A plugging device for pressure test of pressure vessel

Abstract

The present application 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 arranged on the moving end of the mechanical arm; the plugging assembly comprises a sealing plate and a clamping assembly arranged on the sealing plate, and the clamping assembly comprises a clamping head movably arranged on the circumference of the sealing plate; after the sealing plate is grabbed by the grabbing mechanism and is close to the pipe opening of the pressure vessel, the clamping head can be matched with the sealing plate to clamp the pipe opening flange of the pressure vessel, so as to seal the pipe opening of the pressure vessel. The plugging device for pressure vessel pressure test provided by the present application realizes the rapid plugging of the pipe opening by arranging the grabbing mechanism on the lower end face of the moving end and cooperating with the action of the plugging assembly, and solves the technical problem of low installation efficiency of the blind plate when the pressure vessel is subjected to pressure test in the related art.

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 a pressure vessel. BACKGROUND

[0002] The pressure vessel needs to be subjected to pressure test after production, and the pressure test is currently performed by using water as medium, and by applying test pressure higher than normal working pressure to check whether the vessel material, welding seam and structure have potential cracks, deformation or weak points. The pressure vessel usually comprises a plurality of pipe mouths which are connected with external pipelines, and a blind plate is used to plug the pipe mouths during the test, one of the blind plates is provided with a water inlet pipe, and after all the blind plates are installed, the water inlet pipe is connected with a water injection and pressure maintaining device 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 in the circumferential direction of the pipe mouth, the blind plate is usually installed on the pipe mouth by bolts, and the number of bolts to be tightened is proportional to the number of pipe mouths during the pressure test, and for the pressure vessel with a large number of pipe mouths, 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 mouth are different, and especially for the large-diameter pressure vessel pipe mouths, the distribution positions may be at a high position, and 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 a 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 a pressure vessel, comprising:

[0006] a test station for carrying the pressure vessel;

[0007] a plugging assembly, the plugging assembly comprising a sealing plate and a plurality of clamping assemblies distributed in the circumferential direction of the sealing plate, the clamping assembly comprising a clamping head movably arranged in the circumferential direction of the sealing plate, the clamping head being capable of cooperating with the sealing plate to clamp the flange of the pipe mouth of the pressure vessel to seal the pipe mouth of the pressure vessel;

[0008] a mechanical arm located on one side of the test station, a movable end of the mechanical arm being connected with a grabbing mechanism for grabbing the plugging assembly, and the plugging assembly is moved to the pipe mouth of the pressure vessel by the grabbing mechanism.

[0009] For example, the sealing device for pressure test of a pressure container provided by at least one embodiment of the present application comprises a clamping assembly.

[0010] A fixing frame is arranged on the peripheral wall of the sealing plate.

[0011] A limiting member is arranged on the fixing frame in a sliding manner along the radial direction of the sealing plate, and the clamping head is arranged on the limiting member in a sliding manner.

[0012] A first telescopic member is connected to the fixing frame and the limiting member at two ends thereof, and is used to drive the limiting member to move along the radial direction of the sealing plate.

[0013] A second telescopic member is arranged on the limiting member and the clamping head at two ends thereof, and is used to drive the clamping head to move in a direction perpendicular to the sealing plate.

[0014] 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 as to make the limiting member slide towards the sealing plate, and the second telescopic member is used to elastically push the clamping head so as to cancel the clamping of the clamping head and the end of the pipe opening.

[0015] The clamping assembly further comprises an adjusting plate and a driving assembly, the adjusting plate is arranged on the sealing plate in a rotating 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 extending in an inclined manner, the first pushing surface is used to abut against a sliding part of the clamping head, an outer side wall of the adjusting block is provided with a second pushing surface used to abut against the limiting member, the second pushing surface gradually protrudes towards a 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 as to clamp the clamping head and the end of the pipe opening.

[0016] 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 trigger assembly used to transmissionally connect the rotating driving member and the adjusting plate, the trigger assembly comprises a connecting nut arranged on the sealing plate in a coaxial manner and a driving head arranged on an 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.

[0017] For example, the sealing device for pressure test of a pressure container provided by at least one embodiment of the present application comprises a trigger assembly, a sealing plate, a connecting nut, a driving sleeve, a driving head, a driving rod, a driving ring, a compression sleeve, a fixed sleeve, a pulling member, a supporting member, a plurality of folding members, and an air bag.

[0018] For example, the sealing device for pressure test of a pressure container provided by at least one embodiment of the present application further comprises a tensioning assembly, which is used to abut against the inner wall of the pipe opening.

[0019] The fixed sleeve is arranged on the sealing plate.

[0020] The compression sleeve is arranged at the end of the fixed sleeve.

[0021] The pulling member is arranged in the fixed sleeve and the compression sleeve, and the pulling member has a pulling ring which abuts against the end of the compression sleeve.

[0022] For example, the sealing device for pressure test of a pressure container provided by at least one embodiment of the present application comprises a trigger assembly, a sealing plate, a connecting nut, a driving sleeve, a driving head, a driving rod, a driving ring, a compression sleeve, a fixed sleeve, a pulling member, a supporting member, a plurality of folding members, and an air bag.

[0023] The plurality of folding members are arranged in the flexible sleeve in a circumferential direction.

[0024] The air bag is arranged in the flexible sleeve and located inside the circumference of the plurality of folding members, and the pulling part is used to squeeze the air bag to tension the flexible sleeve away from the center of the flexible sleeve through the folding members.

[0025] For example, the sealing device for pressure test of a pressure container provided by at least one embodiment of the present application comprises a trigger assembly, a sealing plate, a connecting nut, a driving sleeve, a driving head, a driving rod, a driving ring, a compression sleeve, a fixed sleeve, a pulling member, a supporting member, a plurality of folding members, and an air bag.

[0026] The pulling rod is movably arranged in the fixed sleeve and connected with the compression sleeve, and the pulling ring is arranged at the end of the pulling rod.

[0027] For example, the sealing device for pressure test of a pressure container provided by at least one embodiment of the present application comprises a trigger assembly, a sealing plate, a connecting nut, a driving sleeve, a driving head, a driving rod, a driving ring, a compression sleeve, a fixed sleeve, a pulling member, a supporting member, a plurality of folding members, and an air bag.

[0028] For example, in a sealing device for pressure vessel pressure resistance testing provided in at least one embodiment of the present invention, the gripping mechanism includes:

[0029] A mounting cover is provided on the mobile end;

[0030] The grippers are multiple and slidably disposed on the mounting cover in a circumferential direction, and the grippers are provided with guide rods;

[0031] A limiting plate is rotatably disposed inside the mounting cover. The limiting plate has multiple arc-shaped grooves, the number of which corresponds to the number of grippers. The guide rod is slidably disposed in the arc-shaped grooves. The limiting plate can rotate to drive the multiple grippers to approach and grab the sealing plate.

[0032] The beneficial effects of this invention are as follows:

[0033] In this invention, a gripping mechanism is provided on the lower end face of the moving end of the robotic arm. After the gripping mechanism grips the sealing plate, the robotic arm drives the sealing assembly to move to the pipe opening of the pressure vessel that needs to be sealed. Multiple clamping components are distributed circumferentially along the sealing plate. The clamping heads of the clamping components move towards the side closer to the center of the sealing plate, clamping the pipe flange of the pressure vessel through the cooperation of the clamping heads and the sealing plate. Multiple clamping heads replace the connecting bolts between the sealing plate and the pipe end, improving the efficiency of sealing plate installation. When it is necessary to remove the sealing plate, the clamping heads can be moved in the opposite direction to release the clamping between the sealing plate and the pipe opening, making the operation convenient. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are merely some exemplary embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the exemplary embodiments of the present invention and these drawings without any creative effort.

[0035] Figure 1 This is a schematic diagram of the overall structure of a sealing device for pressure vessel pressure resistance testing in one embodiment of the present invention;

[0036] Figure 2 for Figure 1 Enlarged structural diagram at point A in the diagram;

[0037] Figure 3 For the present invention Figure 1 A schematic diagram of the sealing component in the embodiment;

[0038] Figure 4 For the present invention Figure 1 A schematic diagram of the snap-fit ​​assembly in the embodiment;

[0039] Figure 5 Structure diagram of the cooperation between the clamping assembly and the adjusting block in the embodiment of the present application Figure 1

[0040] Figure 6 Structure diagram of the cooperation between the clamping assembly and the adjusting block in the embodiment of the present application Figure 3

[0041] Figure 7 Structure diagram of the cooperation between the clamping assembly and the adjusting block in the embodiment of the present application Figure 1

[0042] Figure 8 Structure diagram of the cooperation between the clamping assembly and the adjusting block in the embodiment of the present application Figure 1

[0043] Figure 9 Structure diagram of the cooperation between the clamping assembly and the adjusting block in the embodiment of the present application Figure 1

[0044] Figure 10 Structure diagram of the cooperation between the clamping assembly and the adjusting block in the embodiment of the present application Figure 9

[0045] Figure 11 Structure diagram of the cooperation between the clamping assembly and the adjusting block in the embodiment of the present application Figure 1

[0046] Figure 12 Structure diagram of the cooperation between the clamping assembly and the adjusting block in the embodiment of the present application Figure 1

[0047] In the figure: 100, mechanical arm; 200, moving end; 300, trigger assembly; 310, driving sleeve; 311, limiting rod; 320, driving head; 330, rotating driving piece; 400, grabbing mechanism; 410, mounting cover; 420, clamping jaw; 430, limiting disc; 500, plugging assembly; 510, plugging 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

[0048] ​​​​​​​​The application will be further described below in conjunction with the drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not to be used as limitations.

[0049] For the purpose of clarity, only the parts of the apparatus that are pertinent to the application are shown in the drawings, and they do not represent the actual structure of the product. In addition, for the purpose of simplicity and easy understanding, in some of the drawings, only one of the parts having the same structure or function is shown schematically, or only one of them is labeled. In this document, "one" means not only "only one", but also "more than one", and "several" includes "two" and "more than two".

[0050] In this document, it is to be noted that unless otherwise explicitly specified and limited, the terms "mount", "connected", "linking" should be interpreted in a broad sense, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal connection of two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0051] In the application, unless otherwise explicitly specified and limited, "on" or "under" of the first feature to 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, "on", "above" and "on" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only means that the horizontal height of the first feature is higher than that of the second feature. "Under", "below" and "under" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only means that the horizontal height of the first feature is less than that of the second feature.

[0052] In the description of the present embodiment, the terms "up", "down", "left", "right" and other orientation or position relationship are based on the orientation or position 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 specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the application.

[0053] 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.

[0054] As Figure 1As shown, a sealing device for pressure vessel pressure resistance testing according to an embodiment of the present invention is illustrated, comprising a robotic arm 100, a gripping mechanism 400, and a sealing assembly 500. The robotic arm 100 includes a fixed base and multiple rotating arms. The fixed base can be fixed to a preset position on the outside of the pressure vessel. The multiple rotating arms are rotatably connected to each other, with one end rotatably connected to the fixed base and the other end being a movable end 200. Through the coordinated movement of the multiple rotating arms, the movable end 200 can be moved circumferentially around the test station where the pressure vessel is placed, ensuring that the movable end 200 can cover all the locations of the pressure vessel's nozzles. The lower end face of the movable end 200 is provided with a gripping mechanism 400, which includes multiple grippers 420 distributed circumferentially. Each gripper 420 can move closer to or further away from each other. When the multiple grippers 420 approach each other, they can grip the sealing plate 510 of the sealing assembly 500. Further, as... Figure 2 As shown, the trigger component 300 passes through the center of the gripping mechanism 400, so that after the gripping mechanism 400 grips the sealing plate 510, the trigger component 300 can trigger the snap-fit ​​component 520, thereby snapping the snap-fit ​​connector 521 of the snap-fit ​​component 520 with the end of the pipe opening.

[0055] Among them, see Figures 3-5 , Figure 7 The sealing assembly 500 includes a sealing plate 510 and snap-fit ​​assemblies 520. The sealing plate 510 is disc-shaped, and one end face of the sealing plate 510 can completely fit with the end face of the pipe opening. A sealing groove can be formed on this end face, which extends continuously along the circumference of the sealing plate 510. The sealing groove has a rectangular or trapezoidal cross-section, and 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 to ensure that the sealing element can be compressed when fitted. Multiple snap-fit ​​assemblies 520 are arranged along the circumference of the sealing plate 510. To ensure balanced force, the spacing between adjacent snap-fit ​​assemblies 520 is equal and they are evenly distributed.

[0056] The snap-fit ​​assembly 520 includes a fixing frame 522, a limiting member 523, a first telescopic member 524, and a second telescopic member 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 has a limiting slide extending radially along the sealing plate 510. The limiting member 523 is a rectangular block that is slidably disposed within the limiting slide. The side of the limiting member 523 near the sealing plate 510 has a slide perpendicular to the end face of the sealing plate 510. One end of the snap-fit ​​connector 521 is slidably embedded in the slide, and the other end is hook-shaped and extends out of the slide. The two ends of the first telescopic member 524 act on the limiting member 523 and the fixing frame 522 respectively, allowing the limiting member 523 to slide radially along the sealing plate 510. The two ends of the second telescopic member 525 act on the limiting member 523 and the snap-fit ​​connector 521 respectively, allowing the snap-fit ​​connector 521 to move along the slide. In this embodiment, the first telescopic member 524 and the second telescopic member 525 can be driven components capable of active extension and retraction, such as miniature cylinders. The corresponding triggering component 300 can be a pressure sensor. The detection end of the pressure sensor passes through the center of the gripping mechanism 400 and can be connected to the telescopic member, allowing it to move closer to or away from the sealing plate 510. After the moving end 200 of the robotic arm 100 drives the gripping mechanism 400 to grip the sealing plate 510 and press it against the pipe opening, the pressure sensor is moved closer to the sealing plate 510 by the telescopic member. After confirming the position of the sealing plate 510, commands are sent to the first telescopic member 524 and the second telescopic member 525, causing them to move the limiting member 523 and the locking connector 521 respectively, thereby locking the locking connector 521 into the end of the pipe opening, completing the fixation of the sealing plate 510 to the end of the pipe opening.

[0057] Furthermore, to facilitate simultaneous control of multiple snap-fit ​​connectors 521 and reduce the use of active drive components, the first telescopic member 524 and the second telescopic member 525 can be replaced with compression springs instead of active telescopic drive components. One end of the first telescopic member 524 is connected to the inner wall of the fixing frame 522, and the other end is connected to the side of the limiting member 523 away from the sealing plate 510. In its natural state, the first telescopic member 524 pushes the limiting member 523 towards the sealing plate 510, causing the limiting member 523 to fit against the inner wall of the fixing frame 522 near 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 snap-fit ​​connector 521. In its natural state, the second telescopic member 525 pushes the snap-fit ​​connector 521, causing the hook-shaped end of the snap-fit ​​connector 521 to fit against the side wall of the limiting member 523. (Refer to...) Figure 7The adjusting plate 526 is a circular plate rotatably mounted on the sealing plate 510 and can rotate under the drive of the driving assembly. The adjusting blocks 527 are irregularly shaped blocks, the number of which matches the number of the snap-fit ​​assembly 520, and are distributed circumferentially along the upper surface of the adjusting plate 526. The upper surface of the adjusting block 527 is the first pushing surface 5271, which slopes upwards away from the sealing plate 510. A support block is provided at one end of the snap-fit ​​connector 521 that slides along the slide rail. The first pushing surface 5271 abuts against the support block. As the adjusting block 527 rotates, the first pushing surface 5271 gradually pushes the support block upwards, thereby causing the snap-fit ​​connector 521 to abut against the end of the pipe opening. The outer wall of the adjusting block 527 is the first... The second pushing surface 5272 protrudes gradually away from the center of the sealing plate 510 along the circumference of the adjusting block 527. The second pushing surface 5272 is used to abut against the side of the limiting member 523 near the sealing plate 510. When the sealing assembly 500 is not in contact with the pipe opening, the limiting member 523 moves away from the sealing plate 510 under the action of the second pushing surface 5272. As the adjusting block 527 rotates, the limiting member 523 gradually contacts the side of the second pushing surface 5272 near the center of the sealing plate 510, thereby allowing the limiting member 523 to slide towards the side near the sealing plate 510. During the rotation of the adjusting plate 526, the snap-fit ​​connector 521, under the combined action of the first pushing surface 5271 and the second pushing surface 5272, gradually approaches the sealing plate 510 and abuts against the end of the pipe opening, thus achieving the snap-fit ​​between the sealing plate 510 and the pipe opening. Correspondingly, the trigger component 300 can selectively rotate the drive component 330. The rotation of the trigger component 300 drives the adjustment plate 526 to rotate, and the adjustment block 527 on the adjustment plate 526 also rotates. During the rotation of the adjustment block 527, the side of the second pushing surface 5272 of the adjustment block 527 near the center of the sealing plate 510 gradually contacts the limiting component 523. Thus, the limiting component 523 moves towards the sealing plate 510 under the elastic push of the first telescopic component 524, causing the snap-fit ​​connector 521 to gradually move to the side of the pipe end away from the sealing plate 510. At the same time, the first pushing surface 5271 of the adjustment block 527 presses the support block at the upper end of the snap-fit ​​connector 521, overcoming the elastic push of the second telescopic component 525, causing the snap-fit ​​connector 521 to move along the slide towards the sealing plate 510, and finally causing the snap-fit ​​connector 521 to engage with the pipe end. To cancel the engagement, rotate the motor to drive the adjusting plate 526 to rotate counterclockwise. The snap-fit ​​connector 521 moves in the opposite direction under the action of the second telescopic member 525. At the same time, the second pushing surface 5272 pushes the limiting member 523 to overcome the elastic force of the first telescopic member 524, so that the limiting member 523 moves away from the sealing plate 510. At this point, the snap-fit ​​connector 521 and the end of the pipe opening are released from engagement.

[0058] In this embodiment, the elastic action of the first telescopic member 524 and the second telescopic member 525, in conjunction with the action of the adjusting plate 526 and the adjusting block 527, enables the movement of the limiting member 523 and the snap-fit ​​connector 521. No additional reset drive structure is required, simplifying the overall structure of the snap-fit ​​assembly 520. The first pushing surface 5271 and the second pushing surface 5272 of the adjusting block 527 work together. First, the second pushing surface 5272 adjusts the position of the limiting member 523 to align the snap-fit ​​connector 521 with the pipe opening. Then, the first pushing surface 5271 drives the snap-fit ​​connector 521 to engage, preventing collision between the snap-fit ​​connector 521 and the pipe opening and improving engagement accuracy. The drive assembly rotates the adjusting plate 526, causing all adjusting blocks 527 to move synchronously, achieving synchronous engagement and reset of multiple snap-fit ​​assemblies 520. Compared to driving a single snap-fit ​​assembly 520, this further improves sealing efficiency while ensuring balanced force on each snap-fit ​​assembly 520, preventing localized deformation of the sealing plate 510 and enhancing sealing performance.

[0059] Furthermore, refer to Figure 2 , Figure 6 The driving assembly includes a rotation drive 330 disposed at the movable end 200 and a trigger assembly 300 for transmitting power between the rotation drive 330 and the adjusting plate 526. The trigger assembly 300 includes a connecting nut 530 coaxially fixed to the upper end face of the adjusting plate 526 and a drive head 320 disposed at the output end of the rotation drive 330. The drive head 320 is used to insert into the connecting nut 530. After the drive head 320 is inserted into the connecting nut 530, it can drive the adjusting plate 526 to rotate via the rotation drive 330. The outer side wall of the connecting nut 530 has an annular sliding groove 531 extending circumferentially. The trigger assembly 300 also includes a drive sleeve 310, which is an annular cylinder coaxially sleeved on the outside of the connecting nut 530. A limit rod 311 is inserted into the side wall of the drive sleeve 310, and the limit rod 311 is slidably embedded in the sliding groove 531, so as to realize the synchronous circumferential rotation and relative axial sliding of the drive sleeve 310 and the connecting nut 530. At the same time, while the synchronous rotation is achieved, the connecting nut 530 and the drive sleeve 310 can have a relative rotational margin. The outer wall of the drive sleeve 310 forms a polygon. The rotation drive component 330 can be a servo motor, fixed to the lower end face of the moving end 200, and the output shaft is fixedly connected to the drive head 320. The inner cavity of the drive head 320 is a polygonal cylindrical space that mates with the outer wall of the drive sleeve 310. When the moving end 200, with the gripping mechanism 400, grips the sealing plate 510, the drive sleeve 310 can be inserted into the drive head 320.

[0060] In this embodiment, when the gripping mechanism 400 grips the sealing plate 510, the moving end 200 moves downward, causing the sleeve 310 to insert into the driving head 320. When the sealing plate 510 presses against the pipe opening, the rotating drive component 330 drives the driving head 320 to rotate, and the sleeve 310 and the driving head 320 rotate synchronously. When the sleeve 310 rotates, the limiting rod 311 can slide within the sliding groove 531 of the connecting nut 530, leaving a rotational allowance between the sleeve 310 and the connecting nut 530.

[0061] Furthermore, refer to Figures 8-9 , Figure 11 To enhance the sealing performance of the sealing plate 510 when sealing the pipe opening, a tensioning component 600 is added to the end of the sealing plate 510 away from the adjusting plate 526. The tensioning component 600 includes a fixed sleeve 610, a compression sleeve 620, and a lifting part 630. The fixed sleeve 610 is a cylindrical structure and is coaxially fixed to the end face of the sealing plate 510 away from the adjusting plate 526. The compression sleeve 620 includes a flexible sleeve 621 and a lifting part 622. The flexible sleeve 621 is a cylindrical rubber material, with one end fixedly installed at the end of the fixed sleeve 610 away from the sealing plate 510, and the other end connected to the lifting part 622. To facilitate the insertion of the tensioning component 600 into the pipe opening, the lifting part 622 is frustoconical, with its large end connected to the flexible sleeve 621. The lifting member 630 passes through the fixed sleeve 610 and the compression sleeve 620. Its lower end is provided with a lifting ring 631 that abuts against the end of the lifting part 622. By lifting the lifting member 630 upwards, the lifting ring 631 pulls the lifting part 622 upwards. At this time, because the sealing plate 510 is pressed against the pipe opening by the robotic arm 100, the height of the flexible sleeve 621 of the compression sleeve 620 is compressed, and its cross-sectional area increases, thereby causing the outer wall of the flexible sleeve 621 to abut against the inner wall of the pipe opening. Through the dual sealing effect of the sealing plate 510 and the tensioning assembly 600, the sealing performance during pressure testing is improved.

[0062] Furthermore, such as Figure 9 , Figure 10As shown, to increase the stability of the flexible sleeve 621 when tightening the inner wall of the tube opening, a support member 640 is also provided inside the flexible sleeve 621. The support member 640 includes a folding member 641 and an airbag 642. There are multiple folding members 641, which are evenly distributed along the circumference of the inner wall of the flexible sleeve 621. The folding member 641 can be a deformable U-shaped metal sheet. One end of the folding member 641 is hinged to the end of the fixed sleeve 610, and the other end is hinged to the end of the lifting part 622. The folding member 641 can also be a connecting rod assembly, which includes two hinge seats, two inclined connecting rods and a support rod. The two hinge seats are respectively set on the opposite side of the fixed sleeve 610 and the lifting part 622 and are respectively hinged to an inclined connecting rod. The other ends of the two inclined connecting rods are respectively hinged to the two ends of the support rod. The airbag 642 is an annular rubber bladder, coaxially sleeved inside the folding part 641. One end of the airbag 642 is connected to the end of the fixing sleeve 610, and the other end is connected to the inner wall of the lifting part 622. The flexible sleeve 621 covers the outside of the folding part 641.

[0063] The lifting component 630 includes a lifting rod 632 and a lifting ring 631. The lifting rod 632 is a cylindrical rod with an external thread on the outer wall of its upper end, which is threaded to the adjusting plate 526. The lifting rod 632 can also be directly threaded to the connecting nut 530. The lifting rod 632 passes through the fixing sleeve 610 and the compression sleeve 620 and is slidably connected to the fixing sleeve 610. The lower end extends out of the lifting part 622 and fixes the lifting ring 631. The upper end face of the lifting ring 631 is in contact with the lower end face of the lifting part 622. The lifting rod 632 has an axially through liquid inlet channel 633. The upper opening of the liquid inlet channel 633 is located above the adjusting plate 526, and a threaded plug 634 is connected to it. The lower opening is located below the lifting ring 631 and communicates with the inside of the pressure vessel.

[0064] In this embodiment, when sealing the pipe opening, the sealing plate 510 is attached to the end face of the pipe opening and the snap-fit ​​assembly 520 is engaged. At this time, the sealing plate 510 is grabbed by the gripping mechanism 400 and pressed against the end of the pipe opening. Therefore, the fixing sleeve 610 is also fixed together with the sealing plate 510. At this time, both the fixing sleeve 610 and the compression sleeve 620 are inserted into the pipe opening. As the adjusting plate 526 rotates, the lifting rod 632 moves upward along the fixing sleeve 610, and the lifting ring 631 pulls the lifting part 622 upward. The flexible sleeve 621 of the compression sleeve 620 is squeezed and contracted. At the same time, the lifting part 622 squeezes the airbag 642. The airbag 642 expands and pushes the folding part 641 outward. The outward compression of the folding part 641 against the inner wall of the flexible sleeve 621 makes the flexible sleeve 621 tightly abut against the inner wall of the pipe opening, thus achieving a tension seal. During the pressure test, unscrew the plug 634 of one of the sealing components 500, connect the water pipe of the pressure testing equipment to the upper opening of the liquid inlet channel 633, inject water into the pressure vessel and maintain pressure; after the test is completed, rotate the adjusting plate 526 in the opposite direction, the lifting rod 632 moves down, the air bag 642 is no longer squeezed by the lifting part 622, the force between the folding part 641 and the flexible sleeve 621 gradually decreases, making it easier for the flexible sleeve 621 to detach from the inner wall of the pipe and release the seal.

[0065] During the docking process of the drive sleeve 310 and the drive head 320, even if the alignment position is misaligned, during the rotation of the drive component 330 for alignment, because there is a rotational allowance between the drive sleeve 310 and the connecting nut 530, the slight rotation of the drive sleeve 310 will not cause the connecting nut 530 to rotate, thus keeping the snap-fit ​​assembly 520 and the lifting rod 632 in their initial state and not affecting the operation of the sealing assembly 500. After the drive head 320 and drive sleeve 310 are inserted, the adjustment plate 526 can be rotated by rotating the drive component 330, which in turn makes the snap-fit ​​assembly 520 and the lifting rod 632 work. At the same time, the snap-fit ​​connector 521 of the snap-fit ​​assembly 520 abuts against the end of the pipe opening, and the lifting rod 632 moves upward. The flexible sleeve 621 is also in a state of tensioning the inner wall of the pipe opening, achieving double sealing during plugging. When the snap-fit ​​is canceled, the drive component 330 rotates in the opposite direction, and the drive sleeve 310 drives the connecting nut 530 to rotate and reset. At this time, the snap-fit ​​assembly 520 no longer snaps against the end of the pipe opening, the flexible sleeve 621 no longer squeezes the inner wall of the pipe opening, the moving end 200 moves upward, and the gripping mechanism 400 drives the sealing plate 510 away from the pipe opening.

[0066] The tensioning component 600 and the snap-fit ​​component 520 form a dual-fixed sealing structure of "end face snap-fit ​​plus inner wall tensioning". Compared with a single snap-fit, this greatly improves the sealing reliability, especially suitable for high-pressure withstand tests, and prevents the sealing plate 510 from detaching from the pipe opening due to pressure. The deformability of the flexible sleeve 621 can adapt to pipe openings with different inner diameters. The folding component 641 enhances the support strength of the flexible sleeve 621 and prevents the flexible sleeve 621 from being excessively deformed. The expansion force of the airbag 642 is evenly transmitted to the folding component 641, ensuring that the flexible sleeve 621 fits evenly with the inner wall of the pipe opening and improving the sealing effect. The liquid inlet channel 633 is integrated into the lifting rod 632, eliminating the need to open a water inlet hole in the sealing plate 510, simplifying the structure of the sealing component 500, shortening the water pipe connection path, reducing the preparation time before water injection, and improving test efficiency.

[0067] Furthermore, such as Figure 12 As shown, the gripping mechanism 400 includes a mounting cover 410, grippers 420, and a limiting plate 430. The mounting cover 410 is a cylindrical shell fixed to the lower end face of the moving end 200. Multiple guide tracks extending radially are provided on the lower end face of the mounting cover 410, evenly distributed circumferentially. The grippers 420 are L-shaped plates, the number matching the number of guide tracks. The horizontal section of the grippers 420 is slidably embedded within the guide tracks, with the lower end extending out of the mounting cover 410. Anti-slip textures are provided on the inner wall of the grippers 420. A cylindrical guide rod is vertically fixed to the upper end face of the grippers 420. The limiting plate 430 is a circular plate rotatably connected to the interior of the mounting cover 410. The limiting plate 430 has arc-shaped grooves, the number matching the number of grippers 420. These arc-shaped grooves extend outward from the center of the limiting plate 430 and are inclined in the same direction. The end of the guide rod furthest from the grippers 420 is slidably embedded within the arc-shaped groove. The drive motor is fixed on the upper surface of the mounting cover 410. The output shaft of the drive motor passes through the mounting cover 410 and is connected to the limit plate 430 for transmission. The limit plate 430 can be rotated by the drive motor.

[0068] In this embodiment, when it is necessary to grasp the sealing plate 510, the moving end 200 moves the mounting cover 410 above the sealing plate 510, the drive motor drives the limiting disk 430 to rotate, and the arc-shaped groove drives the gripper 420 to move along the gripper 420 slide towards the center of the sealing plate 510 through the guide rod. The inner side wall of the gripper 420 fits against the outer periphery of the sealing plate 510 to achieve grasping. The drive motor drives the limiting disk 430 to rotate in the opposite direction, and the arc-shaped groove drives the gripper 420 to move away from the center of the sealing plate 510 through the guide rod. The gripper 420 disengages from the sealing plate 510, and the sealing component 500 can be returned to its original position. Multiple grippers 420 are evenly distributed circumferentially and synchronously driven by the arc-shaped groove of the limiting plate 430, ensuring that the gripping force of the grippers 420 on the sealing plate 510 is uniform when gripping, and avoiding the sealing plate 510 from shifting or deforming. The inclined structure of the arc-shaped groove converts the rotational motion of the limiting plate 430 into the radial sliding of the grippers 420, resulting in smooth transmission. Compared with multiple independently driven grippers 420, this simplifies the structure of the gripping mechanism 400 and reduces the failure rate.

[0069] The sealing device for pressure vessel pressure resistance testing provided by this invention includes the following steps during use:

[0070] S1. Placement: Place multiple sealing components 500 on the workstation within the range of motion of the robotic arm 100;

[0071] S2. Grabbing: Control the movement of the moving end 200 of the robotic arm 100 and drive the gripping mechanism 400 to move to grab the corresponding sealing component 500 to the port of the pressure vessel.

[0072] S3, Sealing: The moving end 200 drives the gripping mechanism 400 to press down and press the sealing plate 510 against the pipe opening. The trigger component 300 triggers the snap-fit ​​component 520. The snap-fit ​​connector 521 abuts against the end of the pipe opening and fixes the sealing plate 510 at the pipe opening.

[0073] S4. Pressure test: Repeat steps S2 to S3 above to seal all the pipe openings of the pressure vessel, connect the pressure vessel to the water pipe on the pressure testing equipment, and inject water into the pressure vessel to conduct the pressure test.

[0074] In this embodiment, multiple sealing components 500 are placed within the range of motion of the robotic arm 100. The rotating arm is controlled to move the movable end 200 above the sealing component 500. The gripper 420 of the mounting cover 410 is aligned with the outer periphery of the sealing plate 510. The drive motor drives the limiting disk 430 to rotate, and the gripper 420 approaches and grabs the sealing plate 510 along the gripper 420 slide. The movable end 200 moves and moves the sealing component 500 to the pipe opening to be sealed. The position of the movable end 200 is adjusted so that the sealing plate 510 fits against the pipe opening end face. The trigger component 300 is activated, driving the adjusting plate 526 to rotate, and the locking connector 521 of the locking component 520 engages with the pipe opening end. The lifting rod 632 also moves upward synchronously, and the lifting part 622 compresses air. The bladder 642 and folding piece 641 push the flexible sleeve 621 to abut against the inner wall of the pipe opening, completing the tension seal; repeat the above steps to seal all pipe openings; unscrew the plug 634 of one of the sealing components 500, connect the water pipe of the pressure testing equipment to the liquid inlet channel 633, inject water into the pressure vessel until it is full, then close the water inlet valve, start the pressure testing equipment to increase the pressure to the test pressure, maintain the pressure and observe the condition of the pressure vessel; after the test is completed, first depressurize, then grab the sealing component 500 in sequence through the grabbing mechanism 400, and start the trigger component 300 to rotate the adjusting plate 526 in the opposite direction to release the tension, the locking component 520 to release the locking, the grabbing mechanism 400 to loosen the sealing component 500, and put it back in its original position to complete the test.

[0075] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A sealing device for pressure vessel pressure resistance testing, characterized in that, include: The testing station is used to support pressure vessels; A sealing assembly (500) includes a sealing plate (510) and a plurality of snap-fit ​​assemblies (520) distributed circumferentially along the sealing plate (510). Each snap-fit ​​assembly (520) includes a snap-fit ​​connector (521) movably disposed circumferentially along the sealing plate (510). The snap-fit ​​connector (521) is capable of engaging with the sealing plate (510) to clamp the nozzle flange of the pressure vessel to seal the nozzle of the pressure vessel. A robotic arm (100) is located on one side of the test station. The moving end (200) of the robotic arm (100) is connected to a gripping mechanism (400) for gripping the sealing assembly (500), and the gripping mechanism (400) drives the sealing assembly (500) to move to the port of the pressure vessel. It also includes a tensioning assembly (600) for abutting against the inner wall of the pipe opening, the tensioning assembly (600) comprising: A fixing sleeve (610) is disposed on the sealing plate (510); A compression sleeve (620) is disposed at the end of the fixed sleeve (610); A lifting member (630) is inserted into the fixed sleeve (610) and the compression sleeve (620). The lifting member (630) has a lifting ring (631) that abuts against the end of the compression sleeve (620). The lifting member (630) is configured to compress the compression sleeve (620) by moving the lifting ring (631) upward so that the compression sleeve (620) abuts against the inner wall of the pipe opening. The compression sleeve (620) includes a flexible sleeve (621) connected to the fixed sleeve (610) and a lifting part (622) connected to the flexible sleeve (621). The flexible sleeve (621) is used to abut against the inner wall of the pipe opening. The tensioning assembly (600) also includes a support member (640) disposed within the flexible sleeve (621). The support member (640) includes: Folding member (641), the number of folding members (641) is multiple and arranged circumferentially inside the flexible sleeve (621); An airbag (642) is disposed within the flexible sleeve (621) and located inside the circumference of the plurality of folding members (641). The lifting portion (622) is used to squeeze the airbag (642) to tighten the flexible sleeve (621) away from the center of the flexible sleeve (621) through the folding members (641). The lifting element (630) includes: A lifting rod (632) is movably inserted into the fixed sleeve (610) and connected to the compression sleeve (620). A lifting ring (631) is provided at the end of the lifting rod (632) to drive the compression sleeve (620) to move towards the fixed sleeve (610). The lifting rod (632) has a through liquid inlet channel (633), and a plug (634) is threaded to the top of the liquid inlet channel (633).

2. The sealing device for pressure vessel pressure resistance testing according to claim 1, characterized in that, The card connector assembly (520) includes: A fixing bracket (522) is disposed on the peripheral wall of the sealing plate (510); The limiting member (523) is slidably disposed on the fixing frame (522) along the radial direction of the sealing plate (510), and the snap connector (521) is slidably disposed on the limiting member (523); The first telescopic member (524) is connected to the fixed frame (522) and the limiting member (523) at both ends, and is used to drive the limiting member (523) to move radially along the sealing plate (510); The second telescopic member (525) has its two ends respectively disposed on the limiting member (523) and the snap-fit ​​connector (521), and is used to drive the snap-fit ​​connector (521) to move in a direction perpendicular to the sealing plate (510).

3. The sealing device for pressure vessel pressure resistance testing according to claim 2, characterized in that, Both the first telescopic member (524) and the second telescopic member (525) are compression springs. The first telescopic member (524) is used to elastically push the limiting member (523) so that the limiting member (523) slides closer to the sealing plate (510). The second telescopic member (525) is used to elastically push the snap-fit ​​connector (521) so that the snap-fit ​​connector (521) is unhooked from the end of the pipe opening. The snap-fit ​​assembly (520) further includes an adjusting plate (526) and a driving assembly. The adjusting plate (526) is rotatably mounted on the sealing plate (510). The upper end face of the adjusting plate (526) is provided with an adjusting block (527). The upper end of the adjusting block (527) has an inclined extending first pushing surface (5271). The first pushing surface (5271) is used to abut against the sliding part of the snap-fit ​​connector (521). The outer side wall of the adjusting block (527) has a second pushing surface (5272) for abutting against the limiting member (523). The second pushing surface (5272) gradually protrudes to the side away from the center of the sealing plate (510). The driving assembly triggers the first telescopic member (524) and the second telescopic member (525) by driving the adjusting plate (526) to rotate so that the snap-fit ​​connector (521) is snapped against the end of the pipe opening.

4. The sealing device for pressure vessel pressure resistance testing according to claim 3, characterized in that, The drive assembly includes a rotation drive (330) disposed on the moving end (200) and a trigger assembly (300) for drivingly connecting the rotation drive (330) and the adjusting plate (526). The trigger assembly (300) includes a connecting nut (530) coaxially disposed on the adjusting plate (526) and a drive head (320) disposed on the output end of the rotation drive (330). The drive head (320) is used to cooperate with the connecting nut (530) to drive the connecting nut (530) to rotate.

5. The sealing device for pressure vessel pressure resistance testing according to claim 4, characterized in that, The triggering component (300) also includes a drive sleeve (310). The outer side wall of the connecting nut (530) is provided with a sliding groove (531) extending in the circumferential direction. The drive sleeve (310) is sleeved on the outside of the connecting nut (530) and a limiting rod (311) that is slidably connected to the sliding groove (531) is inserted. The drive head (320) is inserted into the drive sleeve (310).

6. The sealing device for pressure vessel pressure resistance testing according to claim 5, characterized in that, The upper end of the lifting rod (632) is threadedly connected to the adjusting plate (526).

7. The sealing device for pressure vessel pressure resistance testing according to claim 1, characterized in that, The gripping mechanism (400) includes: Mounting cover (410) is provided on the mobile end (200); The clamps (420) are multiple and are slidably disposed on the mounting cover (410) in the circumferential direction. The clamps (420) are provided with guide rods. The limiting plate (430) is rotatably disposed inside the mounting cover (410). The limiting plate (430) has multiple arc-shaped grooves, the number of which corresponds to the number of grippers (420). The guide rod is slidably disposed inside the arc-shaped grooves. The limiting plate (430) can rotate to drive the multiple grippers (420) to approach and grab the sealing plate (510).

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