Valve connection device integrating installation and leak detection and its usage method

Abstract

This invention belongs to the technical field of fusion reactor vacuum systems and discloses a valve connection device and its usage method that integrates installation and leak detection. In this device, a leak detection vent is provided on the outer shell; a first and a second inflatable sealing ring are respectively provided on the inner walls of the first and second ends of the outer shell; a circumferential slide rail is located at the second end, and multiple linear slide rails are connected through the circumferential slide rail; a first telescopic rod, a second telescopic rod, and a third telescopic rod are sequentially slidably arranged on each linear slide rail; a robotic arm is mounted on the linear or circumferential slide rail and positioned between the third telescopic rod and the second inflatable sealing ring. This invention can simultaneously satisfy the installation and leak detection functions of valves and pipelines, with high installation and leak detection efficiency, convenient operation, and adaptability to different pipe diameters. It is particularly suitable for connection applications in fusion reactor vacuum pipeline systems where high sealing reliability is required.

Description

Technical Field

[0001] This invention belongs to the technical field of fusion reactor vacuum systems, and particularly relates to a valve connection device and its usage method that integrates installation and leak detection. Background Technology

[0002] In fusion reactor vacuum systems, the connection points between valves and pipelines are high-risk areas for leaks. Currently, low-leakage valves are mainly connected by knife-edge flanges. While this connection method can achieve basic sealing, its installation and leak detection are often two separate processes. After installation, external leak detection instruments are used to test each connection point individually. This is not only cumbersome and inefficient, but also makes it difficult to detect sealing defects in real time during installation.

[0003] While existing technologies include valve auxiliary connection devices, leak detection devices, or manual installation, they generally suffer from the following shortcomings: Existing valve auxiliary connection devices cannot simultaneously check whether the connection is properly sealed, usually requiring an external leak detector to perform negative pressure leak detection on the entire pipeline, which is extremely time-consuming; Existing valve auxiliary connection devices cannot dynamically match the pipe diameter, requiring different auxiliary connection devices to be designed for different pipe diameters; Manual valve installation cannot take into account confined spaces, and the operation remains unchanged; Existing leak detection procedures all involve evacuating the entire pipeline after the valve is connected, which cannot quickly determine whether the connection is properly sealed.

[0004] Therefore, there is an urgent need for a valve connection device that integrates installation and leak detection functions, so that connection installation and sealing test can be completed simultaneously. Summary of the Invention

[0005] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, one objective of this invention is to provide a valve connection device that integrates installation and leak detection, simultaneously fulfilling the functions of valve and pipeline installation and leak detection. It offers high installation and leak detection efficiency, convenient operation, and adaptability to different pipe diameters, making it particularly suitable for connection applications in fusion reactor vacuum piping systems where high sealing reliability is required.

[0006] A valve connection device integrating installation and leak detection according to an embodiment of the present invention includes: The housing has a first end and a second end in the axial direction, both the first end and the second end have openings, and the housing is provided with a leak detection and air extraction port; An inflatable sealing ring assembly, comprising a first inflatable sealing ring disposed on the inner wall of the first end and a second inflatable sealing ring disposed on the inner wall of the second end; A slide rail assembly is disposed on the inner wall of the housing and located between the first inflatable sealing ring and the second inflatable sealing ring. The slide rail assembly includes a circumferential slide rail and a plurality of linear slide rails. The circumferential slide rail is located at the second end. The plurality of linear slide rails are centrally symmetrically distributed and extend axially from the first end to the second end to the circumferential slide rail, so that the plurality of linear slide rails are connected through the circumferential slide rail. A telescopic fixing rod assembly includes multiple first telescopic rods, multiple second telescopic rods, and multiple third telescopic rods; in the axial direction from the first end to the second end, each of the linear slide rails has a first telescopic rod, a second telescopic rod, and a third telescopic rod slidably arranged sequentially. A robotic arm is mounted on any one of the plurality of linear slide rails or on one of the circumferential slide rails and is located between the plurality of third telescopic rods and the second inflatable sealing ring.

[0007] Compared with existing technologies, the valve connection device integrating installation and leak detection of this invention has the following advantages: 1. The design of the valve connection device integrating installation and leak detection of this invention can simultaneously meet the functions of valve and pipeline connection and installation and leak detection, enabling rapid connection and installation and rapid judgment of whether the seal at the connection is intact, resulting in high installation and leak detection efficiency; 2. The design of the inflatable sealing ring assembly can meet the sealing effect of different pipe diameters; 3. The design of the slide rail assembly can meet the dynamic adjustment of the position during connection and also meet the tightening of the flange bolts by the robotic arm; 4. The design of the telescopic fixing rod assembly enables the valve connection device integrating installation and leak detection of this invention to be fixed to pipelines of different diameters, and can effectively solve the operational difficulties of fixing the sealing gasket while installing the valve during manual installation, resulting in high installation efficiency; 5. The design of the robotic arm can meet the function of tightening bolts in narrow spaces, making operation convenient.

[0008] In some embodiments, the inner walls of the first end and the second end are respectively provided with a first annular mounting groove and a second annular mounting groove, and the first inflatable sealing ring and the second inflatable sealing ring are correspondingly disposed in the first annular mounting groove and the second annular mounting groove.

[0009] In some embodiments, both the first inflatable sealing ring and the second inflatable sealing ring are made of rubber.

[0010] In some embodiments, the first inflation port of the first inflatable sealing ring passes through the wall of the first end and is sealed to the wall of the first end; the second inflation port of the second inflatable sealing ring passes through the wall of the second end and is sealed to the wall of the second end.

[0011] In some embodiments, the housing, the plurality of first telescopic rods, the plurality of second telescopic rods, and the plurality of third telescopic rods are all made of stainless steel.

[0012] In some embodiments, the number of the linear slide rail, the first telescopic rod, the second telescopic rod, and the third telescopic rod is four.

[0013] In some embodiments, the robotic arm consists of two robotic arm branches, one of which is used to fasten bolts and the other of which is used to fasten nuts.

[0014] In some embodiments, the end of one of the robotic arm branches is freely replaceable with a wrench adapted to different sizes of bolts, and the end of the other robotic arm branch is freely replaceable with a wrench adapted to different sizes of nuts.

[0015] In some embodiments, the robotic arm is equipped with a torque sensing module.

[0016] The present invention also proposes a method for using a valve connection device that integrates installation and leak detection, wherein the valve connection device that integrates installation and leak detection is the valve connection device that integrates installation and leak detection described in the aforementioned embodiment of the present invention.

[0017] The method of using the valve connection device integrating installation and leak detection according to an embodiment of the present invention includes the following steps: S1: The original pipe enters the housing from the first end and is pressed against the outer periphery of the original pipe by the radial inner ends of the multiple first telescopic rods; S2: Insert the sealing gasket into the housing from the second end, and fix the sealing gasket to the outer periphery by the radial inner ends of the plurality of second telescopic rods; S3: Insert the valve fitting into the housing from the second end, and fix the fitting to the outer periphery by the radial inner ends of the plurality of third telescopic rods; S4: After connecting the original pipe, the sealing gasket, and the pipe joint in a collinear manner, the sealing gasket, the pipe joint, and the original pipe are axially fitted together; S5: The existing pipe, the sealing gasket, and the pipe joint are fixed with bolts by the robotic arm; S6: Inflate the first inflatable sealing ring and the second inflatable sealing ring to gradually reduce the inner diameter of the first inflatable sealing ring and the second inflatable sealing ring until the first inflatable sealing ring and the second inflatable sealing ring are tightly attached to the outer circumferential surface of the original pipe and the outer circumferential surface of the pipe joint, respectively. S7: Then, perform a vacuum leak test through the leak detection port on the outer casing.

[0018] Since the method of using the valve connection device integrating installation and leak detection in this embodiment adopts the valve connection device integrating installation and leak detection described in the previous embodiment, the method of using the valve connection device integrating installation and leak detection in this embodiment has the same technical effect as the valve connection device integrating installation and leak detection described in the previous embodiment, and will not be repeated here.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] Figure 1 This is a perspective view of a valve connection device integrating installation and leak detection according to an embodiment of the present invention; Figure 2 This is a cross-sectional view of a valve connection device integrating installation and leak detection according to an embodiment of the present invention; Figure 3 This is a top view of a valve connection device integrating installation and leak detection according to an embodiment of the present invention; Figure 4 This is a diagram illustrating the usage state of the valve connection device that integrates installation and leak detection, according to an embodiment of the present invention.

[0021] Figure Labels A valve connection device 1000 integrating installation and leak detection; housing 1; first end 101; second end 102; leak detection air extraction port 103; air-filled sealing ring assembly 2; first air-filled sealing ring 201; first air inlet 2011; second air-filled sealing ring 202; second air inlet 2021; slide rail assembly 3; linear slide rail 301; circumferential slide rail 302; telescopic fixing rod assembly 4; first telescopic rod 401; second telescopic rod 402; third telescopic rod 403; robotic arm 5; existing pipeline 2000; sealing gasket 3000; valve 4000. Detailed Implementation

[0022] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0023] The following is combined with Figures 1 to 4 This invention describes a valve connection device 1000 that integrates installation and leak detection, and its usage method, according to an embodiment of the present invention.

[0024] like Figures 1 to 4As shown, the valve connection device 1000 integrating installation and leak detection according to an embodiment of the present invention includes a housing 1, an inflatable sealing ring assembly 2, a slide rail assembly 3, a telescopic fixing rod assembly 4, and a robotic arm 5.

[0025] The outer casing 1 has a first end 101 and a second end 102 in the axial direction, both of which have openings. A leak detection vent 103 is provided on the outer casing 1. The outer casing 1 is the outermost structural support component and also serves as a vacuum container, providing gas isolation for vacuum leak detection. The openings at the first end 101 and the second end 102 facilitate the installation of the inflatable sealing ring assembly 2, slide rail assembly 3, telescopic fixing rod assembly 4, robotic arm 5, etc., inside the outer casing 1. They also facilitate the entry and connection of existing pipes 2000, sealing gaskets 3000, and valves 4000 into the outer casing 1. The leak detection vent 103 on the outer casing 1 allows for timely leak detection after the existing pipes 2000, sealing gaskets 3000, and valves 4000 are connected and installed.

[0026] The inflatable sealing ring assembly 2 includes a first inflatable sealing ring 201 disposed on the inner wall of the first end 101 and a second inflatable sealing ring 202 disposed on the inner wall of the second end 102. By inflating the first inflatable sealing ring 201 and the second inflatable sealing ring 202, the inner diameters of the first inflatable sealing ring 201 and the second inflatable sealing ring 202 gradually shrink until they are tightly fitted to the outer circumferential surface of the pipe joint of the original pipe 2000 and valve 4000, providing a sealing effect during vacuum leak detection. The design of the first inflatable sealing ring 201 and the second inflatable sealing ring 202 can meet the sealing effect requirements of different pipe diameters.

[0027] The slide rail assembly 3 is disposed on the inner wall of the housing 1 and located between the first inflatable sealing ring 201 and the second inflatable sealing ring 202. It includes a circumferential slide rail 302 and a plurality of linear slide rails 301. The circumferential slide rail 302 is located at the second end 102. The plurality of linear slide rails 301 are centrally symmetrically distributed and extend axially from the first end 101 to the second end 102 to the circumferential slide rail 302, so that the plurality of linear slide rails 301 are connected through the circumferential slide rail 302.

[0028] The telescopic fixed rod assembly 4 includes multiple first telescopic rods 401, multiple second telescopic rods 402, and multiple third telescopic rods 403; in the axial direction from the first end 101 to the second end 102, each linear slide rail 301 is sequentially provided with a first telescopic rod 401, a second telescopic rod 402, and a third telescopic rod 403. The radial inner ends of multiple first telescopic rods 401, multiple second telescopic rods 402, and multiple third telescopic rods 403 can freely extend and retract radially according to the pipe diameter. The radial outer ends of multiple first telescopic rods 401, multiple second telescopic rods 402, and multiple third telescopic rods 403 are connected to the slide rail assembly 3 and can be adjusted axially as needed. The main function of the first telescopic rods 401 on the multiple linear slide rails 301 is to jointly fix the valve connection device 1000 integrating installation and leak detection of this embodiment of the invention to the outer periphery of the original pipe 2000. The thickness of the second telescopic rods 402 is thinner than that of the first telescopic rods 401. The main function of the second telescopic rods 402 on the multiple linear slide rails 301 is to jointly fix the sealing gasket 3000 used in the installation of the valve 4000. This process can effectively solve the operational difficulties of fixing the sealing gasket 3000 and installing the valve 4000 at the same time during manual installation. The main function of the third telescopic rods 403 on the multiple linear slide rails 301 is to jointly fix the valve 4000 to be installed.

[0029] The robotic arm 5 is mounted on any one of the multiple linear slide rails 301 or on a circumferential slide rail 302 and is located between the multiple third telescopic rods 403 and the second inflatable sealing ring 202. In this way, the robotic arm 5 can adjust its position axially on the same linear slide rail 301, slide from one linear slide rail 301 to the circumferential slide rail 302 and adjust its circumferential position on the circumferential slide rail 302, or slide from one linear slide rail 301 to the circumferential slide rail 302 and then to another linear slide rail 301 and adjust its axial position on the other linear slide rail 301. This makes it easier to tighten the connecting bolts of the valve 4000.

[0030] The method of using the valve connection device 1000 integrating installation and leak detection according to an embodiment of the present invention is as follows: The original pipe 2000 enters the housing 1 from the first end 101, and is pressed against the outer periphery of the original pipe 2000 by the radial inner ends of multiple first telescopic rods 401; the sealing gasket 3000 is placed into the housing 1 from the second end 102, and fixed to the outer periphery of the sealing gasket 3000 by the radial inner ends of multiple second telescopic rods 402; the pipe fitting of the valve 4000 is placed into the housing 1 from the second end 102, and fixed to the outer periphery of the pipe fitting by the radial inner ends of multiple third telescopic rods 403; the original pipe 2000 and the sealing gasket 3000 are then... After the gasket 3000, valve 4000, and pipe joint are connected collinearly, the original pipe 2000, gasket 3000, and pipe joint are axially fitted together. The original pipe 2000, gasket 3000, and pipe joint are fixed with bolts by the robotic arm 5. The first inflatable sealing ring 201 and the second inflatable sealing ring 202 are inflated, so that the inner diameter of the first inflatable sealing ring 201 and the second inflatable sealing ring 202 gradually decreases until the first inflatable sealing ring 201 and the second inflatable sealing ring 202 are tightly attached to the outer circumference of the original pipe 2000 and the outer circumference of the pipe joint, respectively. Then, a vacuum leak detection is performed through the leak detection port 103 on the outer casing 1.

[0031] Compared with the prior art, the valve connection device 1000 integrating installation and leak detection in this embodiment of the invention has the following advantages: 1. Through the design of the valve connection device 1000 integrating installation and leak detection in this embodiment of the invention, the connection and installation of valve 4000 and pipeline and the leak detection function can be satisfied simultaneously. It can quickly connect and install and quickly determine whether the seal at the connection is intact, resulting in high installation and leak detection efficiency; 2. Through the design of the inflatable sealing ring assembly 2, it can meet the sealing effect of different pipe diameters; 3. Through the design of the slide rail assembly 3, it can meet the dynamic adjustment of the position during connection and also meet the tightening of the flange bolts by the robotic arm 5; 4. Through the design of the telescopic fixing rod assembly 4, the valve connection device 1000 integrating installation and leak detection in this embodiment of the invention can be fixed to pipelines of different diameters and can effectively solve the operational difficulties of fixing the sealing gasket 3000 and installing the valve 4000 at the same time during manual installation, resulting in high installation efficiency; 5. Through the design of the robotic arm 5, it can meet the function of tightening bolts in narrow spaces, making operation convenient. VI. Particularly suitable for connection applications in fusion reactor vacuum piping systems where high sealing reliability is required.

[0032] In some embodiments, a first annular mounting groove and a second annular mounting groove are respectively provided on the inner walls of the first end 101 and the second end 102, and the first inflatable sealing ring 201 and the second inflatable sealing ring 202 are correspondingly disposed in the first annular mounting groove and the second annular mounting groove. In this way, after the first inflatable sealing ring 201 and the second inflatable sealing ring 202 are inflated, they are firmly locked in the first annular mounting groove and the second annular mounting groove, and will not shift, thereby improving the reliability of the seal.

[0033] In some embodiments, both the first inflatable sealing ring 201 and the second inflatable sealing ring 202 are made of rubber. Thus, the rubber material has high elasticity and good strength. When the first inflatable sealing ring 201 and the second inflatable sealing ring 202 are inflated, the inner diameter of the first inflatable sealing ring 201 and the radially outer side of the second inflatable sealing ring 202 are pressed against the inner wall surfaces of the first end 101 and the second end 102, and the inner diameters of the first inflatable sealing ring 201 and the second inflatable sealing ring 202 gradually shrink, i.e., gradually become smaller.

[0034] In some embodiments, the first inflation port 2011 of the first inflation sealing ring 201 passes through the wall of the first end 101 and is sealed with the wall of the first end 101, so that the first inflation sealing ring 201 can be easily inflated; the second inflation port 2021 of the second inflation sealing ring 202 passes through the wall of the second end 102 and is sealed with the wall of the second end 102, so that the second inflation sealing ring 202 can be easily inflated.

[0035] In some embodiments, the housing 1, the plurality of first telescopic rods 401, the plurality of second telescopic rods 402, and the plurality of third telescopic rods 403 are all made of stainless steel. Thus, the housing 1, the plurality of first telescopic rods 401, the plurality of second telescopic rods 402, and the plurality of third telescopic rods 403 all have good corrosion resistance and mechanical strength, and are not easily damaged.

[0036] In some embodiments, the number of linear slide rails 301, first telescopic rods 401, second telescopic rods 402, and third telescopic rods 403 are all four. The four first telescopic rods 401 securely clamp the valve connection device 1000, which integrates installation and leak detection according to this embodiment of the invention, onto the existing pipeline 2000. The four second telescopic rods 402 securely clamp the sealing gasket 3000, and the four third telescopic rods 403 securely clamp the pipe joint of the valve 4000.

[0037] In some embodiments, the robotic arm 5 consists of two robotic arm branches, one of which is used to tighten bolts and the other is used to tighten nuts, making operation convenient.

[0038] In some embodiments, the end of one of the robotic arm branches can be freely replaced with a wrench adapted to different sizes of bolts, and the end of the other robotic arm branch can be freely replaced with a wrench adapted to different sizes of nuts, making operation convenient.

[0039] In some embodiments, the robotic arm 5 is equipped with a torque sensing module. This allows the robotic arm 5 to tighten bolts while simultaneously ensuring uniform force on the sealing gasket around its 3000mm circumference, effectively avoiding the risk of leakage caused by uneven force during manual installation.

[0040] The present invention also proposes a method of using a valve connection device 1000 that integrates installation and leak detection, wherein the valve connection device 1000 that integrates installation and leak detection is the valve connection device 1000 that integrates installation and leak detection described in the aforementioned embodiment of the present invention.

[0041] like Figures 1 to 4 As shown, the method of using the valve connection device 1000 integrating installation and leak detection according to an embodiment of the present invention includes the following steps: S1: The original pipe 2000 enters the outer casing 1 from the first end 101 and is pressed against the outer periphery of the original pipe 2000 by the radial inner ends of multiple first telescopic rods 401. S2: Insert the sealing gasket 3000 into the housing 1 from the second end 102, and fix the sealing gasket 3000 to the outer periphery by the radial inner ends of the multiple second telescopic rods 402; S3: Insert the pipe fitting of valve 4000 into housing 1 from the second end 102, and fix the outer periphery of the pipe fitting through the radial inner ends of multiple third telescopic rods 403; S4: After connecting the original pipe 2000, sealing gasket 3000 and pipe joint in a collinear manner, make the sealing gasket 3000, pipe joint and original pipe 2000 axially fit together; S5: The existing pipe 2000, sealing gasket 3000 and pipe joint are fixed with bolts by the robotic arm 5; S6: Inflate the first inflatable sealing ring 201 and the second inflatable sealing ring 202, so that the inner diameter of the first inflatable sealing ring 201 and the second inflatable sealing ring 202 gradually decreases until the first inflatable sealing ring 201 and the second inflatable sealing ring 202 are tightly attached to the outer circumferential surface of the original pipe 2000 and the outer circumferential surface of the pipe joint, respectively. S7: Then, perform vacuuming and leak detection through the leak detection port 103 on the outer casing 1.

[0042] Since the method of using the valve connection device 1000 integrating installation and leak detection in this embodiment adopts the valve connection device 1000 integrating installation and leak detection in the aforementioned embodiment of this invention, the method of using the valve connection device 1000 integrating installation and leak detection in this embodiment has the same technical effect as the valve connection device 1000 integrating installation and leak detection in the aforementioned embodiment of this invention, and will not be repeated here.

[0043] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A valve connection device integrating installation and leak detection, characterized in that, include: The housing has a first end and a second end in the axial direction, both the first end and the second end have openings, and the housing is provided with a leak detection and air extraction port; An inflatable sealing ring assembly, comprising a first inflatable sealing ring disposed on the inner wall of the first end and a second inflatable sealing ring disposed on the inner wall of the second end; A slide rail assembly is disposed on the inner wall of the housing and located between the first inflatable sealing ring and the second inflatable sealing ring. The slide rail assembly includes a circumferential slide rail and a plurality of linear slide rails. The circumferential slide rail is located at the second end. The plurality of linear slide rails are centrally symmetrically distributed and extend axially from the first end to the second end to the circumferential slide rail, so that the plurality of linear slide rails are connected through the circumferential slide rail. A telescopic fixing rod assembly includes multiple first telescopic rods, multiple second telescopic rods, and multiple third telescopic rods; in the axial direction from the first end to the second end, each of the linear slide rails has a first telescopic rod, a second telescopic rod, and a third telescopic rod slidably arranged sequentially. A robotic arm is mounted on any one of the plurality of linear slide rails or on one of the circumferential slide rails and is located between the plurality of third telescopic rods and the second inflatable sealing ring.

2. The valve connection device integrating installation and leak detection according to claim 1, characterized in that, The inner walls of the first end and the second end are respectively provided with a first annular mounting groove and a second annular mounting groove, and the first inflatable sealing ring and the second inflatable sealing ring are correspondingly disposed in the first annular mounting groove and the second annular mounting groove.

3. The valve connection device integrating installation and leak detection according to claim 2, characterized in that, Both the first and second inflatable sealing rings are made of rubber.

4. The valve connection device integrating installation and leak detection according to claim 2, characterized in that, The first inflation port of the first inflatable sealing ring passes through the wall of the first end and is sealed to the wall of the first end; the second inflation port of the second inflatable sealing ring passes through the wall of the second end and is sealed to the wall of the second end.

5. The valve connection device integrating installation and leak detection according to claim 1, characterized in that, The outer casing, the plurality of first telescopic rods, the plurality of second telescopic rods, and the plurality of third telescopic rods are all made of stainless steel.

6. The valve connection device integrating installation and leak detection according to claim 1, characterized in that, The linear slide rail, the first telescopic rod, the second telescopic rod, and the third telescopic rod are each in number four.

7. The valve connection device integrating installation and leak detection according to claim 1, characterized in that, The robotic arm consists of two branches, one of which is used to fasten bolts and the other of which is used to fasten nuts.

8. The valve connection device integrating installation and leak detection according to claim 7, characterized in that, One of the robotic arm branches has an end that can be freely replaced with a wrench that is adapted to different sizes of bolts, and the other robotic arm branch has an end that can be freely replaced with a wrench that is adapted to different sizes of nuts.

9. The valve connection device integrating installation and leak detection according to claim 7, characterized in that, The robotic arm is equipped with a torque sensing module.

10. A method of using a valve connection device integrating installation and leak detection as described in any one of claims 1 to 9, characterized in that, Includes the following steps: S1: The original pipe enters the housing from the first end and is pressed against the outer periphery of the original pipe by the radial inner ends of the multiple first telescopic rods; S2: Insert the sealing gasket into the housing from the second end, and fix the sealing gasket to the outer periphery by the radial inner ends of the plurality of second telescopic rods; S3: Insert the valve fitting into the housing from the second end, and fix the fitting to the outer periphery by the radial inner ends of the plurality of third telescopic rods; S4: After connecting the original pipe, the sealing gasket, and the pipe joint in a collinear manner, the sealing gasket, the pipe joint, and the original pipe are axially fitted together; S5: The existing pipe, the sealing gasket, and the pipe joint are fixed with bolts by the robotic arm; S6: Inflate the first inflatable sealing ring and the second inflatable sealing ring to gradually reduce the inner diameter of the first inflatable sealing ring and the second inflatable sealing ring until the first inflatable sealing ring and the second inflatable sealing ring are tightly attached to the outer circumferential surface of the original pipe and the outer circumferential surface of the pipe joint, respectively. S7: Then, perform a vacuum leak test through the leak detection port on the outer casing.

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