Mobile robot for use on a tube sheet and method for moving a robot of this type on a tube sheet

Abstract

The invention relates to a mobile robot, the robot (1) being provided for moving independently on a tube sheet (31), for example in an industrial reactor, the robot comprising at least one carrier (2) and at least one foot (9, 10, 11, 12), the foot (9, 10, 11, 12) having, at its supporting end, an insertion element (17; 18; 19; 20) which can be inserted into a tube (32, 33) of the tube sheet (31), which insertion element (17; 18; 19; 20) can be moved between a lowered supporting position, in which the insertion element is inserted into a tube (32, 33), and a raised movement position, in which the insertion element is free of the tube sheet (31). A special characterizing feature is that the insertion element (17; 18; 19; 20) is formed by a bladder (37, 38), for example made of an elastomer, the robot (1) has a fluid supply (29, 30), for example a compressed-air supply, and the bladder (37, 38) is connected to the fluid supply (29, 30), and the outside diameter of the bladder (37, 38) can be changed by the introduction of fluid.

Description

[0001] Mobile robot for use on a pipe mirror and method for moving such a robot on a pipe mirror

[0002] The invention relates to a mobile robot for use on a tube mirror, for example in an industrial reactor.

[0003] Industrial reactors carry out large-volume reactions, which are typically endothermic or exothermic. To carry out the chemical reaction, an industrial reactor contains a large number of parallel reactor tubes (usually a few to 35,000), which can be several meters to tens of meters long. The diameter of each tube is approximately 2 to 20 cm. Larger and smaller diameters are possible.

[0004] The upper end of these adjacent, usually interconnected tubes is called the tube plate. Such a tube plate is characterized by a substantially regular spacing of the tubes; the centers of two adjacent tubes are essentially always the same distance apart.

[0005] To carry out the chemical reaction in the industrial reactor, the reactants are introduced at one side of the tube, the chemical reaction takes place within the tube, and the resulting product is discharged at the other side of the catalyst tube. The reactor tubes are typically filled with catalyst material to accelerate the intended chemical reactions in such an industrial reactor or to make them technically possible in the first place.

[0006] In order to achieve a uniform load on the individual tubes despite the parallel connection of the individual tubes, i.e. to harmonize the flow in the individual tubes, the individual tubes must be filled as evenly as possible with the catalyst material. This applies not only to the amount of catalyst material itself, but also to the packing density, which can vary depending on the orientation of the individual catalyst material elements. Even if the catalyst material does not actively participate in the chemical reaction itself, or is not consumed by the chemical reaction, any desired pores that increase the catalyst surface area will be blocked by impurities. Wear of the catalyst material due to mechanical wear can also be observed. Therefore, the catalyst material must be replaced regularly, approximately every few years, for example, four years.

[0007] Another example is industrial heat exchangers. These industrial heat exchangers also have a tube surface. The tubes of a heat exchanger also need to be cleaned regularly.

[0008] Due to the large number of tubes whose catalyst material must be replaced, the filling process and the subsequent control measurements are monotonous and therefore prone to errors when performed by humans. It is quite possible that the measurements of individual tubes are overlooked, which can have fatal consequences.

[0009] Robots that perform tasks, also called actions, from humans are generally known. Robots are known that are constructed like a gantry crane above a pipe level, from which measurements can be taken. Mobile robots are also known. Such robots typically have rollers or tracked drives for movement.

[0010] However, the use of such previously known mobile robots on a pipe arch is not readily possible: the upward-facing plane of the pipe arch is largely formed by the end faces of the reactor tubes. While the spaces between the tubes on the pipe arch can be filled, in many cases a certain overhang of the tubes relative to the filling surfaces can be observed. Robots with crawlers or wheel drives get stuck on these overhangs. In any case, there is a risk that the crawlers or wheel drives will fall into the pipe openings or get stuck in them. Driving the robot in this way is therefore difficult; in particular, no locomotion that would enable precise control of a specific pipe is possible. This is necessary, however, to ensure that a specific action has been carried out by the robot on certain tubes, for example all of the tubes in a pipe arch.

[0011] Another type of mobile robot locomotion is described in EP 2 914 478 B1. Here, a robot is proposed which has a plurality of feet which are connected to a support and which can be adjusted relative to this support in the intended direction of movement. The feet are designed like a suction cup. The suction cups can each be adjusted into a supporting position, in which the suction cup is activated and the foot thus supports the robot, and into a moving position, in which the suction cup can be moved relative to the plane on which the robot is supported. This is achieved by changing the volume within the suction cup so that a negative pressure is created beneath the suction cup in the supporting position. This negative pressure is released to provide the moving position. The adjustability of the feet relative to the support allows the robot to move on the supporting plane.

[0012] However, the use of such a robot requires a smooth surface to create a seal around the circumference of the suction cup, which makes it possible to create a vacuum. This could be a glass surface, for example. The use of such a robot on a pipe mirror, which is characterized by an uneven surface where creating a vacuum is impossible, is not practical.

[0013] CN 2079833667 U relates to a cleaning robot for a heat exchanger. It has four independently movable feet equipped with insertion elements. These insertion elements allow the robot to grip the tubes of a tube stack of the heat exchanger. EP 1 008412 B1 relates to a robot that is also designed as a cleaning robot. This robot also comprises four independently movable feet with insertion elements. In one embodiment, the insertion elements are equipped with a package of rubber rings. The rubber rings are radially expanded by axial compression of the rubber ring package, so that the foot is tightly and firmly held in a tube of a tube stack.

[0014] The disadvantage of this design is that these insertion elements can only be used for a very specific pipe type with a very specific diameter. This is because the expansion of the rubber ring package is relatively small compared to the required force, so that in the radial direction, only an expansion of several hundred pm to a very few mm is actually possible.

[0015] Against this background, the object of the invention is to propose a robot that can move safely on a pipe mirror, that is safely supported on the pipe mirror and that can be used on a variety of different pipe mirrors with different pipe geometries.

[0016] This object is achieved by a generic mobile robot as mentioned above with the features of claim 1. Advantageous embodiments emerge from the claims and the description. A corresponding method is recited in claim 13.

[0017] The core of the invention is to further develop a robot mentioned at the outset, comprising at least one carrier and at least one foot, wherein the foot is adjustable relative to the carrier in the intended direction of movement for movement, with regard to its foot.

[0018] It is provided that the foot has an insertion element at its supporting end that can be inserted into a tube of the tube level. In the supporting position, this insertion element is inserted into the tube level, thus protruding from the upper end of the tube level into the tube. In the extension direction of the tube level plane, a positive connection is thus achieved between the reactor tube and the insertion element. In this supported position, the foot provides a support point defined relative to the tube level, relative to which the robot can move on the tube level plane. Furthermore, the robot can be supported on the tube level, for example by at least one further foot, equipped with a wheel, a support plate or the like.

[0019] To move the robot, the foot is adjusted relative to the robot support in the direction of travel. The foot is mounted accordingly on the support. The adjustability can be either translational or rotational. In the moved position, the robot is displaced relative to its previous position relative to the tube surface in the plane of the tube surface.

[0020] To continue its movement, the insertion element is then moved into a movement position, meaning it is removed from the tube. In the movement position, the insertion element is free from the tube surface; it is thus positioned above the tube surface and can be moved above the plane of the tube surface without being hindered by a reactor tube.

[0021] In the moving position, the foot is repositioned relative to the support, returning it to its original position relative to the support. The adjustment and repositioning trajectories of the foot and the insertion element are preferably identical. At the same time, it is understood that for the precise repositioning of the insertion element relative to a tube into which the insertion element is to be inserted, the specified initial position is not always exactly the same. Minor deviations are conceivable, but can be compensated for by appropriate sensors.

[0022] The insertion element can now be inserted into another tube of the tube stack and moved into its support position. The base now provides support again, but at a different location than before. The base has an actuator, allowing the insertion element to be adjusted relative to the robot in its extension direction and thus in the extension direction of the reactor tubes forming the tube stack. This adjustability enables the insertion of the insertion element into the reactor tube and its removal for further movement of the robot. The adjustability can be achieved mechanically, for example via a spindle drive, or via a fluid supply.

[0023] Overall, the movement sequence is similar to that of walking with alternating support and movement positions, between which the foot is adjusted or re-adjusted relative to the wearer according to the intended movement.

[0024] Advantageously, the proposed robot base provides support in the tube surface, which simultaneously allows for precise positioning. Each time the insertion element is inserted into a reactor tube, the position relative to the tube surface is defined and centered with respect to that reactor tube, thus simplifying navigation on the tube surface. The reference system for navigation is typically the tube surface.

[0025] The radial outer diameter of the insertion element is variable. During insertion of the insertion element into the reactor tube, the insertion element is in a zero position. In this zero position, the insertion element has a first outer diameter that is smaller than the inner diameter of the tube in the area where the insertion element is inserted into the tube. Once the insertion element has been inserted into the tube, the insertion element is moved into an expanded position to create the support position. In this expanded position, the insertion element has a second outer diameter that is wider than the first outer diameter, so that in the expanded position, its outer diameter is supported against the inner wall of the tube and is thus clamped to the reactor tube.In the expanded position, the insertion element thus rests against the inner pipe wall along its circumference, thus supporting the robot against the pipe surface, even against a tilting moment. This creates a frictional connection between the inner wall of the pipe and the insertion element in the direction of pipe extension. Preferably, the insertion element is designed such that it is fully supported against the inner pipe wall along its outer diameter.

[0026] In this way, the insertion element not only supports the robot in the direction of the pipe's extension, but also provides a fixed bearing that can also transfer tilting moments. This allows the robot to be supported eccentrically to its center of gravity. In any case, this design provides significantly more precise support, as it is precisely centered relative to the pipe.

[0027] A special feature is that the insertion element is formed by a flexible bladder, made for example from an elastomer, the robot has a fluid supply, such as a compressed air supply, and the bladder is connected to the fluid supply. By introducing fluid into the bladder, its outer diameter can be changed according to the zero position and expansion position. By providing an elastic bladder that is filled with a fluid to provide the expansion position, an insertion element is created that can not only quickly switch between the zero position and expansion position, thus increasing the speed of the robot's movement on the pipe surface, but also allows a relatively large adjustment range without any problems.In addition, the pressure and thus the force acting on the inner wall of the reactor tube can be adjusted, allowing even fine, thin-walled tubes to be safely processed by the proposed robot. Last but not least, a flexible bladder automatically adapts to the inner contour of the inner tube when filled with a fluid.

[0028] Advantageously, such a bubble also adapts to different cross-sectional geometries of the pipe: This allows it to reliably approach round pipes as well as pipes with corners. Even pipes with protrusions or grooves pose no problem. By introducing a fluid to expand the bubble, a large radial stroke is provided with a relatively low force. This can easily be 5 mm, 10 mm, or more. Therefore, a robot with such an insertion element can be used on a variety of different pipe surfaces, whereby the pipes can differ in their diameter and cross-sectional geometry.

[0029] In addition, positioning the foot relative to the pipe opening is simplified: Due to the relatively large possible stroke, inserting the insertion element into the pipe is unproblematic, even with large tolerances. This reduces the load on the control system and the necessary actuators. The respective tolerances are automatically compensated in the bladder.

[0030] The bladder can be designed to be elastically deformable. This elasticity is used to provide the change in outer diameter; in the expanded position, the bladder is stretched; in the zero position, it contracts automatically due to its elasticity.

[0031] Alternatively or additionally, the shape of the bubble can be changed to change the outer diameter. In such a case, the surface area of ​​the bubble is essentially identical in both the zero position and the expansion position, but not in terms of its enclosed volume. Thus, in the zero position, the volume enclosed by the bubble can be somewhat more elongated than in the expansion position, which automatically leads to a reduction in the outer diameter, while in the expansion position the volume is approximately more spherical.

[0032] To provide the fluid supply, the robot itself can have the necessary units, for example for providing compressed air, or it can be connected to an external fluid supply. In the latter case, the robot has a so-called umbilical cord that leads to the external fluid supply. It is preferably provided that the foot has a support collar at its transition to the insertion element, which contacts the end of the pipe surface, for example the end face of the pipe facing the robot, when the insertion element is in its support position. The support collar has a larger diameter than the reactor pipe and thus provides a support surface opposite the end face of the reactor pipe. The support collar thus acts as a stop that limits the immersion depth of the insertion element into the pipe.In addition, the portion of the supporting force acting on the reactor tube pointing in the direction of pipe extension is transferred in a form-fitting manner to the end face of the reactor tube.

[0033] If the insertion element is also intended to be able to transmit tilting moments, the support collar not only transmits weight forces pointing in the direction of the reactor tube, but also provides a pivot point for these tilting moments if the robot is supported eccentrically with respect to its center of gravity.

[0034] Preferably, the insertion element, in the expanded position, is made of a rubber material, at least in sections, in its outward-facing region. Due to the flexibility of the rubber material, the insertion element, in its expanded position, adapts to the inner wall of the reactor tube into which the insertion element is inserted, thus enabling a surface-wide force transmission. This counteracts damage to the inner wall of the reactor tube; at the same time, the friction-increasing properties of the rubber material multiply the support options.

[0035] For example, the part of the insertion element that provides the outer diameter variability can be covered with a rubber bladder that protects this part from contamination, such as dust. The rubber bladder itself can be expanded in various ways, so that the outer diameter of the bladder changes according to the zero position or expansion position. In one embodiment, the insertion element can additionally have at least one conical element and a corresponding spreading element mounted on the conical element. This spreading element is adjustable relative to the central longitudinal axis of the conical element, so that it is radially expanded by the adjustment of the conical element, whereby the outer diameter of the insertion element can be varied. The intermediate element is thus expandable; it is, for example, a slotted ring.By pressing on the cone, the outer diameter of the intermediate element and thus of the insertion element is increased. By providing an additional clamping mechanism, the robot's support on the pipe is improved.

[0036] Preferably, in a first step, the bladder is inserted into the tube, with the aid of which the foot is mechanically aligned precisely as intended relative to the tube opening. Only then is the cone assembly inserted into the tube. Such a cone assembly typically has a significantly smaller radial stroke, but at the same time, it is more rigid. Therefore, before inserting the cone assembly into the tube opening, the foot must be centered as precisely as possible relative to the tube opening, since there is usually only a small distance between the outer surface of the cone assembly and the inner wall of the tube.

[0037] By spreading the intermediate element on one side using a conical element, essentially a line contact can be achieved between the inner wall of the reactor tube and the insertion element. It is then preferably provided that the conical element is provided at the end of the foot pointing away from the robot and is adjusted towards the robot to spread the intermediate element, for example via a spindle drive. As a result, the foot is pulled towards the reactor tube while the intermediate element is spreading. If the foot has a support collar as described above, this is pressed onto the end face of the reactor tube, whereby the foot is additionally braced against the reactor tube. For even spreading, however, it can be provided that the intermediate element is held between two conical elements whose cones point towards each other and that one conical element is axially adjustable relative to the other conical element.In this way, the intermediate element is spread open from both sides so that the outer diameter is increased across the surface of the intermediate element.

[0038] In one embodiment, the expansion element can be made of a rubber material. The expansion element can directly contact the inner wall of the reactor tube; due to the elastic properties of the rubber, it is not absolutely necessary for the expansion element to be slotted.

[0039] In another embodiment, the expansion element can be made of a metal material. A ridge or barbed surface can be provided facing outward, supporting the robot against the inner wall of the reactor tube. The advantage is reduced wear. Furthermore, electrical contact transmission can be enabled, for example, for grounding. The force transmission is also stiffer than when using a rubber material, particularly for transmitting tilting moments.

[0040] It is preferably provided that the insertion element, starting from the foot and leading to its distal end and preferably following the extension of the insertion element, has an opening that extends through the insertion element. A sensor and / or an actuator can be passed through this opening in order to carry out at least one action in the reactor tube into which the insertion element is inserted. It is preferably provided that the opening is provided centrally with respect to the insertion element. If the insertion element is a bladder, for example, it can be a double-walled bladder. The inner wall of the bladder is rigid, while the outer wall of the bladder can be changed by the introduction of fluid. The inner wall of the bladder, in turn, encloses the opening that extends through the insertion element, for example a channel, through which a sensor and / or an actuator can be passed.In this way, the robot's foot is used not only to support the robot but also to perform an action. This significantly simplifies the insertion of a sensor or actuator and also typically reduces the supporting force acting on the insertion element.

[0041] In a related development, the robot is provided with an optical sensor aligned with the opening, which is connected to the robot's controller and with the help of which the insertion element is centered relative to the pipe opening. Such an optical sensor could be a laser, for example. Differences in light and dark can be detected quite accurately on a pipe mirror, since the interior of a pipe differs considerably in appearance from the pipe mirror with the opening closed due to its depth, a difference that can also be accurately distinguished by software. Because the optical sensor is aligned with the opening of the insertion element, exact positioning of the insertion element is easy to implement, which appears much more difficult with sensors offset from the insertion element in the plane of the pipe mirror, such as a distanced camera.

[0042] The sensor technology is preferably contactless and can be designed not only as a laser, but also as an ultrasonic sensor or image recognition.

[0043] Preferably, the robot has at least one additional foot connected to the support. This foot also has an insertion element. The insertion element can be designed according to one of the aspects described above. Preferably, the insertion element of the first foot and the insertion element of the second foot are designed identically.

[0044] Furthermore, it can be provided that this second foot is also adjustable in the direction of travel relative to the support to which the first foot is connected. The adjustability is usually designed parallel to the adjustability of the first foot relative to the support and preferably extends over the same extent. In this way, the travel speed of the robot is increased: For this purpose, in a first step, the insertion element of the first foot is inserted in its support position in a first tube, while the insertion element of the second foot is also inserted in its support position in a second tube spaced from the first tube in the direction of travel.

[0045] In a second step, the insertion element of the first foot is moved into its movement position, thus freeing it from the tube surface. The foot of the insertion element is then adjusted relative to the support in the direction of travel. Simultaneously or sequentially, the support is adjusted relative to the second foot, whose insertion element is in the support position, in the direction of travel. This causes the robot to move forward.

[0046] In a third step, the insertion element of the first foot is moved back into its support position in a third tube and then the insertion element of the second foot is moved into its movement position.

[0047] In a fourth step, the robot is moved forward by adjusting the support relative to the first foot. Simultaneously or sequentially, the second foot is adjusted relative to the support in the direction of travel, and then the second foot is returned to its support position. The process then begins again.

[0048] It is further preferably provided that the robot has at least two pairs of insertion elements, wherein both pairs of insertion elements are adjustable relative to the carrier for the movement of the robot, and wherein the robot is always supported by at least one of the pairs of insertion elements, and wherein the insertion elements can be moved into their support and movement positions independently of one another. By providing several insertion elements for support, the necessary support force in the respective pipe is reduced. Due to the independence of the insertion elements with regard to their support and movement positions, defects in the pipe surface can also be ignored. It can also be provided that the pair of insertion elements, or the feet, are attached to a common module. This module is connected to the carrier and adjustable relative to the carrier as described above.Furthermore, the two insertion elements or feet are preferably adjustable relative to each other in a setup mode to adjust the distance between the two insertion elements of the insertion element pair. This allows the robot to be used on pipe mirrors of different dimensions (i.e., the distance between the pipes differs).

[0049] Furthermore, it can be provided that the robot can be pivoted about at least one foot parallel to the plane of the pipe level in order to adjust its direction of travel. It is also conceivable that at least one foot can be adjusted transversely to the direction of travel relative to the support. The foot can thus be moved sideways to reach an adjacent row of pipes.

[0050] In a preferred embodiment, the robot has only one or two corresponding feet with insertion elements, on which the entire robot is supported on the tube surface. The use of only one or two feet enables a particularly compact design that can not only be easily inserted into confined spaces, but can also be safely used at the edges of the tube surface and thus usually at the edges of the reactor.

[0051] During robot movement, situations can arise in which the robot's center of gravity is no longer above the support on the tube surface, with the robot threatening to tip over. To counteract this, the robot can be provided with a boom that is adjustable relative to at least one foot. This boom can be adjusted complementarily to the movement of the foot relative to the support, so that the robot essentially remains balanced relative to its support on the reactor tube side during adjustment. The boom thus provides balance compensation. The robot usually weighs 2-5 kilograms, so the weight of the boom can be adjusted accordingly. It can also be provided that the movement of the boom relative to the robot is achieved by a mechanical coupling of the adjustment of the foot relative to the support, e.g. via a cable pull.

[0052] The invention is explained in more detail using an exemplary embodiment. Shown are:

[0053] Fig. 1 : A three-dimensional perspective view of a robot according to the invention,

[0054] Fig. 2: a section of Figure 1 concerning two feet,

[0055] Fig. 3a - 3d: a sequence of images showing a cross section through a pipe mirror into which two insertion elements of two feet of the robot shown in Figure 1 are inserted and supported on the pipes.

[0056] Figure 1 shows the robot 1 according to the invention in a three-dimensional view. The robot 1 has a carrier 2 formed by two linear rails 3a, 3b connected to one another in a manner not shown in detail. Modules 4, 5 are held on the two linear rails 3a, 3b, which modules can be adjusted independently of one another in the extension direction 8 of the linear rails 3a, 3b by means of servomotors 6, 7 associated with the linear rails 3a, 3b. To guide the modules 4, 5 on the linear rails 3a, 3b, corresponding bearings are provided on the linear rails 3a, 3b or the modules 4, 5. In this exemplary embodiment, the modules 4, 5 engage behind the linear rails 3a, 3b.

[0057] Both modules 4, 5 each have two feet 9, 10, 11, 12. In this exemplary embodiment, the feet 9, 10, 11, 12 are essentially each formed by a pneumatic cylinder 13, 14, 15, 16, which is directly connected to the respective modules 4, 5, and a respective insertion element 17, 18, 19, 20. The insertion elements 17, 18, 19, 20 are connected to the respective distal end of the extendable rod 21, 22 of the pneumatic cylinder 13, 14, 15, 16 with the interposition of an adapter plate 23, 24 (rods 21, 22 and adapter plates 23, 24 are only identified for the first module 4 in Figure 1).

[0058] If the pneumatic cylinder 13, 14, 15, 16 is activated, the rod 21, 22 extends, in this case downwards; the respective insertion element 17, 18, 19, 20 can be inserted into a reactor tube (not shown in this figure) and moved into its support position. If the pneumatic cylinder 13, 14, 15, 16 is deactivated, the rod 21, 22 retracts; the respective insertion element 17, 18, 19, 20 is moved upwards and thus into its respective movement position.

[0059] To support the robot 1 accordingly on the pipe surface, the insertion elements 17, 18, 19, 20 are specially designed (see detailed view in Figure 2). The insertion elements 17, 18 are designed as bubbles. A support collar 25, 26 is provided at the transition from the foot 9, 10 to the respective insertion element 17, 18. The downward-facing side facing the pipe surface (not shown in detail here) provides a support surface 27, 28, which rests against the end face of the pipe while the robot 1 is supported.

[0060] The bladders of the insertion elements 17, 18 are provided with a fluid supply 29, 30, in this case a compressed air supply. This allows the bladders to be expanded so that their outer diameter can be varied between a zero position shown in Figure 2 and an expanded position.

[0061] The functioning of the bubbles is explained in more detail with reference to Figures 3a to 3d.

[0062] Figure 3a shows a section of a tube mirror 31, comprising a first tube 32 and a second tube 33. The end faces 34, 35 of the tubes 32, 33 form the upper end of the tube mirror 31 together with filler material 36, which is arranged between the tubes 32 and 33 to form the tube mirror. The tubes 32, 33 are connected by means of the filler material 36, which can be a metal plate, for example. In Figure 3b, the two insertion elements 17, 18 are partially inserted into the tube mirror 31, or rather into the tubes 32, 33. The insertion elements 17, 18 each have an elastic bladder 37, 38 and a fluid supply 29, 30, which opens into the respective bladders 37, 38. The insertion elements 17, 18 merge in their end pointing away from the pipe surface 31 into the already mentioned respective support collar 25, 26 with the respective support surfaces 27, 28.As can be seen in Figure 3c, the support surfaces 27, 28 each rest on the pipe surface 31, or on the end faces 34, 35 of the pipes 32, 33, when the insertion elements 17, 18 are completely inserted into the respective pipe 32, 33.

[0063] The insertion elements 17, 18 are in their respective zero positions in the states shown in Figure 3c. By applying pressure to the fluid supply 29, 30, the bladders 37, 38 are inflated; the insertion elements 17, 18 are then in their expanded position (see Figure 3d). The outer diameter of the insertion elements 17, 18 is now larger than in the zero position shown in Figures 3b and 3c. As a result of the expansion of the bladders 37, 38, their outer diameters rest against the respective inner walls 39, 40 of the respective tubes 32, 33. As a result of this contact, the robot (not shown in detail in Figures 3b to 3d) is supported on the tubes 32, 33, or the insertion elements 17, 18 are clamped in the tubes 32, 33.

[0064] The support of the robot 1 by the expanded bladders 37, 38 is improved by the fact that they are made of a rubber material. This allows them to adapt to the macro- and microscopic geometry of the inner wall 39, 40 of the tubes 32, 33. Furthermore, the use of the rubber material increases the friction between the inner wall 39, 40 of the tubes and the outer surface of the bladder 37, 38.

[0065] To release the support of robot 1 from the respective tubes 32, 33, the fluid supply to the bubbles 37, 38 is deactivated. Due to the inherent elasticity of the bubbles 37, 38, they relax, so that the state shown in Figure 3c occurs again. The insertion elements 17, 18 can thus be removed from the tubes 32, 33 and brought into their movement position, i.e., removed from the tubes 32, 33. In the movement position, the insertion elements 17, 18 are free from the tube surface 31, thus in this case from the tubes 32, 33, and are located above the plane formed by the tube surface 31.

[0066] The intended movement of the robot 1 on a tube mirror not shown in Figure 1 is described below with reference to Figure 1.

[0067] In a first step, the insertion elements 17, 18 of the feet 9, 10 of the first module 4 engage the pipes of the pipe support and are in their support position. For this purpose, the corresponding pneumatic cylinders 13, 14 are activated, so that the insertion elements 17, 18 are inserted into the pipe support, and the insertion elements 17, 18 are in their expanded position, so that the robot 1 is supported on the pipe support. The insertion elements 19, 20 of the other feet 11, 12 of the other module 5, on the other hand, are free from the pipe support and do not engage a pipe; they are in their movement position.

[0068] To move the robot 1, in a second step, the feet 9, 10, or module 4, are moved along the support 2, thus along the corresponding linear rail 3a in the direction of extension 8, by means of the servo motor 6, so that the robot 1 is moved relative to the tube plane. The other module 5 is also moved along the support 2, or the corresponding linear rail 3b. As seen in Figure 1, the modules 4, 5 are then located at the respective opposite ends of the corresponding linear rails 3a, 3b.

[0069] In a third step, the insertion elements 19, 20 of the feet 11, 12 of the second module 5 are moved into their support position, i.e. lowered and inserted into the pipe mirror and moved into their expanded position, so that the robot 1 is now supported on the pipe mirror both on the insertion elements 17, 18 of the feet 9, 10 of the first module 4 and on the insertion elements 19, 20 of the feet 11, 12 of the second module 5. In a fourth step, the insertion elements 17, 18 of the feet 9, 10 of the first module 4 are moved into their zero position and removed from the pipe mirror, thus moved into their movement position. The respective modules 4, 5 are moved back into the starting position shown in Figure 1 by means of the servo motors 6, 7. As a result of this movement, the robot 1 has moved again. The process now starts from the front.

[0070] The invention will be explained with reference to an embodiment. Without departing from the scope of protection described by the claims, numerous further embodiments will become apparent to those skilled in the art.

[0071] to realize inventive ideas without these having to be explained in more detail within the scope of these statements.

[0072] List of reference symbols

[0073] 1 robot

[0074] 2 carriers

[0075] 3a, 3b Linear rail

[0076] 4, 5 Module

[0077] 6, 7 Servo motor

[0078] 8 Extension direction of linear rails, 10, 11 , 12 Foot; 14; 15; 16 Pneumatic cylinder; 18; 19; 20 Insertion element

[0079] 21 , 22 rod

[0080] 23, 24 adapter plates

[0081] 25, 26 Support collar

[0082] 27, 28 Support surface

[0083] 29, 30 Fluid supply

[0084] 31 tube mirror

[0085] 32, 33 Tube of the tube mirror

[0086] 34, 35 End face of the pipes

[0087] 36 filling material

[0088] 37, 38 Bladder

[0089] 39, 40 Inner wall of the pipes

Claims

Patent claims 1. Mobile robot, wherein the robot (1) is intended to move independently on a tube mirror (31), for example in an industrial reactor, comprising at least one support (2) and at least one foot (9, 10, 11, 12), wherein the foot (9, 10, 11, 12) is adjustable relative to the support (2) in the intended direction of movement, the foot (9, 10, 11, 12) has at its supporting end an insertion element (17; 18; 19; 20) which can be inserted into a tube (32, 33) of the tube mirror (31), which insertion element (17; 18; 19;20) is adjustable between a lowered support position, in which it is inserted into a pipe (32, 33), and a raised movement position, in which it is free from the pipe surface (31), so that the robot (1) is supported by means of the foot (9, 10, 11, 12) in the support position on the pipe surface (31) in the intended direction of travel and due to the adjustability of the foot (9, 10, 11, 12) relative to the carrier (2), the robot (1) can move on the plane of the pipe surface (31), wherein the radial outer diameter of the insertion element (17; 18; 19; 20) is variable, wherein the insertion element (17; 18; 19; 20) has a first outer diameter in a zero position, so that in this zero position it can be inserted into the pipe (32, 33) of the tube mirror (31), and wherein the insertion element (17; 18; 19;20) in an expansion position has a second outer diameter which is wider than the first outer diameter, so that in this expansion position it is clamped with its outer diameter against the inner wall (39, 40) of the tube (32, 33), characterized in that the insertion element (17; 18; 19; 20) is formed by a bladder (37, 38), for example made of an elastomer, the robot (1) has a fluid supply (29, 30), for example a compressed air supply, and the bladder (37, 38) is connected to the fluid supply (29, 30) and by introducing fluid the bladder (37, 38) can be changed in its outer diameter according to the zero position and expansion position.

2. Robot according to claim 1, characterized in that the bladder (37, 38) has a radial stroke of at least 5 mm.

3. Robot according to claim 1 or 2, characterized in that the foot (9, 10, 11, 12) in its transition to the insertion element (17; 18; 19; 20) has a support collar (25, 26) which contacts the end of the tube surface (31), for example the end face (34, 35) of the tube (32, 33), when the insertion element (17; 18; 19; 20) is in its support position.

4. Robot according to one of claims 1 to 3, characterized in that the insertion element (17; 18; 19; 20) in the expansion position is provided at least in sections from a rubber material in its outwardly facing region which, in the expansion position, contacts the inner wall (39, 40) of the tube (32, 33).

5. Robot according to one of claims 1 to 4, characterized in that the insertion element (17; 18; 19; 20) further has at least one conical element and a corresponding spreading element placed on the conical element, which spreading element is adjustable relative to the central longitudinal axis of the conical element, so that it is spread radially by the adjustment on the conical element, whereby the insertion element (17; 18; 19; 20) is variable in its outer diameter.

6. Robot according to one of claims 1 to 5, characterized in that the insertion element (17; 18; 19; 20) has an opening leading from the foot (9, 10, 11, 12) to its distal end, preferably following the extension of the insertion element (17; 18; 19; 20), wherein it is provided in particular that a sensor and / or an actuator can be guided through the opening in order to carry out at least one action in the tube (32, 33) in which the insertion element (17; 18; 19; 20) is inserted.

7. Robot according to one of claims 1 to 6, characterized in that the robot (1) has at least two insertion elements (17; 18; 19; 20) and wherein both insertion elements (17; 18; 19; 20) are adjustable relative to the carrier (2) for moving the robot (1) and wherein the robot (1) is always supported by at least one of the insertion elements (17; 18; 19; 20).

8. Robot according to claim 7, characterized in that the robot (1) has at least two pairs of insertion elements (17; 18; 19; 20) and wherein both pairs of insertion elements (17; 18; 19; 20) are adjustable relative to the carrier (2) for moving the robot (1) and wherein the robot (1) is always supported by at least one of the pairs of insertion elements (17; 18; 19; 20) and wherein the insertion elements (17; 18; 19; 20) can be brought into their supporting and moving position independently of one another.

9. Robot according to one of claims 1 to 8, characterized in that the robot (1) has a contactless sensor system for detecting a tube (32, 33) into which an insertion element (17; 18; 19; 20) can be inserted for the movement of the robot (1).

10. Robot according to claim 9 in its dependence on claim 6, characterized in that the sensor system is aligned with the opening.

11. Robot according to claim 9 or 10, characterized in that the sensor system has image recognition.

12. Robot according to one of claims 1 to 11, characterized in that the robot (1) has a boom which is adjustable relative to at least one foot (9, 10, 11, 12), which boom is adjustable relative to the support (2) in a complementary manner to the movement of the foot (9, 10, 11, 12) so that the robot (1) remains essentially in equilibrium with respect to its reactor tube-side support during the adjustment.

13. Method for moving a robot on a tube mirror (31) according to one of claims 1 to 12, with the following steps: a. inserting the insertion element (17; 18; 19; 20) into a tube (32, 33) of the tube mirror (31) to bring the insertion element (17; 18; 19; 20) into its support position, b. adjusting the foot (9, 10, 11, 12) relative to the support (2) of the robot (1) to move the robot (1), c. pulling the insertion element (17; 18; 19; 20) out of the tube (32, 33) to bring the insertion element (17; 18; 19; 20) into its movement position, d. Adjusting the foot (9, 10, 11, 12) relative to the support (2) back to its starting position, e. Carrying out step a.

14. Method according to claim 13 in its reference at least to claim 2, characterized in that to form the support position the insertion element (17; 18; 19; 20) is brought into its expanded position, so that the insertion element (17; 18; 19; 20) is clamped to the tube (32, 33) and to bring the insertion element (17; 18; 19; 20) into its moving position, this is previously brought into its zero position.

15. Method according to claim 13 or 14, in each case at least in its reference back to claim 7 or 8, characterized in that the steps of the method described in claim 13 are passed through by both feet (9, 10, 11, 12) or both pairs of feet, wherein a first foot (9, 10, 11, 12) or a first pair of feet passes through the sequence described in claim 13 and the second foot (9, 10, 11, 12) or the second pair of feet passes through the method according to claim 13 with the proviso that steps a and c are interchanged and wherein in step a the two feet (9, 10, 11, 12) are arranged opposite one another in the direction of extension on the carrier (2).

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