Moving device and moving method

Abstract

The present disclosure addresses the problem of providing a moving device for a multi-tubular reactor having a closing part on a tube plate surface, said moving device being capable of maintaining a substantially horizontal state with respect to the tube plate surface without falling over. A moving device 300 comprises: a frame part 350; and a movement propulsion part which is capable of moving on a tube plate in a state of having the frame part 350 mounted thereon. The movement propulsion part has three or more insertion members 323 which can be inserted into reaction tubes 4 that are mutually different, and an insertion member removal / insertion mechanism that removes / inserts the insertion members from / into opening parts 4a of the reaction tubes. The insertion member removal / insertion mechanism can move the insertion members in a direction substantially perpendicular to a tube plate surface 3a, and has an insertion member height adjustment mechanism which maintains a substantially horizontal state of the moving device when at least one of the three or more insertion members comes into contact with a closing part. Due to this configuration, the above problem is solved.

Description

Mobile device and mobile method

[0001] The present invention relates to a moving device capable of moving inside a multi-tubular reactor and a moving method using the moving device.

[0002] In the petrochemical industry, many catalytic reactions such as cracking reactions, reforming reactions, oxidation reactions, ammoxidation reactions, and reduction reactions of hydrocarbons are carried out using multi-tubular reactors. A multi-tubular reactor is provided with a tube plate and several thousand to several tens of thousands of reaction tubes connected to the tube plate, and these are filled with solid materials such as catalysts and granular metal Raschig rings (hereinafter referred to as solid materials such as catalysts).

[0003] The performance of the solid materials such as catalysts packed in the reaction tubes deteriorates with age, and therefore they must be periodically removed and replaced. This catalyst replacement work can be carried out, for example, by workers entering the inside of the multi-tubular reactor. However, this process requires many workers and a huge amount of time, as it involves removing the catalyst with reduced performance, cleaning the removed reaction tubes, filling new catalyst, and measuring the pressure drop after filling.

[0004] The openings of several thousand to several tens of thousands of reaction tubes arranged in a multi-tubular reactor are arranged at regular intervals. Therefore, if the process of completing catalyst replacement at one location, moving a predetermined distance, and then replacing the catalyst at the next location can be automated, work efficiency will be improved. In response to this, Japanese Patent Application Laid-Open No. 2002-036151 discloses an automatic walking device that walks a lower base having a plurality of legs that are vertically extendable and contractible, and an upper base that is arranged above the lower base and also has a plurality of legs that are vertically extendable and contractible, by extending and contracting the legs of the lower base, extending and contracting the legs of the upper base, and horizontally moving the upper base and the lower base using a sliding mechanism.

[0005] However, in the method of Patent Document 1, when there is a part where the opening of the reaction tube is not provided (hereinafter referred to as the closing part), there is a problem that the automatic walking device may tip over while walking. This is because the force when the legs collide with the closing part when extending and retracting the legs toward the closing part cannot be alleviated. Furthermore, even if the device does not tip over, there is also a problem that the device cannot maintain a substantially horizontal level and may tilt.

[0006] Therefore, an object of the present invention is to provide a moving device that can keep a multi-tubular reactor having a closing portion on the tube plate surface substantially horizontal without tipping over.

[0007] One aspect of the present invention is a moving device for moving on a tube plate of a multi-tubular reactor, the moving device having a stand and a movement promoting unit capable of moving on the tube plate with the stand mounted thereon. The movement promoting unit has an insertion member and an insertion member inserting / removing mechanism. Three or more insertion members are provided so as to be inserted into different reaction tubes. The insertion member inserting / removing mechanism is configured to insert / remove the insertion member into / from the reaction tube, and includes an insertion member height adjusting mechanism. The insertion member height adjusting mechanism is configured to move the insertion member in a direction approximately perpendicular to the tube plate surface, and is configured to keep the moving device approximately horizontal when at least one of the three or more insertion members contacts a closing portion.

[0008] Furthermore, one aspect of the present invention is a moving method using a moving device, wherein the movement promoting unit has a reaction tube changing mechanism for changing the reaction tube into which an insertion member is inserted, and the method repeats a combination of steps including the following (1) to (3): (1) inserting at least two of the three or more insertion members into openings of the reaction tubes by the insertion member inserting / withdrawing mechanism; (2) withdrawing the insertion members inserted into the openings from the reaction tubes by the insertion member inserting / withdrawing mechanism; and (3) moving the stand and the movement promoting unit carrying the stand on the tube plate of the multi-tubular reactor by the reaction tube changing mechanism.

[0009] 1 is a diagram showing a state in which a catalyst replacement system, etc. is introduced into a multi-tubular reactor. FIG. 2 is a schematic diagram showing a moving device according to one embodiment of the catalyst replacement system. FIG. 3 is a block diagram showing the configuration of a control system of an input device constituting the catalyst replacement system, etc.. FIG. 4 is a plan view showing a tube plate surface of a multi-tubular reactor. FIG. 5 is a flowchart showing a movement process in a first direction by a control unit of a moving device constituting the catalyst replacement system, etc.. FIG. 6 is a diagram explaining the movement of the moving device in the first direction. FIG. 7 is a diagram explaining the movement of the moving device in the first direction. FIG. 8 is a diagram explaining the movement of the moving device in the first direction. FIG. 9 is a diagram explaining the movement of the moving device in the first direction. FIG. 10 is a diagram explaining the movement of the moving device in the second direction. FIG. 11 is a diagram explaining the movement of the moving device in the second direction. FIG. 12 is a diagram explaining the movement of the moving device in the second direction. FIG. 13 is a diagram explaining the operation of an insertion member insertion and removal mechanism constituting the moving device. FIG. 14 is a diagram explaining the operation of an insertion member insertion and removal mechanism constituting the moving device. FIG. 15 is a diagram explaining the operation of an insertion member insertion and removal mechanism constituting the moving device. FIG. 16 is a diagram showing a state in which catalyst replacement, etc. is performed by a moving device according to a comparative example not provided with an insertion member height adjustment mechanism. FIG. 17 is a schematic diagram showing a modified example of the insertion member insertion and removal mechanism. It is a schematic diagram showing a modified example of the insertion member inserting and extracting mechanism.It is a schematic diagram showing a modified example of the insertion member inserting and extracting mechanism.It is a schematic diagram showing a modified example of the insertion member inserting and extracting mechanism.It is a schematic diagram showing a modified example of the insertion member inserting and extracting mechanism.

[0010] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following description does not limit the technical scope or meaning of terms described in the claims. Furthermore, the dimensional proportions in the drawings are exaggerated for the convenience of explanation and may differ from the actual proportions.

[0011] The moving device according to this embodiment can be utilized for catalyst replacement work in the multi-tubular reactor 1, etc. More specifically, the moving device can be utilized for transporting and moving each device (hereinafter, these devices will be collectively referred to as working device) used in work such as an operation of extracting a solid material C such as a catalyst from the reaction tube 4 (catalyst etc. solid material extraction work), an operation of cleaning the reaction tube 4 from which the solid material C such as a catalyst has been extracted (reaction tube cleaning work), an operation of filling the reaction tube 4 with a new solid material C such as a catalyst (catalyst etc. solid material filling work), an operation of measuring a layer length of the solid material C such as a catalyst in the reaction tube 4 filled with the solid material C such as a catalyst (layer length measurement work), an operation of measuring a pressure loss in the reaction tube 4 filled with the solid material C such as a catalyst (pressure loss measurement work), an operation of adjusting the amount of the solid material C such as a catalyst filled in the reaction tube 4 (filling amount adjustment work) (hereinafter, these work will be collectively referred to as work such as catalyst replacement, etc.). Moreover, each work does not necessarily have to be performed as a part of the catalyst replacement work, and the moving device according to this embodiment can be utilized for carrying out each work regardless of the catalyst replacement work. According to the moving device and the moving method using the moving device according to one aspect of the present invention, even if a closing portion is present on the tube sheet surface, the moving device will not tip over and can be kept approximately horizontal with respect to the tube sheet surface.

[0012] The moving device according to this embodiment moves on a tube plate surface 3a on which openings 4a of a plurality of reaction tubes 4 in a multi-tubular reactor are arranged, as shown in Fig. 1. First, the multi-tubular reactor 1 will be described.

[0013] <Multi-tubular Reactor> As shown in FIG. 1 , the multi-tubular reactor 1 includes a cover 2, a tube plate 3, and a plurality of reaction tubes 4.

[0014] In general, several thousand to several tens of thousands of reaction tubes 4 are arranged in the multi-tubular reactor 1. In general, the upper ends of the reaction tubes 4 are joined to a tube plate 3 by welding or the like. The upper surface of the tube plate 3 (hereinafter referred to as a tube plate surface 3a) may have irregularities due to welding marks such as weld beads and spatters, and may have non-smooth portions.

[0015] The reaction tube 4 is a reaction tube filled with a catalyst or other solid material C such as a granular catalyst, granular ceramics (e.g., silica spheres, alumina spheres, zirconia spheres), granular metal Raschig rings, etc. An upper end opening (hereinafter simply referred to as opening 4a) communicating with the outside of the reaction tube 4 is formed at the upper end in the height direction of the reaction tube 4. A lower end opening (not shown) communicating with the outside of the reaction tube 4 is formed at the lower end in the height direction of the reaction tube 4. The reaction tube 4 can be formed to have an inner diameter of 10 mm to 60 mm and a length of 3000 mm to 10000 mm, for example, although it depends on the target reaction.

[0016] The reaction tubes 4 are regularly arranged at regular intervals along the tube plate surface 3a. The tube plate surface 3a can be configured horizontally. A multi-tubular reactor is often located several meters to several tens of meters above the ground. Therefore, the tube plate surface of the multi-tubular reactor is not necessarily horizontal, and may be slightly inclined. Therefore, "approximately horizontal" means a plane inclined at an angle of -5 degrees to +5 degrees from the horizontal plane and parallel to the tube plate surface.

[0017] As an example, the reaction tubes 4 can be regularly arranged on the tube plate surface 3a in one direction and in directions inclined by approximately 60 degrees clockwise or counterclockwise from the one direction as shown in FIG. 4 .

[0018] As shown in Fig. 4, on the tube plate surface 3a, closing portions 5 are provided as portions where no openings 4a are provided, such as reinforcement portions for increasing the strength of the multi-tubular reactor 1 to a certain level or portions where some of the reaction tubes 4 are closed for inserting thermocouples. The closing portions 5 can be provided at any intervals on the tube plate surface 3a depending on the purpose.

[0019] The catalyst replacement system includes an input device 100, a working device 200, and a moving device 300. The moving device 300 can move on the tube plate 3 of the multi-tubular reactor 1 according to an instruction from the input device 100. Each component will be described below.

[0020] <Input Device> The input device 100 can be provided inside the multi-tubular reactor 1, or can be provided outside as shown in Fig. 1. When performing work that generates dust, such as an extraction work or a filling work of a solid material C such as a catalyst, the input device 100 is preferably provided outside the multi-tubular reactor 1.

[0021] 3, the input device 100 includes a control unit 110, a storage unit 120, a display unit 130, and an operation unit 140. The components are connected to each other via a bus for exchanging signals.

[0022] The input device 100 is configured to be able to receive instructions (input) from a user such as a worker engaged in work such as catalyst replacement. The input device 100 is also configured to be able to communicate wirelessly with each of the work device 200 and the mobile device 300.

[0023] The control unit 110 includes a CPU (Central Processing Unit) and controls the above-mentioned components and executes various arithmetic processing in accordance with a program.

[0024] The storage unit 120 includes a ROM (Read Only Memory) for storing various programs and various information in advance, a RAM (Random Access Memory) for temporarily storing programs and information as a working area, a HDD (Hard Disk Drive), an SSD (Solid State Drive) for storing various programs and various information, etc. Thereby, in the operation such as catalyst replacement for the reaction tubes 4 described later, data can be updated so as to reflect the current states of the reaction tubes 4 for which catalyst replacement has been completed and the reaction tubes 4 for which catalyst replacement has not been completed, every time the operation such as catalyst replacement is performed for the positions of the reaction tubes 4 installed on the tube sheet 3.

[0025] The display unit 130 includes an LCD (Liquid Crystal Display), an organic EL (Electronic Luminescence) display, or the like, and is configured to be able to display various types of information.

[0026] The operation unit 140 is equipped with, for example, buttons, a joystick, etc., and is configured to be able to receive input from the user. In this case, by operating the buttons, the worker can move the working device 200 and the moving device 300 a predetermined distance at any timing, and can move them partially automatically.

[0027] <Working Device> The working device 200 is configured to be mountable on a moving device 300 as shown in Fig. 1. The working device 200 may be a dedicated device prepared for each step of the work such as catalyst replacement, or may be a device prepared for performing several steps of the work such as catalyst replacement. Examples of the working device 200 include a device for extracting solid matter such as catalyst, a reaction tube cleaning device, a device for filling solid matter such as catalyst, a layer length measuring device, a pressure loss measuring device, a filling amount adjusting device, etc.

[0028] The control unit of the operating device 200 includes a CPU, and when a signal that the moving device 300 has completed moving to the vicinity of the target reaction tube is transmitted from the input device 100 to the operating device 200, the operating device 200 starts the above-mentioned operations upon receiving a signal instructing operations such as withdrawing solid matter such as a catalyst, cleaning the reaction tube, filling solid matter such as a catalyst, measuring the layer length, or measuring the pressure loss.

[0029] Commands from the input device 100 can be programmed and computerized to automate almost all of the work process. On the other hand, partial automation is also possible by having the operator operate buttons to issue commands from the input device 100 at any timing at their discretion.

[0030] <Movement Device> As shown in Fig. 2 , the movement device 300 includes a base unit 350 and a movement propulsion unit that is capable of moving on the tube sheet 3 with the base unit 350 mounted thereon. The movement propulsion unit includes a bogie module 310, a first movement propulsion unit 320, and a second movement propulsion unit 330. The control unit of the movement device 300 includes a CPU. The control unit of the movement device 300 controls, for example, the operation of the movement propulsion unit.

[0031] The first movement promoting unit 320 is a movement promoting unit for moving in a first direction, and the second movement promoting unit 330 is a movement promoting unit for moving in a second direction. As shown in FIGS. 6 to 9 , the first direction is a direction in which the reaction tubes 4 into which the insertion member 323 can be inserted are lined up in a straight line on a plane parallel to the tube plate surface 3a. Any direction may be used as long as the reaction tubes 4 into which the insertion member 323 can be inserted are lined up in a straight line, but the second direction may be a direction in which the distance between adjacent reaction tubes 4 is shortest. As shown in FIGS. 10 to 13 , the second direction is a direction approximately perpendicular to the first direction. The approximately perpendicular direction is a direction within a range of −5° to +5° from the perpendicular direction.

[0032] <First Movement Propulsion Unit> The first movement propulsion unit 320 includes an insertion / removal module and a first slide module. The first movement propulsion unit 320 is configured to be able to move relatively toward and away from the bogie module 310 in a first direction along a plane parallel to the tube plate surface 3 a. The first movement propulsion unit includes an insertion member insertion / removal mechanism, which will be described later.

[0033] (Removal and Insertion Module) The removal and insertion module includes an insertion member 323, a fixing member 322, an attachment member 324, and a biasing member 325. The insertion member 323, the fixing member 322, the attachment member 324, and the biasing member 325 constitute an insertion member removal and insertion mechanism for inserting and removing the insertion member 323 into and from the opening 4a of the reaction tube 4. The attachment member 324 attaches the insertion member 323 movably in a substantially vertical direction relative to the tube plate surface 3a, and constitutes an insertion member height adjustment mechanism for maintaining the moving device 300 substantially horizontal when at least one of the three or more insertion members 323 contacts the closing unit 5. The removal and insertion module is indirectly connected to the carriage module 310, for example, via a first slide module (more specifically, a first base member 321 described below). The removal and insertion module may also be directly connected to the carriage module 310.

[0034] 14 to 16, the insertion member 323 is movable in a direction substantially perpendicular to the tube plate surface 3a and is configured to be insertable into the opening 4a of the multi-tubular reactor 1 into which a solid material C such as a catalyst can be introduced. Here, substantially perpendicular means a direction perpendicular to substantially horizontal.

[0035] Three or more insertion members 323 are provided so that they can be inserted into different reaction tubes 4. In this embodiment, a total of eight insertion members 323 are provided, four in front and four in rear with respect to the first direction described below. The number of insertion members 323 may be two in front and two in rear with respect to the first direction, or may be four or more in front with respect to the first direction. Furthermore, three or more insertion members 323 may be provided so that they can be inserted into different reaction tubes 4, and the insertion members may be provided in front or rear with respect to the second direction, as long as they can move in the first direction.

[0036] The inserting member 323 is preferably cylindrical and has an outer diameter smaller than the inner diameter of the reaction tube 4. For example, in the case of a reaction tube having an inner diameter of 25 mm, the inserting member 323 is preferably cylindrical and has an outer diameter of 20 mm or more and 24.5 mm or less, and more preferably has an outer diameter of 22 mm or more and 24 mm or less.

[0037] As long as there are openings 4a of the reaction tubes 4, each insertion member 323 is configured at a position on the horizontal plane with respect to the tube plate surface 3a so that it can be inserted into the openings 4a. As described above, the reaction tubes 4 are regularly arranged at regular intervals along the tube plate surface 3a, so that each insertion member 323 may be arranged at a position according to this rule.

[0038] At least two insertion members 323 are inserted into the reaction tube 4, thereby fixing the horizontal position. Once the position is fixed, the insertion members 323 can be moved a predetermined distance by the movement propulsion unit, starting from the insertion members 323 inserted into the reaction tube 4. Therefore, it is important that the insertion members 323 do not bend during insertion into the opening 4a of the reaction tube 4 or during movement, and that the positions of the insertion members 323 remain fixed. Therefore, it is preferable that the material of the insertion members 323 is stainless steel or the like.

[0039] A cylindrical compression rubber part can be provided at the tip of the inserting member 323. When the inserting member 323 is inserted into the reaction tube 4, a mechanism for compressing the compression rubber part in the vertical direction is provided, so that the compression rubber part expands in the outer diameter direction of the reaction tube 4. This reduces the clearance between the opening 4a of the reaction tube 4 and the inserting member 323, and the position of the inserting member 323 can be fixed more firmly to the reaction tube 4.

[0040] As an example, the fixing member 322 is formed in a thin plate shape and is configured integrally with the first base member 321, which is also formed in a thin plate shape and will be described later. In this embodiment, the fixing member 322 is disposed at one end of the first base member 321. The fixing member 322 has the mounting member 324, to which the insertion member 323 is engaged, attached so as to be movable in the height direction, and the position (height) of the fixing member 322 relative to the bogie module 310 is fixed.

[0041] The mounting member 324 is configured to be movable downward relative to the fixing member 322. The mounting member 324 engages the insertion member 323, and as shown in Figures 14 to 16, the mounting member 324 is configured to be mounted so that the insertion member 323 can move along the same path when the insertion member 323 is moved toward or away from the tube plate surface 3a. As shown in Figure 14 etc., the mounting member 324 includes a pressing portion 324A, a first connecting portion 324B, a first extending portion 324C, a second extending portion 324D, and a second connecting portion 324E.

[0042] The pressing portion 324A is configured as a power source that applies pressure when moving the mounting member 324, to which the insertion member 323 is locked, downward relative to the fixed member 322. An actuator is provided in the pressing portion 324A, and is configured to generate or release a pressing force on the mounting member 324, to which the insertion member 323 is locked. By generating a pressing force at the pressing portion 324A, the mounting member 324 moves downward, and the locked insertion member 323 also moves downward. By releasing the pressing force, the mounting member 324 moves upward, and the locked insertion member 323 also moves upward. The pressing portion 324A can form an insertion member insertion / removal mechanism.

[0043] The first connecting portion 324B is configured to horizontally connect a plurality of first extending portions 324C positioned at approximately the same height and a plurality of second extending portions 324D positioned at approximately the same height. The upper ends of the second extending portions 324D, which are fixed at approximately the same height by the first connecting portion 324B, are engaged with the engaging portions 323q of the inserting members 323 to support them from below, preventing the inserting members 323 from falling and aligning the heights of the plurality of inserting members 323. The first connecting portion 324B can form an inserting member height adjustment mechanism.

[0044] The first extension portion 324C is configured to allow the insertion member 323 to pass therethrough and to engage with the upper end of the biasing member 325. The second extension portion 324D is provided below the first extension portion 324C and spaced apart from the first extension portion 324C, allowing the insertion member 323 to pass therethrough. The first extension portion 324C and the second extension portion 324D are configured to allow the insertion member 323 to form a guide shape along a substantially vertical direction. The first extension portion 324C and the second extension portion 324D protect the insertion member 323 from damage when the insertion member 323 is moved, etc.

[0045] Furthermore, the mounting member 324 includes guide-shaped members such as a cylinder formed along the direction in which the insertion member 323 approaches and moves away from the reaction tube 4, such as the first extension portion 324C and the second extension portion 324D. As a result, when the insertion member 323 hits the closure portion 5 as the mounting member 324 descends, the insertion member 323 can move upward relative to the mounting member 324 because the insertion member 323 stops on the closure portion 5. In this way, the height of the insertion member 323 can be smoothly adjusted.

[0046] In this embodiment, the first extension portion 324C and the second extension portion 324D are formed in a cylindrical shape. However, as long as the insertion member 323 can move on the same line when approaching and moving away from the opening 4a of the reaction tube 4, the specific shape of the first extension portion 324C and the second extension portion 324D is not limited to a cylinder and may be a hollow polygonal prism such as a square prism. Furthermore, as shown in FIG. 16 , as long as the height of the insertion member 323 can be adjusted when one of the insertion members 323 is inserted into the opening 4a of the reaction tube 4 and the other insertion member 323 abuts against the closure portion 5, the mounting member 324 does not need to include the first extension portion 324C.

[0047] The second connecting portion 324E is joined to the first connecting portion 324B and is configured to connect the first extending portion 324C and the second extending portion 324D, which are spaced apart in the height direction. In this embodiment, the second connecting portion 324E is provided as four substantially cylindrical members per insert member 323, thereby connecting the first extending portion 324C and the second extending portion 324D. However, as long as the second connecting portion 324E can connect the first extending portion 324C and the second extending portion 324D, the specific shape of the second connecting portion 324E does not have to be cylindrical, and the number of second connecting portions 324E provided per insert member 323 does not have to be four.

[0048] In this embodiment, the first extension portions 324C and the second extension portions 324D are configured to be four in number, the same as the number of the insert members 323, but it is sufficient if the number is the same as the number of the insert members 323 and is three or more.

[0049] The biasing member 325 is configured to be expandable and contractible so as to bias the insertion member 323 in a substantially vertical direction within a predetermined length range. The biasing member 325 is elastic, and the upper end of the biasing member 325 contacts the lower end of the first extension portion 324C. In this embodiment, the biasing member 325 is configured to include a helical spring. However, the biasing member 325 does not have to be a helical spring as long as it can bias the insertion member 323 in a substantially vertical direction within the predetermined length range. The biasing member 325 constitutes an insertion member insertion / removal mechanism and an insertion member height adjustment mechanism, which will be described later.

[0050] (First Slide Module) The first slide module is connected to the carriage module 310 so as to allow the carriage module 310 to slide in a first direction. This first slide module is composed of a first slide member 312 and a first base member 321. The first slide member 312 is composed of a drive unit (electric cylinder), rails, etc., and can be connected to the carriage module 310. The first base member 321 is a plate-shaped member that can slide in the first direction relative to the carriage module 310, and is connected to the carriage module via the first slide member 312 and is connected to the insertion / removal module via a fixing member 322.

[0051] <Bogie Module> The bogie module 310 is connected to the first movement propulsion unit 320, the second movement propulsion unit 330, and the platform unit 350. The bogie module 310 has a rotating body 311 at its bottom. The bogie module 310 has the rotating body 311, which is, for example, four known tires. The rotating body 311 can move the movement device 300 a predetermined distance on the tube plate 3 by rotating while in contact with the tube plate 3. The rotating body 311 is configured to be movable in, for example, a first direction. Here, the tire corresponds to a specific example of the rotating body of the present invention, but the rotating body may be a rotating body other than a tire, such as a wheel.

[0052] After the insertion member 323 of the removable module is inserted into the reaction tube 4, the first slide member 312 is used to slide the first slide module in a first direction relative to the carriage module 310. During this sliding movement, the carriage module 310 can move a predetermined distance while rotating the rotor 311.

[0053] To prevent the first slide member 312 provided on the first movement propulsion unit 320 and the second slide member 333 provided on the second movement propulsion unit 330 described later from intersecting, one can be provided on the upper surface of the carriage module 310 and the other on the lower surface of the carriage module 310, for example.

[0054] <Second Movement Propulsion Unit> The second movement propulsion unit 330 is configured to be able to move toward and away from the bogie module 310 so as to propel movement in a direction (second direction) that is horizontal to the tube plate surface 3 a and substantially perpendicular to the first direction. To propel movement in the second direction, the second movement propulsion unit 330 includes a lift foot 340 and a second slide module.

[0055] (Lift Foot) The lift foot 340 is a support member configured to be in contact with the tube sheet surface 3 a and to be able to support the bogie module 310. The lift foot 340 includes a lifting / lowering unit 332 and a ground contact unit 342. The lifting / lowering unit 332 is configured to be able to switch between contacting and releasing the ground contact of the ground contact unit 342 provided on the lift foot 340 with the tube sheet 3. The lifting / lowering unit 332 includes an actuator such as an air cylinder so as to switch between contacting and releasing the ground contact of the ground contact unit 342 provided on the lift foot 340 with the tube sheet 3. The lifting / lowering unit 332 grounds the ground contact unit 342 with the tube sheet surface 3 a, for example, with a pressure magnitude selected from a plurality of pressure magnitudes in a stepped manner.

[0056] The grounding portion 342 is formed in a thin plate shape and is configured to be able to come into contact with the tube plate surface 3 a. The lift foot 340 brings the grounding portion 342 into contact with the tube plate surface 3 a using the actuator of the lifting unit 332, and raises the second slide module, the carriage module 310 located thereover, and the first movement propulsion unit 320 away from the tube plate surface 3 a. By bringing the grounding portion 342 into contact with the tube plate 3, the rotating body 311 can be separated from the tube plate 3, and by separating the grounding portion 342 from the tube plate 3, the rotating body 311 can be brought into contact with the tube plate 3.

[0057] (Second Slide Module) The second slide module is connected to the bogie module 310 so as to allow the bogie module 310, which is separated from the tube sheet surface 3 a, to slide in a second direction on the tube sheet 3. The first movement propulsion unit 320 slides in the second direction together with the bogie module 310. This second slide module includes a second slide member 333 and a second base member 331. The second slide member 333 is composed of a drive unit (electric cylinder) coupled to the bogie module 310, a rail, and the like. The sliding direction of the second slide member 333 is perpendicular to the sliding direction of the first slide member 312 at the twisted position. After the second slide module, the carriage module 310, and the first movement propulsion unit 320 are lifted by the lifting unit 332, the carriage module 310 and the first movement propulsion unit 320, which are connected to the second slide member 333, slide in the second direction by the second slide member 333 a distance pre-registered in the reaction tube changing mechanism. The second base member 331 is connected to the carriage module 310 via a drive unit (electric cylinder), rails, etc., and is configured to be slidable in the second direction relative to the carriage module 310. A grounding unit 342 is connected to the second base member 331 via the lifting unit 332. The lift foot 340 may be directly or indirectly connected to the second slide module.

[0058] <Base Unit> In this embodiment, the base unit 350 attached above the bogie module 310 is flat so that the operating device 200 can be placed thereon. However, as long as the operating device 200 can be stably placed thereon, the base unit 350 may have an uneven surface or may not be flat. Furthermore, the base unit 350 may be provided with an electric rotary actuator or the like, so that the operating device 200 mounted on the base unit 350 can rotate on a plane parallel to the tube plate relative to the bogie module 310. In this embodiment, the base unit 350 is located on the bogie module 310, but there are no particular limitations on the component of the movement propulsion unit on which the base unit 350 is provided. For example, the base unit 350 may be located on the first movement propulsion unit 320.

[0059] <Moving Method Using Moving Device> The moving device 300 is carried into a predetermined position (initial position) on the tube sheet 3 by an operator. The moving device 300 is carried into the reactor through a manhole provided on the side of the reactor or a reaction gas circulation port provided on the top. In order to smoothly carry in the moving device 300, the moving device 300 may be configured to be separable, and the separated parts may be carried into the reactor and then assembled inside the reactor. The moving device 300 can be moved to the target reaction tube 4 by combining movement in a first direction and movement in a second direction through the input device 100. Note that, for convenience, the reaction tube 4 is not shown in FIGS. 6 to 16 .

[0060] (Movement in First Direction) As shown in FIG. 5 , movement in the first direction can be performed in the following steps. (Step S1) At least two of the three or more insertion members 323 are inserted into the opening 4a of the reaction tube 4 by the insertion member inserting / removing mechanism. (Step S2) A part of the moving device 300 including the first movement propulsion unit 320, which remains in the position before the start of the step (Step S1), is moved a predetermined distance. When the cradle unit 350 is on the carriage module 310, the cradle unit 350 also moves in the step (Step S2). (Step S3) The insertion members 323 inserted into the opening 4a are removed from the reaction tube 4 by the insertion member inserting / removing mechanism. (Step S4) A part of the moving device 300 including the first movement propulsion unit 320 is moved a predetermined distance by the reaction tube changing mechanism. When the cradle unit 350 is on the first movement propulsion unit 320, the cradle unit 350 also moves in the step (Step S4).

[0061] By repeating this operation, the moving device 300 can be moved to the target reaction tube 4 in accordance with the input from the input device 100. All of the insertion members 323 on the moving device 300 start each of the above steps (step S1) to (step S4) simultaneously. All of the insertion members 323 on the moving device 300 do not need to complete each of the above steps (step S1) to (step S4) simultaneously, but by configuring them to start simultaneously, the operations of the multiple insertion members 323 can be collectively operated by a common actuator, thereby simplifying the device configuration. Furthermore, all of the insertion members 323 provided on the moving device 300 may start each step at different timings, as long as the device does not tip over or tilt.

[0062] The control unit of the moving device 300 performs, for example, the processes of steps S1 to S4 shown in Fig. 5 to move the moving device 300 in the first direction. Below, the movement of the moving device 300 in the first direction will be described using Figs. 6 to 9 in addition to Fig. 5.

[0063] First, as shown in Fig. 6, the insertion members 323 are positioned above the opening 4a of the reaction tube 4. Next, the control unit generates a pressing force in the pressing portion 324A, and moves the mounting member 324, to which the insertion members 323 are locked, downward. As a result, at least two insertion members 323 are inserted into the opening 4a of the reaction tube 4 (step S1), as shown in Figs. 6 and 7.

[0064] Next, the first slide member 312 is slid by the driving unit (electric cylinder) of the first slide module. The carriage module 310 connected via the first slide member 312 and the second movement propulsion unit 330 below it, as well as the base unit 350 and first movement propulsion unit 320 on the carriage module, are slid in the first direction relative to the reaction tube 4 with a smaller driving force by utilizing the rotation of the rotor 311 (step S2, see FIG. 8). At this time, the insertion member 323 remains inserted in the opening 4a of the reaction tube 4.

[0065] Next, the pressing force of the pressing portion 324A is released, and the attachment member 324 to which the insertion member 323 is locked is moved upward (see FIG. 9), whereby the insertion member 323 is extracted from the reaction tube 4 (step S3).

[0066] Next, the control unit operates the drive unit of the first slide module in a state in which the insertion member 323 of the first movement propulsion unit 320 is extracted from the reaction tube 4. Since the insertion member 323 is not inserted into the opening 4a of the reaction tube 4, the carriage module 310 connected via the first slide member 312 and the first movement propulsion unit 320, not the second movement propulsion unit 330 located below it, slide in the first direction relative to the tube sheet 3 (step S4).

[0067] The moving device 300 of this embodiment is configured so that the mounted working device 200 can perform work on each reaction tube 4, and by moving the working device 200 by a desired distance (to be described later), work can be performed on each reaction tube 4. By repeating the above-mentioned operations (Step S1) to (Step S4), the moving device 300 can be moved from a position before the movement to a desired position.

[0068] By configuring the system in this way, it is possible to at least partially automate the catalyst replacement work, etc. In other words, "at least partially automating" as used herein means not only the case where the catalyst replacement work is entirely automated from start to finish, but also the case where only a part of the catalyst replacement work is automated from start to finish.

[0069] (Movement in the Second Direction) (Step S5) The lift foot 340 of the second movement propulsion unit 330 is lowered by the actuator of the elevating unit 332 to touch the tube sheet 3, and the carriage module 310 and the first movement propulsion unit 320 are lifted. (Step S6) The second slide member 333 of the second movement propulsion unit 330 is used to slide the carriage module 310 and the first movement propulsion unit 320 on the second slide member 333 in the second direction by a distance registered in advance in the reaction tube changing mechanism. (Step S7) The lift foot 340 is raised by the actuator of the elevating unit 332 to move the lift foot 340 away from the tube sheet 3, and the carriage module 310 and the first movement propulsion unit 320 are lowered to touch the rotor 311 of the carriage module 310 to the tube sheet 3. (Step S8) Using the second slide member 333 of the second movement propulsion unit 330, the lift foot 340 connected to the second base member 331 via the lifting unit 332 is slid in the second direction, and the relative positional relationship of the lift foot 340 with respect to the carriage module 310 and the first movement propulsion unit 320 is returned to the state before the start of (Step S5).

[0070] As with the movement in the first direction, the description will begin with the insertion member 323 being positioned above the opening 4a of the reaction tube 4 at the start of the movement (see FIG. 10 ). At this point, the rotor 311 of the carriage module 310 is in contact with the tube sheet 3. The grounding portion 342 of the lift foot 340 of the second movement propulsion unit 330 is brought into contact with the tube sheet 3, and the carriage module 310 and the first movement propulsion unit 320 are moved upward. As a result, the rotor 311 of the carriage module 310 is separated from the tube sheet 3 (step S5, FIG. 11 ).

[0071] In this state, the drive unit of the second slide member 333 is operated by a distance registered in advance in the reaction tube changing mechanism to move the second movement propulsion unit 330 relative to the carriage module 310 and the first movement propulsion unit 320. As a result, the carriage module 310 and the first movement propulsion unit 320 move in a direction approximately perpendicular to the first direction (step S6, FIG. 12 ).

[0072] Next, the actuator of the lifting unit 332 lifts the grounding portion 342, thereby separating the grounding portion 342 from the tube sheet 3 and grounding the rotor 311 to the tube sheet 3 (step S7, FIG. 13).

[0073] Next, the drive unit of the second slide member 333 is operated to move the second movement propulsion unit 330 relative to the carriage module 310 and the first movement propulsion unit 320. As a result, the lift foot 340 slides in the second direction relative to the carriage module 310 and the first movement propulsion unit 320, and the relative positional relationship of the lift foot 340 with respect to the carriage module 310 and the first movement propulsion unit 320 returns to the state before the start of (Step S5) (Step S8).

[0074] As described above, the movement in the second direction does not require the use of the insertion member 323. However, to ensure the movement more reliably, the insertion member 323 may be inserted into and removed from the opening 4a as needed.

[0075] By repeating the above-described operation, the movement in the second direction required to move the moving device 300 from the position before the movement to the desired position can be performed. While the second direction is a direction substantially perpendicular to the first direction as described above, there is also a case where the arrangement of the reaction tubes 4 is along a direction rotated by 60 degrees from one direction in a reactor, as shown in FIG. 4 . However, by combining the movement in the first direction and the movement in the second direction perpendicular to the first direction, the moving device 300 can be moved to the position of any reaction tube 4 among a plurality of reaction tubes 4 arranged at an angular interval different from the angle formed by the first direction and the second direction in which the moving device 300 moves.

[0076] As described above, the movement propulsion unit has the reaction tube changing mechanism, so that after the insertion member 323 is removed from the reaction tube 4, the insertion member 323 can be moved a predetermined distance to above the opening 4a of the reaction tube 4 to be inserted next. Furthermore, unlike walking devices or automatic walking devices that move using a member such as an insertion member to be inserted into the reaction tube 4, the moving device that uses the insertion member 323 and the rotator 311 in combination can move more reliably without tipping over.

[0077] (Insertion member inserting / removing mechanism) The insertion member inserting / removing mechanism can insert / remove the insertion member 323 into / from the reaction tube 4 by applying a pressing force in a substantially vertical downward or upward direction by the pressing part 324A to the attachment member 324 to which the insertion member 323 is locked. When one of the locked insertion members 323 hits the closure part 5, the biasing member 325 is sandwiched between the locking part 323q and the lower end of the first extension part 324C and compressed. The restoring force of the compressed biasing member 325 serves as one of the forces that press the insertion member 323 downward when the attachment member 324 is moved upward to move it to another reaction tube, and that biases the insertion member 323 to smoothly return to the same original height as the other insertion members 323 that did not hit the closure part 5. This constitutes an insertion member inserting / removing mechanism for smoothly inserting a plurality of insertion members 323 into another reaction tube 4.

[0078] (Reaction Tube Changing Mechanism) The reaction tube changing mechanism is configured to change the reaction tube 4 into which the insertion member 323 is inserted. The working device 200 is moved by the moving device 300 to an appropriate position where the tube to be worked on can be worked on, and then performs work such as withdrawing solid matter such as catalyst, cleaning the reaction tube, filling solid matter such as catalyst, measuring the layer length, or measuring the pressure drop. The working device 200 that performs these work needs to move to the next position (reaction tube 4) after completing the work at a certain position (reaction tube 4).

[0079] The reaction tube changing mechanism is composed of a first slide module, or a first slide module and a second slide module. This slide module allows the reaction tube 4 into which the insertion member 323 is inserted to be changed. When the operation at a certain position (reaction tube 4) is completed, the reaction tube changing mechanism and the insertion member insertion / removal mechanism allow the moving device 300 to move the working device 200 to the next position (reaction tube 4). The moving distance at this time can be expressed as a pitch.

[0080] The pitch can be defined as the distance between the central axis of a reaction tube 4 at a certain position and the central axis of the most adjacent reaction tube 4. The reaction tube 4 may be moved based on a distance calculated by multiplying the pitch by a predetermined coefficient corresponding to the position of the reaction tube 4 at the source and the position of the reaction tube 4 at the destination. For example, the pitch may be registered in advance in the input device 100, and the electric cylinders in the first slide module and the second slide module may be driven by a predetermined amount in response to a signal from the control unit 110 so that the reaction tube 4 can be moved by the distance calculated by multiplying the pitch by the predetermined coefficient. This prevents positional deviation.

[0081] As a specific example, if the first direction is defined as the direction in which the distance between adjacent reaction tubes 4 is shortest, and the tube on which the operating device 200 operates is defined as the operating target tube, when it is desired to move from the operating target tube as a starting point to a target reaction tube located one pitch away in a direction forming an angle of 60 degrees with the first direction, the operating device 200 can be moved to the target tube by moving (√3) / 2 pitches in the second direction and 0.5 pitches in the first direction. Note that the state of the moving device 300 when the operating device 200 operates is not particularly limited, but in order to prevent unexpected positional displacement of the moving device 300 due to vibration of the operating device 200, it is preferable that the operating device 200 operates with the insertion member 323 inserted into the reaction tube 4.

[0082] The moving distance to be set by the reaction tube changing mechanism may vary slightly depending on the tolerance of the pitch of the reaction tubes 4, the difference (clearance) between the outer diameters of the openings 4a of the reaction tubes and the insert member 323, the rigidity of the frame of the moving device 300, etc. The amount of movement may be set based on the pitch and by actually moving the moving device 300 in the reactor so that the moving device 300 can move smoothly. Usually, the amount of movement to be set is a value slightly larger than the pitch.

[0083] (Operation when the insertion member hits the closing portion of the tube sheet) During the process of inserting the insertion member 323 into the opening 4a, since not only the opening 4a of the reaction tube 4 but also the closing portion 5 are present on the tube sheet 3, the insertion member 323 may not only be inserted into the opening 4a but may also hit the closing portion 5. The moving device 300 according to this embodiment is configured so that the moving device 300 does not tip over or tilt even when the insertion member 323 hits the closing portion 5 instead of the opening 4a of the reaction tube 4 by using an insertion member height adjustment mechanism. The operation when the insertion member 323 hits the closing portion 5 will be described below.

[0084] When one of the insertion members 323 abuts against the closing part 5, the insertion member height adjustment mechanism is activated. The biasing member 325 of the insertion member 323 abutting against the closing part 5 is compressed more than the biasing member 325 of the insertion member 323 inserted into the opening 4a of the reaction tube 4 because the first extending part 324C of the attachment member 324 and the locking part 323q approach each other (see FIG. 16 ).

[0085] Since the insertion member 323 is not fixed to the mounting member 324 but is merely locked thereto, the insertion member 323 that hits the closing part 5 moves upward relative to the mounting member 324 without interfering with the insertion of the insertion member 323 into the opening 4a of the reaction tube 4. Therefore, even if the insertion member 323 hits the closing part 5 on the tube sheet 3 as shown in Fig. 16, the height of the insertion member 323 is adjusted to a position higher than the object inserted into the opening 4a of the reaction tube 4. Therefore, the entire moving device 300 can be kept substantially horizontal without tilting.

[0086] (Insert Member Height Adjustment Mechanism) The insert member height adjustment mechanism includes a mounting member 324 and a locking portion 323q. The insert member height adjustment mechanism is configured to attach the insert members 323 movably in a substantially vertical direction relative to the tube plate surface 3a, and to adjust the height of the insert members 323 when at least one of the three or more insert members 323 contacts the closure portion 5, thereby maintaining the moving device 300 substantially horizontal. The insert member height adjustment mechanism allows the height of the insert members 323 inserted into the opening 4a to differ from the height of the insert members 323 above the closure portion 5, thereby maintaining the entire device substantially horizontal. Conventional moving devices lack such a mechanism, and therefore, when an insert member cannot be inserted into a reaction tube 4, the insert member inserted into the opening 4a is low in height, while the insert member to be inserted into the closure portion 5 remains high in height, making it impossible to maintain the device substantially horizontal. This can also result in the moving device tilting or tipping over.

[0087] The locking portion 323q is provided on the insertion member 323 and configured to lock the insertion member 323 with the attachment member 324 when the insertion member 323 moves toward the reaction tube 4. The locking portion 323q slidably holds the insertion member 323 on the attachment member 324 and prevents the insertion member 323 from dropping into the reaction tube 4, so that the height of the insertion member 323 with respect to the tube plate surface 3a can be adjusted.

[0088] 17 is a diagram showing the state when the legs of the moving device 300z according to the comparative example not provided with the insertion member height adjustment mechanism hit the closing part 5. As shown in FIG. 17, if the moving device 300z does not have the insertion member height adjustment mechanism, it cannot maintain a substantially horizontal position, and a large gap is formed between the filling nozzle of the working device 200 and the opening 4a of the reaction tube 4, causing the catalyst to spill from the gap and making it impossible to properly perform work such as catalyst replacement. In contrast, by providing the insertion member height adjustment mechanism to the moving device 300, it is possible to prevent the moving device 300 from tilting when inserting or removing the insertion member 323 into or from the opening 4a of the reaction tube 4. This allows work such as catalyst replacement to be properly performed.

[0089] The insertion member 323 is elongated in the height direction and, as an example, is provided with a locking portion 323q at a midpoint in the height direction that can abut against the second extension portion 324D. In this embodiment, the locking portion 323q is formed to protrude radially outward. The locking portion 323q also holds the lower end of the biasing member 325 at a midpoint in the height direction of the insertion member 323 (see FIG. 16 ). Providing the locking portion 323q in this manner prevents the insertion member 323 from falling off the mounting member 324.

[0090] The biasing member 325 is configured to be extendable and contractible so as to bias the insertion member 323 in a substantially vertical direction within a predetermined length range. The biasing member 325 has elasticity and biases the insertion member 323 downward by engaging with the locking portion 323q of the insertion member 323. At the same time, when the insertion member 323 abuts against the closing portion, the biasing member 325 can be compressed so that the insertion member 323 can move upward. With this configuration, when one of the insertion members 323 is inserted into the reaction tube 4 and the other insertion member 323 abuts against the closing portion 5 as shown in FIG. 16 , the moving device 300 including the mounting member 324 can be kept substantially horizontal.

[0091] 18 to 22 are diagrams showing the insertion member inserting and extracting mechanism according to the modified example, in which the pressing portion 324A of the mounting member 324 is omitted.

[0092] (Modified example 1 of locking portion) The inserting members 323 are provided with a locking portion 323q at an intermediate position of the inserting members 323 in order to align the heights of the plurality of inserting members before inserting them into the opening 4a of the reaction tube 4 and to determine the insertion limit of the inserting members into the reaction tube 4. However, as long as the downward movement limit position of the inserting members can be determined when the inserting members are moved downward, the locking portion 323qa of the mounting member 324a may be provided at a position near the upper end of the inserting members 323a as shown in Fig. 18 .

[0093] 14 and other figures, the locking portion 323q is formed to protrude radially outward at an intermediate position of the insertion member 323, but the specific shape of the locking portion is not limited to this. In addition to the above, as shown in Figures 19(a) and 19(b), a groove 323s extending in the movement direction may be provided at any circumferential position of the insertion member 323b, and a protrusion shape 324s or the like may be provided at a predetermined position of the attachment member 324b corresponding to the groove 323s of the insertion member 323b. This allows the end 323qb of the groove 323s to function as a locking portion, thereby setting the movement limit position of the insertion member.

[0094] (Latching Portion Modification 3) In FIG. 16 and other figures, the mounting member 324 has a cylindrical shape as a guide shape through which the insertion member 323 can be inserted. However, the specific shape of the mounting member is not limited to a cylindrical shape as long as the insertion member can be inserted and removed from the opening 4a of the reaction tube 4. In addition to the above, as shown in FIGS. 20 and 21 , a T-shaped engaging portion 324v extending in the movement direction may be provided on at least a portion of the outer periphery of the mounting member 324c. Furthermore, the insertion member 323c may have an engaging portion 323v inside the cylindrical shape, a certain distance away from the upper end 323qc in the height direction, which engages with the engaging portion 324v. In FIG. 20 , the upper end 323qc of the insertion member 323c located at the bottom right of the four insertion members 323c is not shown in order to show the shape of the engaging portion 323v. The fixing member 322 is also not shown. The upper end 323qc, which does not have the engaging portion 323v, functions as a locking portion, thereby setting the movement limit position of the insertion member 323c.

[0095] (Latching Portion Variation 4) As shown in FIG. 16 , the insert member 323 is configured to have a locking portion 323q that allows the biasing member 325 to pass through at a midpoint in the height direction and engages with the biasing member 325. However, the specific configuration of the insert member and the biasing member is not limited to this. As shown in FIG. 22 , the upper end 323qd of the insert member 323d may be connected to the mounting member 324d by a biasing member 325d, and the insert member 323d may be biased in a direction approximately perpendicular to the tube plate surface 3a. Also, while FIG. 22 illustrates the biasing member 325d as a coil spring, the biasing member is not limited to a coil spring and may be configured as an air suspension or the like. In this example, the insert member 323d is locked in place by having a portion of the upper end 323qd of the insert member 323d supported from below by the mounting member 324d. In addition, the biasing member 325d also serves as a locking member, and it can be said that the insertion member 323d is locked to the attachment member 324d via the biasing member 325d.

[0096] The present invention is not limited to the above-described embodiment, and various modifications are possible within the scope of the claims. While the mobile device 300 has been described above as being capable of wireless communication with the input device 100 so as to operate in accordance with the configuration of a control system such as the input device 100, the present invention is not limited to this. For example, the mobile device 300 and the input device 100 may be connected by wire so that the mobile device 300 can receive instructions from the configuration of the control system.

[0097] This application is based on Japanese Patent Application No. 2024-20639, filed on February 14, 2024, the disclosure of which is incorporated herein by reference in its entirety.

[0098] DESCRIPTION OF SYMBOLS 1 Multi-tubular reactor, 3 Tube plate, 3a Tube plate surface, 4 Reaction tube, 4a Opening, 300 Moving device, 310 Cart module (movement propulsion unit, reaction tube changing mechanism), 320 First moving propulsion unit (movement propulsion unit, reaction tube changing mechanism), 330 Second moving propulsion unit (movement propulsion unit, reaction tube changing mechanism), 340 Lift foot (movement propulsion unit, reaction tube changing mechanism), 342 Grounding unit, 350 Frame unit, 322 Fixing member (insertion member insertion / removal mechanism), 323, 323a, 323b, 323c, 323d Insertion member (insertion member insertion / removal mechanism), 323q, 323qa Locking unit, 323qb End (locking unit), 323qc, 323qd Upper end (locking unit), 324 Mounting member (insertion member insertion / removal mechanism, height adjustment mechanism), 325, 325d: biasing member (insertion member insertion / removal mechanism).

Claims

1. A moving device which moves on a tube plate of a multi-tubular reactor equipped with a plurality of reaction tubes, comprising: a base unit; and a movement promoting unit which is movable on the tube plate with the base unit mounted thereon, wherein the movement promoting unit has three or more insertion members which can be inserted into different reaction tubes, and an insertion member inserting / removing mechanism which inserts / removes the insertion members into / from openings of the reaction tubes, wherein the insertion member inserting / removing mechanism is capable of moving the insertion members in a direction substantially perpendicular to the tube plate surface, and wherein the moving device has an insertion member height adjusting mechanism which keeps the moving device substantially horizontal when at least one of the three or more insertion members comes into contact with a closing part.

2. The moving device according to claim 1, wherein the insertion member height adjustment mechanism has a mounting member that mounts the insertion member so that it can move along the same path when approaching and moving away from the tube sheet surface, and has a locking portion provided on at least one of the insertion member and the mounting member that locks the insertion member to the mounting member.

3. A moving device according to claim 1 or 2, wherein the insertion member inserting / removing mechanism has a biasing member that biases the insertion member in a direction substantially perpendicular to the tube sheet surface within a predetermined length range.

4. The moving device according to claim 2, wherein the mounting member comprises a member having a guide shape formed along the direction in which the insertion member approaches and moves away from the reaction tube.

5. The moving device according to claim 1 or 2, wherein the moving propulsion unit has a reaction tube changing mechanism for changing the reaction tube into which the insertion member is inserted.

6. A movement device as described in claim 1 or claim 2, wherein the movement propulsion unit comprises: a carriage module having a rotating body that can move on the tube plate by rotation; a first movement propulsion unit that can move relatively close to and away from the carriage module in a first direction and is equipped with the insertion member insertion and removal mechanism; and a second movement propulsion unit that can move relatively close to and away from the carriage module in a second direction intersecting the first direction and is equipped with a lift foot that moves the rotating body of the carriage module away from the tube plate by bringing a grounding portion into contact with the tube plate and moves the grounding portion away from the tube plate to allow the rotating body to contact the tube plate.

7. A moving device according to claim 1 or 2, wherein the insertion member insertion / removal mechanism has a biasing member that biases the insertion member in a substantially vertical direction within a predetermined length range.

8. The moving method using the moving device according to claim 5, which repeats a combination of steps including (1) to (3) of: (1) inserting at least two of the three or more insert members into the opening of the reaction tube by the insert member inserting and removing mechanism; (2) removing the insert members inserted into the opening from the reaction tube by the insert member inserting and removing mechanism; and (3) moving the base unit and the movement propulsion unit carrying the base unit on the tube plate of the multi-tubular reactor by the reaction tube changing mechanism.

9. A moving method according to claim 8, wherein when each of steps (1) to (3) is started, all of the insert members provided on the moving device start each step simultaneously.

Images