Moving device and movement method

Abstract

The present disclosure provides a moving device and a movement method having a simpler configuration. A moving device 300 moves on a tube plate of a multitubular reactor. The moving device 300 includes an insertion member removal / insertion module for extracting and inserting each of a plurality of insertion members into different reaction tubes, a carriage module 310 having a rotor 311 that is in contact with the tube plate and can move in a first direction on the tube plate, and a first slide module connected to the carriage module 310 so as to enable the carriage module 310 to slide in the first direction. The insertion member removal / insertion module is directly or indirectly connected to the carriage module. Thus, the aforementioned 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, the tube plate surface has welding marks of the reaction tubes and is not smooth, but has irregularities. Furthermore, multi-tubular reactors are often located several meters to several tens of meters above the ground, and the tube plate surface is not necessarily horizontal but may be slightly tilted. These irregularities and tilts easily cause displacement of a heavy automatic walking device. Furthermore, when a solid material such as a catalyst is loaded on the device and transported, the weight increases, and even slight irregularities and tilts cause displacement. If the position of the automatic walking device is displaced, the legs and insertion members inserted into the reaction tubes cannot be inserted, which causes a problem of tipping over. Even if the device does not tip over, there is also the 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 and a moving method that can move a tube sheet a predetermined distance even when the tube sheet surface is uneven or inclined.

[0007] One aspect of the present invention is a moving device that moves on a tube plate of a multi-tubular reactor, and includes an insert member insertion / removal module, a carriage module, and a first slide module. The insert member insertion / removal module inserts and removes each of a plurality of insert members into a different reaction tube. The carriage module has a rotor that is in contact with the tube plate and is movable in a first direction on the tube plate. The first slide module is connected to the carriage module so as to slide the carriage module in the first direction. The insert member insertion / removal module is directly or indirectly connected to the carriage module.

[0008] Another aspect of the present invention is a movement method that repeats a combination of steps including the following steps (1) to (4):

[0009] (1) A carriage module having a rotating body that is in contact with a tube sheet and is movable in a first direction on the tube sheet is disposed at a first position in the first direction.

[0010] (2) A plurality of insert members directly or indirectly connected to the carriage module are inserted into different reaction tubes, respectively.

[0011] (3) With the plurality of insert members inserted into the different reaction tubes, the carriage module is slid from the first position to a second position in the first direction.

[0012] (4) After the carriage module is fixed at the second position by a fixing mechanism, the plurality of insert members are respectively removed from different reaction tubes.

[0013] 1 is a diagram showing a state in which a catalyst replacement system or the like 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 or the like. 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 or the like. 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 flowchart showing a movement process in a second direction by a control unit of a moving device constituting the catalyst replacement system or the like. 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 movement of the moving device in the second direction. FIG. 14 is a flowchart showing a movement process in a third direction by a control unit of a moving device constituting the catalyst replacement system or the like. 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 explaining the operation of an insertion member insertion and removal mechanism constituting the moving device. Fig. 1 is a diagram showing a state in which work such as catalyst replacement is performed by a moving device according to a comparative example that is not provided with an insertion member height adjustment mechanism. Fig. 2 is a schematic diagram showing a modified insertion member insertion and removal mechanism. Fig. 3 is a schematic diagram showing a modified insertion member insertion and removal mechanism. Fig. 4 is a schematic diagram showing a modified insertion member insertion and removal mechanism. Fig. 5 is a schematic diagram showing a modified insertion member insertion and removal mechanism.

[0014] 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.

[0015] 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 a movement device and a movement method of one aspect of the present invention, the insertion members and the carriage module having the rotor slide in a first direction. Therefore, even if the tube sheet surface is uneven or tilted, the movement can be more reliably performed over a predetermined distance compared to a configuration in which the movement device is lifted from the tube sheet surface and moved.

[0016] The moving device according to this embodiment moves on a tube plate surface 3a on which openings 4a of reaction tubes 4 in a plurality of multi-tubular reactors are arranged, as shown in Fig. 1. First, the multi-tubular reactor 1 will be described.

[0017] <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.

[0018] 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.

[0019] 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.

[0020] 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, but 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. As an example, the reaction tubes 4 can be regularly arranged on the tube plate surface 3a in one direction and in directions inclined at an angle of approximately 60 degrees clockwise or counterclockwise from the one direction, as shown in FIG. 4 .

[0021] 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.

[0022] 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.

[0023] <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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] <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 material such as catalyst, a reaction tube cleaning device, a device for filling solid material such as catalyst, a layer length measuring device, a pressure loss measuring device, a filling amount adjusting device, etc.

[0031] 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.

[0032] 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.

[0033] <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.

[0034] The first movement promoting unit 320 is a movement promoting unit for moving in the first direction, and the second movement promoting unit 330 is a movement promoting unit for moving in the 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 direction in which the distance between adjacent reaction tubes 4 is shortest may be used. The second direction is a direction approximately perpendicular to the first direction as shown in FIGS. 11 to 14 . The approximately perpendicular direction is a direction within a range of −5° to +5° from the perpendicular direction. The third direction is, for example, a direction forming an angle of 60° with the first direction. For example, as shown in FIG. 4 , the reaction tubes 4 are lined up along the first direction and the third direction.

[0035] <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.

[0036] (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.

[0037] 16 to 18, 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.

[0038] 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.

[0039] The inserting member 323 preferably has an outer diameter smaller than the inner diameter of the reaction tube 4 and a cylindrical shape. For example, in the case of a reaction tube with an inner diameter of 25 mm, the inserting member 323 preferably 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.

[0040] 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.

[0041] At least two insert members 323 are inserted into the reaction tube 4, thereby fixing their horizontal positions. Once their positions are fixed, they can be moved a predetermined distance by the movement propulsion unit, starting from the insert member 323 inserted into the reaction tube 4. For this reason, it is important that the insert members 323 do not bend during insertion into the opening 4a of the reaction tube 4 or during movement, and that their positions remain fixed. Therefore, stainless steel or the like is preferably used as the material for the insert members 323. A cylindrical compression rubber portion can be provided at the tip of the insert member 323. By providing a mechanism for compressing the compression rubber portion in the vertical direction when inserting the insert member 323 into the reaction tube 4, the compression rubber portion 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 insert members 323, thereby more firmly fixing the position of the insert member 323 relative to the reaction tube 4.

[0042] 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.

[0043] 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 16 to 18, 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 16 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] Furthermore, the mounting member 324 includes guide-shaped members such as cylinders formed along the direction in which the insertion member 323 approaches and moves away from the reaction tube 4, such as the first extending portion 324C and the second extending portion 324D. As a result, when the mounting member 324 descends and the insertion member 323 hits the closure portion 5, the insertion member 323 stops on the closure portion 5 and can move upward relative to the mounting member 324. In this way, the height of the insertion member 323 can be smoothly adjusted.

[0048] 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. 18 , 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] (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.

[0053] The first slide member 312 is composed of a drive unit (electric cylinder), a rail, etc., and can be connected to the carriage module 310. The first base member 321 is a plate-shaped member that can slide in a first direction relative to the carriage module 310, and is connected to the carriage module 310 via the first slide member 312 and is connected to the insertion / removal module via a fixing member 322.

[0054] <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.

[0055] 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.

[0056] 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.

[0057] <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.

[0058] (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.

[0059] The contact portion 342 is formed in a thin plate shape and is configured to be able to contact the tube plate surface 3a. The contact portion 342 is made of, for example, a metal material that generates moderate friction with the tube plate surface 3a. When the contact portion 342 is in contact with the tube plate surface 3a with a pressure of, for example, about 0.2 MPa, the position of the bogie module 310 in the first direction is fixed. Specifically, rotation of the rotating body 311 is inhibited, and the contact portion 342 functions as a brake. When the contact portion 342 is pressed against the tube plate surface 3a with a pressure of, for example, about 0.6 MPa, the rotating body 311 rises and moves away from the tube plate surface 3a. That is, the bogie module 310 moves away from the tube plate surface 3a. Specifically, the bogie module 310 rises, and the contact portion 342 functions as a lift. At this time, the second slide module and the first movement propulsion unit 320 rise together with the bogie module 310. From this state, when the lifting unit 332 raises the ground contact unit 342, the rotor 311 reaches the tube plate surface 3 a. That is, the bogie module 310 reaches the tube plate surface 3 a. At this time, the second slide module and the first movement propulsion unit 320 descend together with the bogie module 310. Here, the lift foot 340 corresponds to a specific example of the lifting mechanism and the fixing mechanism of the present invention.

[0060] (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.

[0061] <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.

[0062] <Moving Method Using a 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 distribution port provided on the top of the reactor. 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 9, 11 to 14, and 16 to 18.

[0063] (Movement in First Direction) The control unit of the moving device 300 performs, for example, the processes of steps S1 to S6 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.

[0064] First, the carriage module 310 is installed at a first position in a first direction, and the insertion member 323 is positioned above the opening 4a of the reaction tube 4 as shown in FIG. 6. At this time, the grounding portion 342 is in contact with the tube plate surface 3a with a pressure of, for example, about 0.2 MPa. Next, the control unit generates a pressing force in the pressing portion 324A, and moves the mounting member 324 to which the insertion member 323 is locked downward. As a result, the insertion member 323 is inserted into the opening 4a of the reaction tube 4 as shown in FIGS. 6 and 7 (step S1).

[0065] Next, the control unit raises the ground contact portion 342 using the lifting unit 332 (step S2), and then slides the first slide member 312 using the driving unit (electric cylinder) of the first slide module (step S3). As a result, with the ground contact portion 342 separated from the tube plate surface 3a, the carriage module 310, the second movement propulsion unit 330 located below the carriage module 310, and the platform unit 350 on the carriage module 310, connected via the first slide member 312, slide in the first direction relative to the reaction tube 4 with a smaller driving force by utilizing the rotation of the rotor 311 ( FIG. 8 ). That is, the carriage module 310 moves from a first position in the first direction to a second position. At this time, the insertion member 323 remains inserted in the opening 4a of the reaction tube 4.

[0066] Next, the control unit lowers the ground contact portion 342 using the lifting unit 332 (step S4), and then releases the pressing force of the pressing portion 324A to move the mounting member 324, to which the insertion member 323 is locked, upward (see FIG. 9 ). As a result, the insertion member 323 inserted into the opening is extracted from the reaction tube 4 in a state in which the ground contact portion 342 is in contact with the tube plate surface 3a with a pressure of, for example, about 0.2 MPa (step S5). At this time, the ground contact portion 342 functions as a brake, so that the position of the carriage module 310 in the first direction is less likely to shift even if, for example, the tube plate surface 3a is inclined or uneven.

[0067] Next, the control unit slides the first slide member 312 in a state in which the insertion member 323 of the first movement propulsion unit 320 is extracted from the reaction tube 4 (step S6). 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 thereunder, slide in the first direction relative to the tube sheet 3.

[0068] 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 300 a desired distance (to be described later), work can be performed on each reaction tube 4. By repeating the operations of steps S1 to S6 described above, the moving device 300 can be moved from a position before the movement to a desired position.

[0069] 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.

[0070] The control unit of the moving device 300 controls each unit so that all of the insertion members 323 operate simultaneously in conjunction with each other in the processing of steps S1 to S6. This configuration allows the operation of multiple insertion members 323 to be collectively controlled by a common actuator, simplifying the device configuration. Furthermore, all of the insertion members 323 provided in the moving device 300 may operate at different times, as long as the device does not tip over or tilt.

[0071] (Movement in the Second Direction) The control unit of the moving device 300 performs, for example, the processes of steps S7 to S10 shown in Fig. 10 to move the moving device 300 in the second direction. Below, the movement of the moving device 300 in the second direction will be described using Figs. 11 to 14 as well as Fig. 10.

[0072] As in the case of the movement in the first direction, the description will be given starting from the point where the insertion member 323 is positioned above the opening 4a of the reaction tube 4 and the ground contact portion 342 is in contact with the tube plate surface 3a (see FIG. 11 ). At this time, the ground contact portion 342 is in contact with the tube plate surface 3a at a pressure of, for example, about 0.2 MPa.

[0073] Next, the control unit causes the air cylinder to lower the grounding portion 342 at a pressure of, for example, about 0.6 MPa, and presses it against the tube plate surface 3 a (step S7), which causes the carriage module 310 and the first movement propulsion unit 320 to rise, and the rotor 311 separates from the tube plate 3 ( FIG. 12 ).

[0074] Next, the control unit operates the drive unit of the second slide member 333 to slide the second slide member 333 (step S8). Specifically, in order to move the second movement propulsion unit 330 relative to the carriage module 310 and the first movement propulsion unit 320, the control unit operates the drive unit of the second slide member 333 by a distance registered in advance in the reaction tube changing mechanism. As a result, the carriage module 310 and the first movement propulsion unit 320 move in the second direction (FIG. 13).

[0075] Next, the control unit causes the actuator of the lifting unit 332 to lift the ground contact portion 342 (step S9), which causes the ground contact portion 342 to separate from the tube sheet 3 and the rotor 311 to contact the tube sheet 3 (FIG. 14).

[0076] Next, the control unit operates the drive unit of the second slide member 333 to slide the second slide member 333 (step S10), causing the lift foot 340 to slide in the second direction relative to the carriage module 310 and the first movement propulsion unit 320, and returning the relative positional relationship of the lift foot 340 with respect to the carriage module 310 and the first movement propulsion unit 320 to its original position (see FIGS. 11 and 14 ).

[0077] 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.

[0078] By repeating the above-described operation, movement in the second direction required to move the moving device 300 from the position before movement to the desired position can be performed.

[0079] (Movement in the Third Direction) The control unit of the moving device 300, for example, combines the processing for movement in the first direction and the processing for movement in the second direction to move the moving device 300 in the third direction. The control unit of the moving device 300, for example, performs the processing of steps S11 to S19 shown in FIG. 15 to move the moving device 300 in the third direction.

[0080] First, the control unit moves the mounting member 324, to which the insertion member 323 is locked, downward in the height direction while the grounding portion 342 is in contact with the tube plate surface 3a at a pressure of, for example, about 0.2 MPa, whereby the insertion member 323 is inserted into the opening 4a of the reaction tube 4 (step S11).

[0081] Next, the control unit causes the lifting unit 332 to raise the ground contact portion 342 (step S12), and then causes the driving unit (electric cylinder) of the first slide module to slide the first slide member 312 (step S13). As a result, with the ground contact portion 342 separated from the tube plate surface 3 a, the carriage module 310 connected via the first slide member 312, the second movement propulsion unit 330 located thereunder, and the base unit 350 on the carriage module 310 slide in the first direction relative to the reaction tube 4 with a smaller driving force by utilizing the rotation of the rotor 311.

[0082] Next, the control unit operates the drive unit of the second slide member 333 to slide the second slide member 333 (step S14). 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. At this time, the insertion member 323 remains inserted into the opening 4 a of the reaction tube 4.

[0083] Next, the control unit controls the lifting unit 332 to lower the ground contact portion 342 (step S15), and then removes the insertion member 323 inserted into the opening 4a from the reaction tube 4 (step S16). Subsequently, the control unit controls the lifting unit 332 to further lower the ground contact portion 342, and presses the ground contact portion 342 against the tube plate surface 3a with a pressure of, for example, about 0.6 MPa (step S17). As a result, the carriage module 310 and the first movement propulsion unit 320 rise, and the rotor 311 separates from the tube plate 3.

[0084] Next, the control unit operates the drive unit of the second slide member 333 to slide the second slide member 333 (step S18), thereby moving the carriage module 310 and the first movement propulsion unit 320 in the second direction.

[0085] Next, the control unit causes the first sliding member to slide (step S19). At this time, since the insertion member 323 is not inserted into the opening 4 a of the reaction tube 4, the first movement propulsion unit 320 slides in the first direction relative to the tube sheet 3.

[0086] By repeating the above-described operation, movement in the third direction required to move the moving device 300 from the position before movement to the desired position can be performed.

[0087] The control unit can also move the moving device 300 in a direction different from the third direction by combining the processes for movement in the first direction and the second direction.

[0088] As described above, the movement promoting part 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.

[0089] (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.

[0090] (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).

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] (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.

[0096] 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. 18 ).

[0097] The insertion member 323 is not fixed to the mounting member 324 but is merely locked thereto, and therefore, when the insertion member 323 hits the closing part 5, it 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. 18, 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.

[0098] (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 attaches the insert members 323 to the tube plate surface 3a so that they can move in a substantially vertical direction. When at least one of the three or more insert members 323 contacts the closure portion 5, the insert member height adjustment mechanism adjusts the height of the insert members 323 to maintain the substantially horizontal state of the moving device 300. 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 substantially horizontal state of the entire device. 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 substantially horizontal state of the device. This can also result in the moving device tilting or tipping over.

[0099] 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.

[0100] As described above, in the moving device 300 that moves on the tube plate 3 of the multi-tubular reactor 1 according to this embodiment, the plurality of insertion members 323 and the carriage module 310 having the rotor 311 slide in the first direction. This enables the moving device 300 to move in the first direction with a simpler configuration. The effects of this configuration will be described below.

[0101] For example, a configuration in which the moving device is lifted from the tube sheet surface and moved in the first direction is conceivable. In this configuration, a large actuator or the like is required to lift the moving device. Therefore, the moving device is likely to become large in size.

[0102] In contrast, the moving device 300 of this embodiment can be moved in the first direction without being lifted from the tube plate surface. Specifically, the first sliding module and the rotating body 311 cause the insertion / removal module (insertion member 323) to slide in the first direction. Therefore, a large actuator or the like is not required, and the moving device 300 can be made smaller. With such a moving device 300, the reaction tubes 4 can be sequentially changed along the first direction to perform work such as catalyst replacement. Therefore, the moving device 300 can be moved in the first direction with a simpler configuration. Furthermore, since the moving device 300 does not require a large actuator or the like, costs can be reduced.

[0103] Furthermore, this moving device 300 can move a predetermined distance more reliably even when the tube sheet surface is uneven or tilted, compared to a configuration in which the moving device is lifted from the tube sheet surface and moved. In particular, since the moving device 300 has lift feet 340 that function as brakes, the insertion / removal module can be slid in the first direction while the position of the carriage module 310 in the first direction is fixed. This makes it possible to prevent the position of the work, such as catalyst replacement, from shifting.

[0104] Furthermore, the moving device 300 has a lift foot 340 that functions as a lift, so that the carriage module 310 can be moved away from the tube plate surface 3a and the moving device 300 can be moved in the second direction.

[0105] Additionally, in the moving device 300, the lift foot 340 serves both as a brake and a lift, so the number of parts can be reduced and the moving device 300 can be made smaller.

[0106] 19 is a diagram showing the state where 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. 19, 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.

[0107] 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.

[0108] 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. 18 , the moving device 300 including the mounting member 324 can be kept substantially horizontal.

[0109] 20 to 24 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.

[0110] (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. 20 .

[0111] 16 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 21(a) and 21(b), a groove 323s extending in the movement direction may be provided at an arbitrary position in the circumferential direction of the insertion member 323b, and a protrusion shape 324s or the like may be provided at a predetermined position on the mounting 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 a movement limit position for the insertion member.

[0112] (Latching Portion Modification 3) In FIG. 18 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. 22 and 23 , 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. 22 , 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.

[0113] (Latching Portion Variation 4) As shown in FIG. 18 , 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. 24 , 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. 24 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.

[0114] 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.

[0115] In the above embodiment, the lift foot 340 serves as both the lifting mechanism and the fixing mechanism of the present invention. However, the moving device 300 may have both the lifting mechanism and the fixing mechanism. The fixing mechanism may be, for example, a pad that inhibits the movement of the rotor 311. Alternatively, the fixing mechanism may be a plurality of insert members 323 inserted into the reaction tube 4.

[0116] This application is based on Japanese Patent Application No. 2024-20641, filed on February 14, 2024, the disclosure of which is incorporated herein by reference in its entirety.

[0117] 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: an insert member removing / inserting module which inserts and removes each of a plurality of insert members into and from different reaction tubes; a carriage module having a rotor which is in contact with the tube plate and is movable in a first direction on the tube plate; and a first slide module connected to the carriage module so as to allow the carriage module to slide in the first direction, wherein the insert member removing / inserting module is directly or indirectly connected to the carriage module.

2. The moving device according to claim 1, wherein the insertion member insertion / removal module is connected to the carriage module via the first slide module.

3. The moving device according to claim 1, further comprising an elevator mechanism for moving said carriage module away from said tube sheet and attaching said carriage module away from said tube sheet to said tube sheet.

4. The moving device according to claim 3, further comprising a fixing mechanism for fixing the position of said carriage module on said tube sheet.

5. A moving device according to claim 4, wherein said lifting mechanism and said fixing mechanism include a support member configured to be in contact with said tube plate and capable of supporting said carriage module.

6. The transfer device of claim 3, further comprising a second slide module connected to said carriage module for enabling said carriage module to slide in a second direction on said tube sheet away from said tube sheet.

7. The moving device according to claim 6, wherein the lifting mechanism is directly or indirectly connected to the second slide module.

8. The moving device described in claim 4, further comprising a control unit that controls the insertion member insertion / removal module and the first slide module, wherein the control unit slides the carriage module to a predetermined position in the first direction while each of the multiple insertion members is inserted into a different reaction tube.

9. The moving device according to claim 8, wherein the control unit removes each of the insertion members from the different reaction tubes while the carriage module on the tube plate is fixed at a predetermined position in the first direction by the fixing mechanism.

10. A method for moving a moving device that moves on a tube sheet of a multi-tubular reactor, comprising: disposing a cart module having a rotator that is in contact with a tube sheet and is movable in a first direction on the tube sheet at a first position in the first direction; inserting a plurality of insert members directly or indirectly connected to the cart module into different reaction tubes, respectively; sliding the cart module from the first position to a second position in the first direction, with the plurality of insert members inserted into the different reaction tubes; and fixing the cart module at the second position by a fixing mechanism, and then removing the plurality of insert members from the different reaction tubes, respectively.

Images