Pipeline bending and twisting test device

Abstract

The invention discloses a pipeline bending and twisting test device, and relates to the technical field of pipeline testing, the pipeline bending and twisting test device comprises a working cabin, a test bed, a pressurization cabin and a control system, the working cabin is internally provided with a test space which can accommodate a test pipeline and perform illumination and temperature control on the test pipeline; the test bed is arranged in the test space of the working cabin and is used for installing the test pipeline and carrying out bending and torsion tests on the test pipeline; the pressurizing cabin is communicated with the test pipeline through a pipeline and can introduce liquid into the test pipeline so as to apply internal pressure to the test pipeline; the control system can respectively control the working states of the working cabin, the test bed and the pressurizing cabin; according to the pipeline bending and twisting test device provided by the invention, various environmental influence factors can be coupled, so that the test accuracy is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline testing, in particular to a pipeline bending and twisting test device. BACKGROUND

[0002] PE (polyethylene) pipelines are widely used in gas transportation, municipal water supply and drainage, industrial fluid transmission and other important fields due to their excellent flexibility, corrosion resistance and ability to withstand large bending deformation. With the continuous expansion of the application scenarios of PE pipelines, their service environment is becoming increasingly complex, and they need to withstand the coupling of temperature fluctuations, light radiation, pipe medium pressure and other environmental factors for a long time. These environmental factors directly affect the mechanical properties, service life and safety and reliability of PE pipelines. Therefore, accurately testing the bending, twisting and other mechanical properties of PE pipelines under complex environments and determining their failure critical conditions are key prerequisites for ensuring the safe operation of pipeline projects.

[0003] Currently, the commonly used three-point bending test device and four-point bending test device are mostly used under a single environmental factor, ignoring the sensitivity of PE materials to temperature, light and pipe pressure under comprehensive environmental factors, resulting in a large deviation in the test results, which cannot meet the current performance testing requirements of PE pipelines under complex working conditions.

[0004] Therefore, there is an urgent need to design a bending and twisting test device that can couple multiple environmental factors to improve its testing accuracy. SUMMARY

[0005] The purpose of the present application is to provide a pipeline bending and twisting test device to solve the problems existing in the prior art and to couple multiple environmental factors to improve the testing accuracy.

[0006] To achieve the above-mentioned purpose, the present application provides the following solutions: The present application provides a pipeline bending and twisting test device, comprising: a working cabin, which is provided with a test space and can accommodate a test pipeline and control the light and temperature of the test pipeline; a test table, which is arranged in the test space of the working cabin and is used to install the test pipeline and perform bending and twisting tests on the test pipeline; a pressurized cabin, which is connected to the test pipeline through a pipeline and can introduce liquid into the test pipeline to apply internal pressure to the test pipeline; and a control system, which can control the working states of the working cabin, test table and pressurized cabin.

[0007] Preferably, the working cabin comprises a bottom protection cabin body, the inside of which is formed into the test space; the top of the bottom protection cabin body is provided with an openable and closable protection cabin cover, and the protection cabin cover is provided with a transparent observation window for observing the test process of the test pipeline in the test space.

[0008] Preferably, the inside of the bottom protection cabin body is provided with a light source and a temperature control system to provide a light environment and a required temperature environment for the test; the light source is provided with a light meter to measure the illumination of the light source, and the light source, the temperature control system and the light meter are in communication connection with the control system.

[0009] Preferably, the test bench comprises a reference table, and the reference table is provided with a driving end six-degree-of-freedom mechanical arm and a driven end, which are used to clamp the two ends of the test pipeline respectively; the control system can set a motion path for the driving end six-degree-of-freedom mechanical arm to realize the bending and / or torsion test of the test pipeline.

[0010] Preferably, the two ends of the test pipeline are plugged by plug heads, the lower side wall of the test pipeline is provided with a water inlet, and the upper side wall of the test pipeline is provided with a closable exhaust hole; the pipeline is a pressurized hose, one end of which is in communication with the water inlet of the test pipeline, and the other end is in communication with the pressurized cabin.

[0011] Preferably, the driving end six-degree-of-freedom mechanical arm comprises a mechanical arm base fixed on the reference table, and the mechanical arm base is provided with a first-level mechanical arm, a second-level mechanical arm, a third-level mechanical arm, a fourth-level mechanical arm, a fifth-level mechanical arm and a sixth-level mechanical arm which are sequentially hinged, and the end of the sixth-level mechanical arm is provided with a clamping device capable of clamping one end of the test pipeline.

[0012] Preferably, the clamping device comprises a clamping end head, the end face of the clamping end head is annularly provided with a plurality of guide grooves extending radially along the end face, each of the guide grooves is slidably provided with a gripper, and the clamping end head is provided with a driving device, which can control the gripper to move along the guide groove towards the center of the end face or away from the center of the end face to realize clamping or loosening of one end of the test pipeline.

[0013] Preferably, the driven end comprises a primary arm, a secondary arm and a driven end clamping gripper; the primary arm is vertically fixed on the reference table, and the primary arm is hollow inside; the secondary arm is arranged in the primary arm from the top opening of the primary arm, a driving mechanism is arranged in the primary arm, which can drive the secondary arm to move up and down in the primary arm, the driven end clamping gripper is connected with the upper part of the secondary arm, and a bending moment sensor and a torque sensor are arranged at the connection position to measure the data in the test process; the driven end clamping gripper has the same structure as the clamping device.

[0014] Preferably, the pressurized cabin comprises a pressurized cabin cabinet, an access door, a water tank and a pressurizing pump; the access door is hinged on one side of the pressurized cabin cabinet, the water tank is fixedly arranged in the pressurized cabin cabinet and used for storing liquid for pressurizing the test pipeline, and the pressurizing pump is in communication with the water tank at one end and in communication with the test pipeline through a pipeline at the other end.

[0015] Preferably, the control system comprises a control cabinet, a switch, a controller and a control line; the control cabinet contains an electrical control system, a data processor and an interface to realize the control of the working cabin, the test table and the pressurized cabin and the storage of test data; the switch is arranged on the control cabinet and can realize the starting, stopping, emergency stopping and pausing of the test device; the controller is arranged in the control cabinet and comprises a touch screen, which can realize man-machine interaction, test data display, test mode setting, test condition and path setting; and the control line is connected with the working cabin, the test table and the pressurized cabin respectively to realize data transmission.

[0016] The present application has the following technical effects relative to the prior art: The working cabin in the present application can apply light and temperature control to the surface of the test pipeline, and the pressurized cabin can introduce pressurized liquid into the test pipeline to apply internal pressure, so that the present application can realize large-angle bending and torsion test of the test pipeline under the coupling state of single or multiple environmental factors such as temperature, light and internal pressure; the control system can realize automatic control of environmental factor conditions and real-time adjustment of static or dynamic state; in cooperation with the test table, bending test, torsion test or test of bending and torsion at the same time can be carried out, so as to improve the test accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1Structure diagram of the pipe bending and twisting test device in one or some embodiments of the present application; Figure 2 Control system diagram of the pipe bending and twisting test device in one or some embodiments of the present application; Figure 3 Working cabin diagram of the pipe bending and twisting test device in one or some embodiments of the present application; Figure 4 Test table diagram of the pipe bending and twisting test device in one or some embodiments of the present application; Figure 5 Drive end six-freedom mechanical arm diagram of the pipe bending and twisting test device in one or some embodiments of the present application; Figure 6 Clamping device diagram of the pipe bending and twisting test device in one or some embodiments of the present application; Figure 7 Test pipe diagram of the pipe bending and twisting test device in one or some embodiments of the present application; Figure 8 Driven end diagram of the pipe bending and twisting test device in one or some embodiments of the present application; Figure 9 Pressurizing cabin diagram of the pipe bending and twisting test device in one or some embodiments of the present application.

[0019] In the figure: 1-control system, 11-control cabinet, 12-switch, 13-controller, 14-control line, 2-working cabin, 21-bottom protection cabin body, 22-protection cabin cover, 23-handle, 24-observation window, 25-light source, 26-temperature control system, 3-test table, 31-reference table, 32-drive end six-freedom mechanical arm, 321-mechanical arm base, 322-first stage mechanical arm, 323-second stage mechanical arm, 324-third stage mechanical arm, 325-fourth stage mechanical arm, 326-fifth stage mechanical arm, 327-sixth stage mechanical arm, 3271-grasping hand, 3272-guiding groove, 33-test pipe, 331-plugging head, 332-water injection port, 333-exhaust hole, 34-driven end, 341-first stage arm, 342-second stage arm, 343-driven end clamping grasping hand, 35-pressurizing hose, 4-pressurizing cabin, 41-pressurizing cabin cabinet, 42-inspection door, 43-water tank, 44-pressurizing pump. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the present application.

[0021] The purpose of this invention is to provide a pipe bending and torsion testing device to solve the problems existing in the prior art, which can couple multiple environmental influencing factors, thereby improving the testing accuracy.

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Existing pipe bending and torsion tests employ three-point and four-point bending test devices, and these tests are mostly conducted at normal temperature and pressure, neglecting the sensitivity of PE material to environmental factors such as temperature, light, and internal pipe pressure. This leads to significant deviations in the test results. To address this issue, this invention provides a pipe bending and torsion test device, referencing... Figures 1-9 As shown, the device includes a working chamber 2, a test bench 3, a pressurization chamber 4, and a control system 1. The working chamber 2 has a test space that can accommodate the test pipe 33. The working chamber 2 includes a bottom protective chamber 21, a light source 25, a temperature control device, and an openable protective cover 22, which provide light and temperature conditions for the test device and also serve a protective function. The test bench 3 is located in the test space of the working chamber 2 and is used to install the test pipe 33 and to perform bending and torsion tests on the test pipe 33. The pressurization chamber 4 is connected to the test pipe 33 through a pipeline and can introduce liquid into the test pipe 33 to apply internal pressure to the test pipe 33. In this embodiment, the liquid is water. The control system 1 includes a control cabinet 11, a switch 12, and a display, which realizes the automated control of the entire device and can control the working status of the working chamber 2, the test bench 3, and the pressurization chamber 4 respectively. The working chamber 2 of this invention can apply light and the required temperature to the surface of the test pipe 33, and the pressurization chamber 4 can introduce pressurized liquid into the test pipe 33 to apply internal pressure. Thus, this invention can realize large-angle bending and torsion tests on the test pipe 33 under the coupled state of single or multiple environmental factors such as temperature, light, and internal pressure. The control system 1 can realize automatic control of environmental factors and can realize static or dynamic real-time adjustment. With the workbench, bending tests, torsion tests, or tests of bending and torsion at the same time can be carried out, thereby improving the accuracy of the test.

[0024] In an embodiment, the working cabin 2 comprises a bottom protection cabin body 21, which is internally formed as a test space; the bottom protection cabin body 21 is provided with two symmetrically arranged protection cabin covers 22 at the top; the bottom protection cabin body 21 is located at the lower part, and the sidewall upper surface thereof is provided with the two protection cabin covers 22; the protection cabin covers 22 are connected with the bottom protection cabin through louver, and can be opened and closed; when the test pipeline 33 needs to be installed, the handle 23 on the protection cabin cover 22 is held to open the protection cabin cover 22; after the test pipeline 33 is installed, the protection cabin cover 22 is closed to realize the protection function; the observation windows 24 are respectively arranged on the two protection cabin covers 22; the observation windows 24 are transparent resin materials, which are convenient for observing the test process; the light sources 25 are respectively arranged on the two inner sidewalls of the long end of the bottom protection cabin body 21; the light sources 25 can adopt xenon arc lamps to provide the light environment for the test; the temperature control system 26 is arranged below the right light source 25; the temperature control system 26 comprises a heat source and a cold source, and can respectively provide the heating environment and the refrigeration environment required by the test; the heat source can adopt an electric heating wire or an electric heating sheet, or can adopt a heating rod to provide the high-temperature environment required by the test; the cold source can adopt a heat exchange sheet or a water cooling jacket, and the cold source is externally connected with a heat exchanger, and through water or other fluid as a heat exchange medium, the cold source can provide the low-temperature environment required by the test; the light meters are arranged at the light sources 25, which can measure the illumination of the light sources 25; the light sources 25, the temperature control system 26 and the light meters are in communication connection with the control system 1.

[0025] In an embodiment, the test bench 3 comprises a reference bench 31 in the form of a horizontal plate structure, on which a driving end six-degree-of-freedom mechanical arm 32 and a driven end 34 are arranged for clamping two ends of the test pipe 33 respectively; the control system 1 can set a motion path for the driving end six-degree-of-freedom mechanical arm 32 to realize the bending and / or torsion test of the test pipe 33. The driving end six-degree-of-freedom mechanical arm 32 of the present application is flexible in motion and can move at various angles and positions, and in cooperation with the driven end 34, the stretching or compression test of the test pipe 33 can also be performed. The driving end six-degree-of-freedom mechanical arm 32 in the embodiment comprises a mechanical arm base 321 fixedly arranged on the reference bench 31, which is fixed on the reference bench 31 by screws; a first mechanical arm 322, a second mechanical arm 323, a third mechanical arm 324, a fourth mechanical arm 325, a fifth mechanical arm 326 and a sixth mechanical arm 327 are sequentially hingedly arranged on the mechanical base, which can realize six-degree-of-freedom motion, and the end of the sixth mechanical arm 327 is provided with a clamping device capable of clamping one end of the test pipe 33. The driven end 34 comprises a first arm 341, a second arm 342 and a driven end clamping gripper 343; the first arm 341 is a hollow square tube welded and fixed on the reference bench 31, the second arm 342 is fixed in the inner hole of the first arm 341, and the second arm 342 is driven by a driving mechanism and can move up and down in the inner hole of the first arm 341, which moves up and down during installation of the test pipe 33; the driving mechanism can be a cylinder or a hydraulic cylinder arranged in the first mechanical arm 322, the bottom of which is fixed in the first arm 341, and the telescopic rod at the top is connected with the bottom of the second arm 342, which can drive the second arm 342 to move up and down; in use, the motion of the driving end six-degree-of-freedom mechanical arm 32 is coordinated to realize the position adjustment of the test pipe 33, and when the test pipe 33 is installed, the second arm 342 is locked and cannot move during the test. The driven end clamping gripper 343 has the same structure and function as the clamping device of the sixth mechanical arm 327 and is used for clamping the test pipe 33, the driven end clamping gripper 343 is connected with the upper part of the second arm 342, and a bending moment sensor and a torque sensor are arranged at the connection to measure the data during the test.

[0026] In an embodiment, the clamping device comprises a clamping head, the end face of the clamping head is a circular end face, and six guide grooves 3272 extending radially along the end face are arranged on the end face, that is, the axis of each guide groove 3272 coincides with one of the diameters of the end face, and a gripper 3271 is slidably arranged in each guide groove 3272. The clamping head is provided with a driving device, the driving device can control the gripper 3271 to move along the guide groove 3272 towards the center of the end face or away from the center of the end face, and the contraction and expansion of the six grippers 3271 can be simultaneously controlled by the driving device. The inner side of the gripper 3271 is a circular arc surface, which can fit the test pipeline 33 when contracted to achieve the clamping function; when the test is completed, the gripper is expanded to take out the test pipeline 33. The driving device can use a mature driving motor and a connecting rod, or a plurality of micro-cylinders are arranged in the clamping head as the driving device, and the cylinder rod of each cylinder is connected with a gripper 3271 to control the six grippers 3271.

[0027] In an embodiment, the test pipeline 33 is sealed at both ends by the sealing head 331, the lower side wall of the test pipeline 33 is provided with a water inlet 332, and the upper side wall of the test pipeline 33 is provided with a closable exhaust hole 333; the pipeline is a pressurized hose 35, one end of the pressurized hose 35 communicates with the water inlet 332 of the test pipeline 33, and the other end communicates with the pressurized cabin 4. When the test pipeline 33 needs to be tested in an internal pressure environment, the test pipeline 33 is water-filled through the water inlet 332, and the gas in the test pipeline 33 is discharged through the exhaust hole 333 during the water-filling process. When the test pipeline 33 is filled with water, the exhaust hole 333 is sealed by a piston, and the internal pressure loading of the test pipeline 33 can be realized by the pressurized cabin 4.

[0028] In an embodiment, the pressurized cabin 4 comprises a pressurized cabin cabinet 41, an access door 42, a water tank 43 and a pressurizing pump 44; the access door 42 is hingedly connected to one side of the pressurized cabin cabinet 41, the water tank 43 is fixedly arranged in the pressurized cabin cabinet 41 and is used for storing liquid for pressurizing the test pipeline 33, and the pressurizing pump 44 communicates with the water tank 43 at one end and communicates with the test pipeline 33 through a pipeline at the other end; the water tank 43 is used for storing medium water for pressurizing the test pipeline 33, and the pressurizing pump 44 can realize water injection and internal pressure environment for the test pipeline 33 through a water injection hose.

[0029] In an embodiment, the control system 1 comprises a control cabinet 11, a switch 12, a controller 13 and a control line 14; the control cabinet 11 contains the electrical control system 1, a data processor and an interface to realize the control of the working cabin 2, the test bench 3 and the pressurized cabin 4 and the storage and transmission of test data; the switch 12 is arranged on the control cabinet 11 and can realize the functions of starting, stopping, emergency stopping and pausing of the test device including the test bench 3, the pressurized cabin 4, the light source 25 and the temperature control system 26; the controller 13 is arranged in the control cabinet 11, the display screen of which is a touch screen and can realize the man-machine interaction, test data display, test mode setting, test condition and path setting; the control line 14 is connected with the working cabin 2, the test bench 3 and the pressurized cabin 4 respectively and can also be connected with the sensors such as strain gauges pasted on the test pipeline 33 to realize data transmission.

[0030] The test method based on the pipeline bending and torsion test device of the present application comprises the following steps: Press the switch 12 of the control system 1 to start the test device.

[0031] Paste sensors such as strain gauges on the test pipeline 33 according to the requirements, connect the sensors to the external sensor data access port of the control system 1 through data lines, and fix and seal the test pipeline 33 at both ends by using the plugging heads 331.

[0032] Open the protective cabin cover 22, operate the controller 13 to make the gripper 3271 of the driving end six-degree-of-freedom mechanical arm 32 and the clamping gripper 343 of the driven end 34 open, so that the internal space is larger than the outer diameter of the plugging head 331. Fine-tune the height of the driven end 34 and the position of the driving end six-degree-of-freedom mechanical arm 32 so that the distance between them is slightly larger than the length of the test pipeline 33, and then put the test pipeline 33 at both ends into the gripper 3271 of the driving end six-degree-of-freedom mechanical arm 32 and the clamping gripper 343 of the driven end 34 respectively. Place the water inlet 332 close to the position of the pressurizing pump 44, and continue to adjust the height of the driven end 34 and the position of the driving end six-degree-of-freedom mechanical arm 32 so that the test pipeline 33 is kept horizontal and in the appropriate position of the working cabin 2, and the water inlet 332 is vertically downward. Control the gripper 3271 of the six-degree-of-freedom mechanical arm 327 and the clamping gripper 343 of the driven end 34 to contract so that the test pipeline 33 is effectively clamped. Connect the pressurizing hose 35 to the water inlet 332. Control the pressurizing pump 44 to inject water into the test pipeline 33 through the pressurizing hose 35, and after the test pipeline 33 is filled with water, plug the exhaust hole 333. Lock the position of the driven end 34 and close the protective cabin cover 22.

[0033] Set the test mode and condition on the controller 13, which contains the following contents: Bending test mode: the displacement motion trajectory of the driving end six-degree-of-freedom mechanical arm 32 can be controlled to design a single path, a reciprocating cycle path or a random path, so as to realize the self-defined bending loading of the test pipeline 33.

[0034] Torque test mode: By controlling the rotation motion trajectory of the six-level mechanical arm 327, uniform rotation, variable rotation and cyclic reciprocating rotation paths can be designed to realize the custom torsion loading of the test pipeline 33.

[0035] Lighting conditions: The "illuminance-time" curve of the light source 25 is designed to achieve constant or variable lighting conditions.

[0036] Temperature conditions: The "temperature-time" curve of the temperature control system 26 is designed to achieve constant or variable temperature conditions.

[0037] Internal pressure conditions: The "pressure-time" curve of the pressurizing pump 44 is designed to achieve constant or variable internal pressure conditions.

[0038] The above test modes and test conditions can be set singly or in combination according to test requirements.

[0039] The controller 13 is operated to start the test, and the display screen of the controller 13 can display the test state and data parameters in real time and store them.

[0040] If the test pipeline 33 fails during the test, the pressurizing pump 44, the light source 25 and the temperature control system 26 will be closed in turn; if the test ends and the test pipeline 33 does not fail, the internal pressure of the test pipeline 33 needs to be released to 0 first, and then the pressurizing pump 44, the light source 25 and the temperature control system 26 are closed in turn.

[0041] The state of the test pipeline 33 is observed through the observation window 24, and after the normal temperature in the work cabin 2 is restored, the protective cabin cover 22 is opened, the gripper 3271 of the driving end six-level mechanical arm 327 and the clamping gripper 343 of the driven end are opened, the position of the driving end six-degree-of-freedom mechanical arm 32 is fine-tuned, the test pipeline 33 is removed, and the connection between the pressurizing hose 35 and the water inlet 332 is disconnected.

[0042] The state of the test device is checked, the protective cabin cover 22 is closed, and the test device is closed.

[0043] In the present application, specific examples are applied to illustrate the principles and implementation modes of the present application. The above examples are only used to help understand the method and core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed. In summary, the content of the present application should not be understood as a limitation of the present application.

Claims

1. A pipe bending and torsion testing device, characterized in that: include: The working chamber contains a test space that can accommodate test pipes and provide light and temperature control for the test pipes; The test bench, located within the test space of the working chamber, is used to install the test pipe and to perform bending and torsion tests on the test pipe; A pressurization chamber, connected to the test pipeline via piping, is capable of introducing liquid into the test pipeline to apply internal pressure to it; and The control system is capable of controlling the working status of the working chamber, the test bench, and the pressurization chamber respectively.

2. The pipe bending and torsion testing device according to claim 1, characterized in that: The working chamber includes a bottom protective chamber, the interior of which forms the test space; the top of the bottom protective chamber is provided with an openable protective cover, and the protective cover is provided with a transparent observation window to observe the test process of the test pipeline in the test space.

3. The pipe bending and torsion testing device according to claim 2, characterized in that: The bottom protective chamber is equipped with a light source and a temperature control system on its inner wall to provide the necessary lighting and temperature environment for the experiment. A light meter is installed at the light source to measure the illuminance of the light source. The light source, temperature control system, and light meter are all communicatively connected to the control system.

4. The pipe bending and torsion testing device according to claim 1, characterized in that: The test bench includes a reference platform, on which a six-degree-of-freedom robotic arm with a drive end and a driven end are provided. The six-degree-of-freedom robotic arm with a drive end and the driven end are used to clamp the two ends of the test pipe respectively. The control system can set the motion path of the six-degree-of-freedom robotic arm with a drive end to realize the bending and / or torsion test of the test pipe.

5. The pipe bending and torsion testing device according to claim 1, characterized in that: The test pipe is sealed at both ends with plugs. The lower side wall of the test pipe is provided with a water inlet, and the upper side wall of the test pipe is provided with a vent that can be sealed. The pipeline is a pressurized hose, one end of which is connected to the water inlet of the test pipe, and the other end is connected to the pressurization chamber.

6. The pipe bending and torsion testing device according to claim 4, characterized in that: The drive end six-degree-of-freedom robotic arm includes a robotic arm base fixedly mounted on the reference platform. The robotic base is provided with a first-level robotic arm, a second-level robotic arm, a third-level robotic arm, a fourth-level robotic arm, a fifth-level robotic arm, and a sixth-level robotic arm that are hinged in sequence. The end of the sixth-level robotic arm is provided with a clamping device that can clamp one end of the test pipe.

7. The pipe bending and torsion testing device according to claim 6, characterized in that: The clamping device includes a clamping end, and a plurality of guide grooves extending radially along the end face are provided on the end face of the clamping end. A gripper is slidably provided in each guide groove. A driving device is provided in the clamping end, and the driving device can control the gripper to move along the guide groove toward the center of the end face or away from the center of the end face, so as to clamp or release one end of the test pipe.

8. The pipe bending and torsion testing device according to claim 6, characterized in that: The driven end includes a primary arm, a secondary arm, and a driven end gripper; the primary arm is vertically fixed on the reference platform and is hollow inside; the secondary arm passes through the primary arm through an opening at the top of the primary arm, and a drive mechanism is provided inside the primary arm to drive the secondary arm to move up and down within the primary arm; the driven end gripper is connected to the upper part of the secondary arm, and a bending moment sensor and a torque sensor are provided at the connection point to measure data during the test; the driven end gripper has the same structure as the gripping device.

9. The pipe bending and torsion testing device according to claim 1, characterized in that: The pressurization chamber includes a pressurization chamber cabinet, an inspection door, a water tank, and a pressurization pump; the inspection door is hinged to one side of the pressurization chamber cabinet, the water tank is fixedly installed inside the pressurization chamber cabinet and is used to store liquid for pressurizing the test pipeline, one end of the pressurization pump is connected to the water tank, and the other end is connected to the test pipeline through a pipeline.

10. The pipe bending and torsion testing device according to claim 1, characterized in that: The control system includes a control cabinet, switches, controllers, and control lines. The control cabinet contains an electrical control system, a data processor, and interfaces to control the working chamber, test bench, and pressurization chamber, as well as to store test data. The switches, located on the control cabinet, enable the test device to be turned on, turned off, stopped in an emergency, and paused. The controller, located in the control cabinet, includes a touch screen and enables human-machine interaction, test data display, test mode setting, and test condition and path setting. The control lines are connected to the working chamber, test bench, and pressurization chamber respectively to achieve data transmission.

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