of the driving sleeve 310, and when the mobile end 200 with the grabbing mechanism 400 grabs the sealing plate 510, the driving sleeve 310 can be plug-in connected in the driving head 320.

[0031] When the gripping mechanism 400 grips the sealing plate 510, the mobile terminal 200 moves downward, and the sleeve 310 is inserted into the driving head 320; when the sealing plate 510 is pressed against the pipe opening, the rotating driving member 330 drives the driving head 320 to rotate, and the sleeve 310 rotates synchronously with the driving head 320. When the sleeve 310 rotates, the limiting rod 311 can slide in the sliding groove 531 of the connecting nut 530, thereby leaving a rotation allowance between the sleeve 310 and the connecting nut 530.

[0032] Further, referring to Figures 8-9 、 Figure 11 , in order to increase the sealing performance of the sealing plate 510 when sealing the pipe opening, a tensioning assembly 600 is additionally arranged at the end of the sealing plate 510 away from the adjusting plate 526, and the tensioning assembly 600 comprises a fixed sleeve 610, a compression sleeve 620 and a lifting member 630. The fixed sleeve 610 is a cylindrical sleeve structure and is coaxially fixed to the end surface of the sealing plate 510 away from the adjusting plate 526. The compression sleeve 620 comprises a flexible sleeve 621 and a lifting part 622, and the flexible sleeve 621 is a cylindrical sleeve made of rubber and is fixedly installed at one end of the fixed sleeve 610 away from the sealing plate 510. The other end of the flexible sleeve 621 is connected to the lifting part 622. In order to facilitate the insertion of the tensioning assembly 600 into the pipe opening, the lifting part 622 is a frustum, and the large end of the lifting part 622 is connected to the flexible sleeve 621. The lifting member 630 penetrates through the fixed sleeve 610 and the compression sleeve 620, and the lower end of the lifting member 630 is provided with a lifting ring 631 abutting against the end of the lifting part 622. By lifting the lifting member 630 upward, the lifting ring 631 lifts the lifting part 622 upward. At this time, because the sealing plate 510 is pressed against the pipe opening by the mechanical arm 100, the height of the flexible sleeve 621 of the compression sleeve 620 is compressed, and the cross-sectional area is increased, so that the outer wall of the flexible sleeve 621 abuts against the inner wall of the pipe opening. Through the double sealing effect of the sealing plate 510 and the tensioning assembly 600, the sealing performance during pressure test is improved.

[0033] Further, as Figure 9 、 Figure 10As shown, in order to increase the stability of the flexible sleeve 621 when it is inflated to tighten the inner wall of the pipe mouth, a support member 640 is also arranged in the flexible sleeve 621, which includes a plurality of folding members 641 and an air bag 642. The folding members 641 are uniformly distributed along the inner wall of the flexible sleeve 621. The folding members 641 can be deformable U-shaped metal sheets, one end of which is hingedly fixed to the end of the fixed sleeve 610, and the other end is hingedly fixed to the end of the pulling part 622. The folding members 641 can also be a linkage assembly, which includes two hinged seats, two inclined linkages and a support rod. The two hinged seats are arranged on opposite sides of the fixed sleeve 610 and the pulling part 622, respectively, and are hingedly connected to one of the inclined linkages. The other ends of the two inclined linkages are hingedly connected to the two ends of the support rod. The air bag 642 is an annular rubber bag, which is coaxially sleeved on the inside of the folding member 641. One end of the air bag 642 is connected to the end of the fixed sleeve 610, and the other end is connected to the inside wall of the pulling part 622. The flexible sleeve 621 is wrapped on the outside of the folding member 641.

[0034] The pulling member 630 includes a pulling rod 632 and a pulling ring 631. The pulling rod 632 is a cylindrical rod, and an outer thread is arranged on the outside of the upper end of the pulling rod 632 and is screwed with the adjusting plate 526. The pulling rod 632 can also be directly screwed with the connecting nut 530. The pulling rod 632 penetrates the fixed sleeve 610 and the compression sleeve 620 and is in sliding connection with the fixed sleeve 610. The lower end of the pulling rod 632 extends out of the pulling part 622 and is fixed with the pulling ring 631. The upper end surface of the pulling ring 631 is in contact with the lower end surface of the pulling part 622. An axial through liquid inlet channel 633 is arranged in the pulling rod 632. The upper end opening of the liquid inlet channel 633 is located above the adjusting plate 526, and a threaded plug 634 is screwed thereon. The lower end opening of the liquid inlet channel 633 is located below the pulling ring 631 and is in communication with the inside of the pressure vessel.

[0035] In the present embodiment, when the pipe opening is sealed, the sealing plate 510 is attached to the end face of the pipe opening, and the clamping assembly 520 is clamped, at this time, the sealing plate 510 is gripped and pressed tightly on the end of the pipe opening by the gripping mechanism 400, so that the fixing sleeve 610 is also fixed together with the sealing plate 510, at this time, the fixing sleeve 610 and the compression sleeve 620 have been inserted into the pipe opening, with the rotation of the adjusting plate 526, the lifting rod 632 moves upward along the fixing sleeve 610, the lifting ring 631 pulls the lifting part 622 to move upward, the flexible sleeve 621 of the compression sleeve 620 is extruded and shrunk, at the same time, the lifting part 622 extrudes the air bag 642, the air bag 642 expands and pushes the folding piece 641 outward, the folding piece 641 extrudes the inner wall of the flexible sleeve 621 outward, so that the flexible sleeve 621 is tightly abutted with the inner wall of the pipe opening, and the tight sealing is realized. When the pressure test is carried out, the plug 634 of one of the plugging assemblies 500 is unscrewed, the water pipe of the pressure test equipment is connected with the upper end opening of the liquid inlet channel 633, water is injected into the pressure container and the pressure is maintained; after the test is completed, the adjusting plate 526 is reversely rotated, the lifting rod 632 moves downward, the air bag 642 is no longer extruded by the lifting part 622, the force between the folding piece 641 and the flexible sleeve 621 gradually decreases, so that the flexible sleeve 621 is separated from the inner wall of the pipe opening and the sealing is released.

[0036] In the process of abutting the driving sleeve 310 and the driving head 320, even if the position of the abutment is skewed, in the process of rotating the driving member 330 to align, due to the rotation allowance between the driving sleeve 310 and the connecting nut 530, the slight rotation of the driving sleeve 310 will not drive the connecting nut 530 to rotate, and then the clamping assembly 520 and the lifting rod 632 are still in the initial state, which does not affect the work of the plugging assembly 500. After the driving head 320 and the driving sleeve 310 are inserted, the adjusting plate 526 can be rotated by rotating the driving member 330, and then the clamping assembly 520 and the lifting rod 632 work, so that the clamping head 521 of the clamping assembly 520 abuts the end of the pipe opening at the same time, the lifting rod 632 moves upward, and the flexible sleeve 621 is in the state of tightening the inner wall of the pipe opening, realizing the double sealing during plugging; when the clamping is cancelled, the driving member 330 is reversely rotated, the driving sleeve 310 drives the connecting nut 530 to rotate and reset, at this time, the clamping assembly 520 is no longer clamped to the end of the pipe opening, the flexible sleeve 621 is no longer extruded to the inner wall of the pipe opening, and the moving end 200 moves upward, the gripping mechanism 400 drives the sealing plate 510 to move away from the pipe opening.

[0037] The tightening assembly 600 and the clamping assembly 520 form a double fixed sealing structure of "end face clamping plus inner wall tightening", which greatly improves the sealing reliability compared with single clamping, especially suitable for high pressure test, avoiding the sealing plate 510 from being separated from the pipe opening due to pressure effect; the deformability of the flexible sleeve 621 can adapt to different inner diameters of the pipe opening, the folding piece 641 enhances the support strength of the flexible sleeve 621, prevents the flexible sleeve 621 from being deformed too much, the inflation force of the air bag 642 is uniformly transmitted to the folding piece 641, ensuring that the flexible sleeve 621 is uniformly attached to the inner wall of the pipe opening, and improving the sealing effect; the liquid inlet channel 633 is integrated in the lifting rod 632, without the need to additionally open a water inlet hole in the sealing plate 510, simplifying the structure of the sealing assembly 500, shortening the water pipe connection path, reducing the preparation time before water injection, and improving the test efficiency.

[0038] Further, as shown in Figure 12 The mounting cover 410 is a cylindrical shell fixed to the lower end face of the moving end 200, and a plurality of radial guide slides are formed on the lower end face of the mounting cover 410. The clamping jaw 420 is an L-shaped plate, and the number of the clamping jaw 420 is consistent with the number of the guide slides. The horizontal section of the clamping jaw 420 is slidingly embedded in the guide slide, and the lower end of the clamping jaw 420 extends out of the mounting cover 410. The inner side wall of the clamping jaw 420 is provided with anti-slip convex patterns. The upper end face of the clamping jaw 420 is vertically fixed with a guide rod, and the guide rod is a cylindrical shape. The limiting disc 430 is a circular plate rotationally connected to the inside of the mounting cover 410. The limiting disc 430 is provided with a plurality of arc-shaped grooves consistent with the number of the clamping jaw 420. The arc-shaped grooves extend outward from the center of the limiting disc 430 and are inclined in the same direction. The end of the guide rod away from the clamping jaw 420 is slidingly embedded in the arc-shaped groove. The upper end face of the mounting cover 410 is fixed with a driving motor, and the output shaft of the driving motor penetrates the mounting cover 410 and is in transmission connection with the limiting disc 430. The limiting disc 430 can be rotated by the driving motor.

[0039] In this embodiment, when the sealing plate 510 needs to be grabbed, the mobile end 200 drives the mounting cover 410 to move above the sealing plate 510, the driving motor drives the limiting disc 430 to rotate, the arc-shaped groove drives the clamping jaw 420 to move along the clamping jaw 420 slide towards the center of the sealing plate 510 through the guide rod, the inner side wall of the clamping jaw 420 is attached to the outer periphery of the sealing plate 510, and the grabbing is realized; the driving motor drives the limiting disc 430 to rotate in the opposite direction, the arc-shaped groove drives the clamping jaw 420 to move away from the center of the sealing plate 510 through the guide rod, and the clamping jaw 420 is separated from the sealing plate 510, so that the plugging assembly 500 can be returned to the original position. The plurality of clamping jaws 420 are evenly distributed in the circumferential direction and are synchronously driven by the arc-shaped groove of the limiting disc 430, so that the clamping force of the clamping jaw 420 on the sealing plate 510 is uniform when the clamping jaw 420 is grabbed, and the sealing plate 510 is prevented from being offset or deformed; the inclined structure of the arc-shaped groove converts the rotary motion of the limiting disc 430 into the radial sliding of the clamping jaw 420, the transmission is stable, compared with the plurality of independently driven clamping jaws 420, the structure of the grabbing mechanism 400 is simplified, and the failure rate is reduced.

[0040] The plugging device for pressure test of a pressure vessel provided by the application comprises the following steps in use: S1, placing: placing a plurality of plugging assemblies 500 on the workstations within the action range of the mechanical arm 100; S2, grabbing: moving the mobile end 200 of the mechanical arm 100 to drive the grabbing mechanism 400 to move and grab the corresponding plugging assembly 500 to the pipe opening of the pressure vessel; S3, sealing: the mobile end 200 drives the grabbing mechanism 400 to press down and press the sealing plate 510 tightly at the pipe opening, the trigger assembly 300 triggers the clamping assembly 520, and the clamping joint 521 abuts against the end of the pipe opening to fix the sealing plate 510 at the pipe opening; S4, pressure test: repeating the above steps S2 to S3, the pipe openings of the pressure vessel are all plugged, the pressure vessel is connected with the water pipe on the pressure equipment, and water is injected into the pressure vessel to perform the pressure test.

[0041] In this embodiment, a plurality of plugging assemblies 500 are placed within the range of motion of the mechanical arm 100. The rotating arm drives the moving end 200 to move above the plugging assembly 500. The clamping jaw 420 of the mounting cover 410 is aligned with the outer periphery of the sealing plate 510. The drive motor drives the limiting disc 430 to rotate. The clamping jaw 420 is close to and grabs the sealing plate 510 along the sliding way of the clamping jaw 420. The moving end 200 moves and drives the plugging assembly 500 to move to the pipe opening to be plugged. The position of the moving end 200 is adjusted so that the sealing plate 510 is attached to the end face of the pipe opening. The trigger assembly 300 is started, the adjusting plate 526 is driven to rotate, the clamping joint 521 of the clamping assembly 520 is clamped with the end of the pipe opening, the lifting rod 632 is also synchronously lifted, the lifting part 622 extrudes the air bag 642, the folding part 641 pushes the flexible sleeve 621 to abut against the inner wall of the pipe opening, and the tight sealing is completed. The above steps are repeated to complete the plugging of all pipe openings. The plug 634 of one of the plugging assemblies 500 is unscrewed, the water pipe of the pressure equipment is connected with the liquid inlet channel 633, water is injected into the pressure vessel, the water inlet valve is closed after the pressure vessel is filled, the pressure equipment is started to increase the pressure to the test pressure, the pressure is maintained and the pressure vessel is observed. After the test is completed, the pressure is released, then the plugging assembly 500 is grabbed by the grabbing mechanism 400, and the trigger assembly 300 is started. The adjusting plate 526 is reversely rotated to release the tightness, the clamping assembly 520 is released, the plugging assembly 500 is loosened by the grabbing mechanism 400, and the test is completed. It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit it. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application, which should be covered in the scope of the claims of the present application.

Claims

1. A plugging device for pressure test of a pressure vessel, characterized in that The utility model relates to a pressure container sealing test device, comprising: a test station for carrying a pressure container; a sealing assembly (500) comprising a sealing plate (510) and a plurality of clamping assemblies (520) distributed circumferentially along the sealing plate (510), each clamping assembly (520) comprising a clamping head (521) movably arranged circumferentially along the sealing plate (510), the clamping head (521) being capable of cooperating with the sealing plate (510) to clamp a pipe flange of the pressure container to seal a pipe opening of the pressure container; a robot (100) located on one side of the test station, a movable end (200) of the robot (100) being connected with a grabbing mechanism (400) for grabbing the sealing assembly (500) and moving the sealing assembly (500) to the pipe opening of the pressure container through the grabbing mechanism (400).

2. The plugging device for pressure test of a pressure vessel according to claim 1, characterized in that, The clamping assembly (520) comprises: a fixing frame (522) arranged on a peripheral wall of the sealing plate (510); a limiting piece (523) slidably arranged on the fixing frame (522) along a radial direction of the sealing plate (510), the clamping head (521) being slidably arranged on the limiting piece (523); a first telescopic piece (524) having two ends respectively connected with the fixing frame (522) and the limiting piece (523) to drive the limiting piece (523) to move along the radial direction of the sealing plate (510); a second telescopic piece (525) having two ends respectively arranged on the limiting piece (523) and the clamping head (521) to drive the clamping head (521) to move along a direction perpendicular to the sealing plate (510).

3. The plugging device for pressure test of a pressure vessel according to claim 2, characterized in that The first telescopic piece (524) and the second telescopic piece (525) are both compression springs, the first telescopic piece (524) being used to elastically push the limiting piece (523) to make the limiting piece (523) slide towards the sealing plate (510), and the second telescopic piece (525) being used to elastically push the clamping head (521) to cancel the clamping of the clamping head (521) with the end of the pipe opening; The clamping assembly (520) further comprises an adjusting plate (526) and a driving assembly, the adjusting plate (526) being rotatably arranged on the sealing plate (510), an upper end surface of the adjusting plate (526) being provided with an adjusting block (527), an upper end of the adjusting block (527) having a first pushing surface (5271) extending obliquely, the first pushing surface (5271) being used to abut against a sliding part of the clamping head (521), an outer side wall of the adjusting block (527) having a second pushing surface (5272) used to abut against the limiting piece (523), the second pushing surface (5272) gradually protruding towards a side away from the center of the sealing plate (510), and the driving assembly triggering the first telescopic piece (524) and the second telescopic piece (525) to make the clamping head (521) clamp the end of the pipe opening by driving the adjusting plate (526) to rotate.

4. The plugging device for pressure test of a pressure vessel according to claim 3, characterized in that The driving assembly comprises a rotating driving member (330) arranged at the moving end (200) and a trigger assembly (300) for drivingly connecting the rotating driving member (330) and the adjusting plate (526), the trigger assembly (300) comprises a connecting nut (530) coaxially arranged on the adjusting plate (526) and a driving head (320) arranged at an output end of the rotating driving member (330), the driving head (320) is used for cooperating with the connecting nut (530) to drive the connecting nut (530) to rotate.

5. The plugging device for pressure test of a pressure vessel according to claim 4, characterized in that The trigger assembly (300) further comprises a driving sleeve (310), an outer sidewall of the connecting nut (530) is provided with a sliding groove (531) extending in a circumferential direction, the driving sleeve (310) is sleeved on the outer side of the connecting nut (530) and is inserted with a limiting rod (311) in sliding connection with the sliding groove (531), and the driving head (320) is inserted with the driving sleeve (310).

6. The plugging device for pressure test of a pressure vessel according to claim 3, characterized in that, Further comprising a tensioning assembly (600), the tensioning assembly (600) is used for abutting against the inner wall of the pipe opening, the tensioning assembly (600) comprises: A fixing sleeve (610) arranged on the sealing plate (510); A compression sleeve (620) arranged at an end of the fixing sleeve (610); A lifting member (630) penetrating through the fixing sleeve (610) and the compression sleeve (620), the lifting member (630) has a lifting ring (631) abutting against the end of the compression sleeve (620), and the lifting member (630) is configured to compress the compression sleeve (620) by lifting the lifting ring (631) to make the compression sleeve (620) abut against the inner wall of the pipe opening.

7. The plugging device for pressure test of a pressure vessel according to claim 6, characterized in that The compression sleeve (620) comprises a flexible sleeve (621) connected with the fixing sleeve (610) and a lifting portion (622) connected with the flexible sleeve (621), the flexible sleeve (621) is used for abutting against the inner wall of the pipe opening, and the tensioning assembly (600) further comprises a supporting member (640) arranged in the flexible sleeve (621), the supporting member (640) comprises: A plurality of folding members (641) arranged in the flexible sleeve (621) in a circumferential direction; An air bag (642) arranged in the flexible sleeve (621) and located on an inner side of a circumference where the plurality of folding members (641) are located, and the lifting portion (622) is used for extruding the air bag (642) to tension the flexible sleeve (621) away from the center of the flexible sleeve (621) through the folding members (641).

8. The plugging device for pressure test of a pressure vessel according to claim 6, characterized in that The lifting member (630) comprises: A pulling rod (632) movably penetrates the fixing sleeve (610) and is connected with the compression sleeve (620), a pulling ring (631) is arranged at the end of the pulling rod (632), the upper end of the pulling rod (632) is threadedly connected with the adjusting plate (526) for driving the compression sleeve (620) to move towards the fixing sleeve (610).

9. The plugging device for pressure test of a pressure vessel according to claim 8, characterized in that The pulling rod (632) is provided with a through liquid inlet channel (633), the top of the liquid inlet channel (633) is threadedly connected with a plug (634).

10. The plugging device for pressure test of a pressure vessel according to claim 1, characterized in that, The grabbing mechanism (400) comprises: A mounting cover (410) is arranged on the moving end (200); A plurality of clamping jaws (420) are arranged on the mounting cover (410) in a circumferential sliding mode, and a guide rod is arranged on the clamping jaw (420); A limiting disc (430) is rotationally arranged in the mounting cover (410), a plurality of arc-shaped grooves are arranged on the limiting disc (430), the number of the arc-shaped grooves corresponds to the number of the clamping jaws (420), the guide rod is slidably arranged in the arc-shaped groove, and the limiting disc (430) can drive the plurality of clamping jaws (420) to be close to each other to grab the sealing plate (510) after rotation.

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