Extraction device and extraction method

Abstract

[Problem] To provide an extraction device and an extraction method which are capable of extracting solid matter that is difficult to extract, such as a catalyst, from the interior of a pipe body, even when a relatively strong striking force is applied to the solid matter, such as a catalyst. [Solution] An extraction device 10 comprises: a gas supply pipe 20 which has a nozzle 21 and a tube 22; a gripping part 30 which is capable of gripping and releasing the tube 22; and an inching drive part 102 which inserts the nozzle 21 into a pipe body 510 by causing the gripping part 30 gripping the tube 22 to move forward toward the pipe body. The extraction device 10 further comprises: a fixed guide part 50 which is positioned closer to the pipe body than the gripping part 30, and which covers the tube 22; and a movable guide part 60 which extends from the gripping part 30 toward the fixed guide part 50, and which, while holding the tube 22, moves toward the fixed guide part 50 together with the forward movement of the gripping part 30.

Description

Extraction device and extraction method

[0001] The present invention relates to an extracting device used for extracting solid matter packed in a tube such as a reaction tube of a multi-tubular reactor, and to a extracting method for extracting solid matter packed in a tube.

[0002] In the petrochemical industry, many catalytic reactions are carried out using multi-tubular reactors (hereinafter simply referred to as "reactors"). The reactors are equipped with thousands to tens of thousands of reaction tubes (hereinafter also referred to as "tubes"), and the reaction tubes are filled with solid materials (hereinafter also referred to as "solid materials such as catalysts") suitable for each catalytic reaction, such as catalysts, carriers, or inert materials such as metal rings.

[0003] When these packings are used for a long period of time, their catalytic function is impaired by poisoning, coking, sintering, etc., and stable and efficient catalytic reactions become impossible. For this reason, solid materials such as catalysts that can no longer perform stable and efficient catalytic reactions are removed from the tubes to be replaced with new, high-performance solid materials such as catalysts. Solid materials such as catalysts are also removed from the tubes when the reactor or tubes are repaired or inspected.

[0004] One known method for removing solid materials such as catalyst from the tubes inside the reactor is to use an opening formed at the bottom of the tubes, in which an operator enters the reactor and inserts a rod-shaped member or the like through the opening at the bottom of the tube to push up the catalyst and other fillers, thereby loosening the catalyst and other solid materials inside the tubes and causing them to fall.

[0005] In the above-mentioned method, every time the worker pushes up the pipe with the rod-shaped member, solid materials such as catalysts filled inside the pipe and their crushed pieces fall and rain down on the worker. In addition, since a large amount of dust is generated in the work area, creating a poor environment, the worker must wear dustproof clothing, a dust mask, goggles, gloves, etc. As such, the extraction work using the above-mentioned method cannot be said to be a preferable method from the viewpoints of efficiency and hygiene.

[0006] In consideration of the above-mentioned problems, a particulate extractor is known that extracts solids such as catalysts by supplying gas into a tube filled with the solids (see Patent Document 1). This particulate extractor has a pulverizer attached to the tip of the gas supply tube to enable extraction of solidified particulates. The pulverizer pulverizes the solidified particulates as they collide with the pulverizer due to the up-and-down movement of the tube. Unsolidified and pulverized particulates are sucked up with the flow of gas discharged from the tube and extracted to the outside of the tube.

[0007] The technology described in Patent Document 1 can improve work efficiency compared to a method in which an operator manually removes the filler from an opening formed at the bottom end of the pipe. Furthermore, the filler sucked up to the top end of the pipe can be directly sent to a collection container or a pump truck. This prevents the filler from falling on the operator, improving hygiene.

[0008] Japanese Patent Application Laid-Open No. 2001-353437

[0009] As with the technology described in Patent Document 1, to crush solidified granular material, it is necessary to apply a relatively strong impact force from the crushing metal fitting to the upper surface of the solidified granular material. Repeated application of a relatively strong impact force to solidified granular material can cause the tube to bend or break, resulting in damage. A bent tube cannot move smoothly up and down, and a broken tube cannot even be subjected to impact force. As a result, it becomes impossible to extract the granular material from inside the tube.

[0010] Furthermore, even if striking force is repeatedly applied to a limited area on the top surface of the solidified granular material, the granular material receiving the striking force is simply crushed, and the crushed fine particles enter the gaps between the surrounding granular material, further solidifying the solidified granular material. As a result, the granular material cannot be extracted from the inside of the tube. Patent Document 1 proposes a mechanism that rotates a crushing metal fitting around a tube (see Figure 5 of Patent Document 1, etc.). However, the position where the sharp tip of the crushing metal fitting impacts is limited to a circle centered on the tube. As a result, it is still not possible to efficiently crush solidified granular material.

[0011] Furthermore, if the supply of compressed air is stopped while the granular material is being extracted, the granular material that was being sucked toward the opening will fall, and in the process, a blockage (bridge) of the granular material may occur between the opening and the inner wall of the pipe. However, the method of Patent Document 1 requires that the compressed air be continuously flowed to prevent the formation of a bridge, and does not describe any means for breaking up the bridge that occurs. If the bridge cannot be broken up, the granular material cannot be extracted from inside the pipe.

[0012] The technology described in Patent Document 1 is a technology for crushing and extracting granular materials, and is intended for extracting granular materials such as solidified catalysts, adsorbents, etc. On the other hand, metal rings such as Raschig rings are sometimes packed into the reaction tube, but these cannot be crushed even by applying a striking force, and the metal rings are deformed by the striking, making extraction more difficult.

[0013] Furthermore, if solidified granules are present, they may not be able to be extracted even if you continue striking without changing the striking position. Furthermore, even if solidified granules reach a state where they can be extracted by striking, they may be extracted as a lump, and there is a risk of a bridge occurring in the process.

[0014] Therefore, an object of the present invention is to provide an extraction device that can effectively apply a relatively strong impact force to solid materials such as catalysts packed inside the tubes of a multi-tubular reactor, thereby efficiently extracting solid materials such as catalysts from inside the tubes.

[0015] Another object of the present invention is to provide a method for extracting solid matter such as a catalyst from the inside of a tube even when there is a solid matter such as a catalyst adhered thereto, a deformed metal ring (hereinafter also referred to as a difficult-to-extract substance), or a bridge formed by a solid matter such as a catalyst.

[0016] One aspect of the present invention is an extractor that extracts solid matter such as a catalyst or an inert substance by supplying a gas into a tube filled with the catalyst or inert substance. The extractor includes a gas supply pipe having a nozzle capable of discharging gas into the tube and a flexible tube that supplies the gas to the nozzle, a gripper that can grip and release the tube, and an inching drive that inserts the nozzle into the tube by moving the gripper that grips the tube forward toward the tube. The extractor further includes a fixed guide that is located closer to the tube than the gripper and covers the tube, and a movable guide that extends from the gripper toward the fixed guide and moves toward the fixed guide as the gripper moves forward while holding the tube.

[0017] Another aspect of the present invention is an extraction device that extracts solid matter such as a catalyst by supplying a gas into a tube filled with the solid matter. The extraction device includes a gas supply pipe having a nozzle capable of discharging gas inside the tube and a flexible tube that supplies the gas to the nozzle, a gripping unit capable of gripping and releasing the tube, and an inching drive unit that inserts the nozzle into the tube by moving the gripping unit gripping the tube forward in a direction toward the tube. The extraction device further includes a rotation drive unit that rotates the gripping unit gripping the tube in a forward and reverse direction around the tube, thereby rotating the nozzle forward and backward. The inching drive unit has an insertion mechanism that inserts the nozzle into the tube by inching the gripping unit gripping the tube between a backward movement away from the tube and a forward movement.

[0018] Yet another aspect of the present invention is a method for extracting solid matter such as a catalyst by supplying gas into a pipe filled with the solid matter. The extraction method involves supplying gas through a gas supply pipe having a nozzle and a tube, and then moving the tube forward toward the pipe by an inching motion while protecting the tube with a fixed guide section and a movable guide section. The nozzle is struck against the solid matter, thereby loosening the solid matter. The gas is then ejected from the nozzle, and the solid matter is sucked in along with the gas flow, thereby extracting the solid matter.

[0019] According to one aspect of the present invention, even when a high load is applied to the tube when extracting a difficult-to-extract solid material such as a solid catalyst or a deformed metal ring, the tube can be prevented from bending or breaking (bending). This ensures smooth up-and-down movement of the tube even when a relatively strong impact force is applied to the difficult-to-extract solid material. As a result, solid material such as a catalyst containing the difficult-to-extract solid material can be extracted from the inside of the tube.

[0020] According to another aspect of the present invention, because the tube rotates in a forward and reverse direction, the nozzle connected to the tube also rotates in a forward and reverse direction inside the tube, allowing solid materials such as catalysts to be evenly pierced. This prevents the force from being applied to a limited area, even when a relatively strong impact force is applied to a difficult-to-extract substance, allowing the difficult-to-extract substance to be efficiently crushed or disintegrated. As a result, solid materials such as catalysts containing difficult-to-extract substances can be extracted from inside the tube. Furthermore, even if bridging occurs, the tube and nozzle that have entered the tube rotate in a forward and reverse direction, breaking the bridge. This allows solid materials such as catalysts and difficult-to-extract substances to be efficiently extracted without stopping the operation of the extraction device, even if bridging occurs.

[0021] According to another aspect of the present invention, even if a high load is applied to the tube when extracting a difficult-to-extract solid material such as a catalyst or a deformed metal ring, the tube can be prevented from bending or breaking (bending). This ensures smooth up-and-down movement of the tube even when a relatively strong impact force is applied to the difficult-to-extract solid material. As a result, solid material such as a catalyst containing the difficult-to-extract solid material can be extracted from the inside of the tube.

[0022] FIG. 9(A) is a diagram illustrating a simplified drawing of an extraction device. FIG. 9(B) is a diagram illustrating a simplified drawing of a reactor according to an embodiment. FIG. 9(B) is a cross-sectional view illustrating the interior of a tube according to an embodiment. FIG. 9(C) is a diagram illustrating a gas supply pipe. FIG. 9(D) is a diagram illustrating the flow of gas discharged from the nozzle. FIG. 9(D) is a diagram illustrating a testing machine for measuring the strength of a tube against bending. FIG. 9(C) is a perspective view illustrating an inching drive unit and a rotation drive unit. FIG. 9(D) is a front view illustrating an inching drive unit and a rotation drive unit. FIG. 9(A) is a perspective view illustrating a state in which the tube is gripped, and FIG. 9(B) is a perspective view illustrating a state in which the tube is released from gripping. FIG. 10(A) to FIG. 10(D) are diagrams illustrating the operation of feeding out the tube and the operation of changing the gripping position of the tube within the movable range of the slider. FIG. 11(A) is a graph illustrating a schematic diagram of the change in the insertion length of the nozzle into the tube, and FIG. 11(B) is a schematic diagram illustrating a state in which a blockage (bridge) of solid matter such as a catalyst occurs while the solid matter is being extracted. FIG. 11(C) is a diagram illustrating a schematic diagram of a drive system for a movable chuck. Figures 13A(A) and 13A(B) are diagrams showing the main parts of the inching drive unit and suction unit. Figures 13B(A) to 13B(D) are diagrams explaining the operation of the movable guide unit having a telescopic structure. Figures 14(A) and 14(B) are cross-sectional views showing the fixed guide unit and the movable guide unit. Figures 15(A) and 15(B) are diagrams explaining the problem of the tube bending. Figures 16(A) and 16(B) are diagrams explaining the rotational movement of the gripping unit. Figures explaining the forward and reverse rotational movement of the nozzle.

[0023] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The embodiments shown here are merely examples for embodying the technical concept of the present invention and are not intended to limit the present invention. Therefore, all other embodiments, examples, and operational techniques that can be conceived by those skilled in the art without departing from the spirit of the present invention are included within the scope and spirit of the present invention, as well as within the scope of the claims and their equivalents.

[0024] In addition, for the convenience of illustration and ease of understanding, the drawings attached to this specification may be represented schematically with the scale, aspect ratio, shape, etc. appropriately changed from the actual product, but these are merely examples and do not limit the interpretation of the present invention.

[0025] In this specification, ordinal numbers such as "first" and "second" may be used. However, unless otherwise specified, these ordinal numbers are used to identify components for the sake of convenience, and do not specify the number or order.

[0026] <Embodiment> Fig. 1 is a diagram showing a simplified drawing of a discharge device 10. Fig. 2 is a diagram showing a simplified drawing of a reactor 500 according to an embodiment. Fig. 3 is a cross-sectional view showing the inside of a tube 510 according to an embodiment.

[0027] 2 and 3, the extracting device 10 according to this embodiment can be used, for example, to extract a solid material C such as a catalyst filled in an interior 513 of a tubular body 510 of a reactor 500 installed in a chemical plant to the outside of the tubular body 510. The extracting device 10 extracts the solid material C such as a catalyst by supplying a gas into the interior of the tubular body 510 filled with the solid material C such as a catalyst.

[0028] The solid material C such as a catalyst is a catalyst, a carrier (e.g., ceramics such as silica, alumina, or zirconia), a metal ring (e.g., a Raschig ring), etc. The solid material C such as a catalyst can have various shapes such as a spherical shape, a granular shape, a powder shape, a ring shape (annular shape), a cylindrical shape, etc., and is not limited to a specific shape.

[0029] Catalysts and carriers may pulverize over long periods of use, and the resulting powder may fuse together due to heat. Furthermore, the resulting powder may adhere the catalyst, carrier, or metal ring to each other due to heat, or to each other due to carbides produced by reaction, or to the inner wall surface. Furthermore, metal rings may be deformed due to strong impact forces or due to adhesion to each other due to carbides produced by reaction. If each solid material C, such as a catalyst, maintained its initial uniform shape and was not adhered to each other, it would be possible to extract it. However, if it becomes non-uniform or adheres, it becomes difficult to extract it from the tube 510. To extract such a non-uniformly shaped solid material C, it is more effective to loosen it to return it to its original shape or to move the deformed solid material C, such as a catalyst, trapped between particles, rather than to crush it.

[0030] The tubular body 510 is a reaction tube filled with a solid material C such as a catalyst. An upper end opening 511 that connects to the outside of the tubular body 510 is formed at the upper end of the tubular body 510 in the height direction (the direction of arrows z1-z2 shown in FIGS. 2 and 3 ). A lower end opening 512 that communicates with the outside of the tubular body 510 is formed at the lower end of the tubular body 510 in the height direction. The tubular body 510 can be formed, for example, with an inner diameter of 10 mm to 60 mm and a height of 1,000 mm to 30,000 mm, although this depends on the target catalytic reaction. Note that the tubular body 510 does not have to be arranged vertically, and may be arranged, for example, obliquely or horizontally.

[0031] The interior 513 of the tube 510 may be filled with only the same type of solid material C such as catalyst, or may be filled with a plurality of layers L1 or L2, for example, made up of different types of solid materials C1 or C2 such as catalyst, at different positions in the height direction of the tube 510 (see FIG. 3). The first layer L1 may be made up of the solid material C1 such as catalyst, and the second layer L2 may be made up of the solid material C2 such as catalyst.

[0032] The solid material C1 such as a catalyst may be, for example, a spherical catalyst for a contact reaction formed with an outer diameter of 1 mm to 15 mm. The solid material C2 such as a catalyst may be, for example, a catalyst for a contact reaction having a different shape or composition from the solid material C1 such as a catalyst, or a metal Raschig ring formed into a ring shape. Although not shown, another layer of a granular solid material such as a catalyst, which may be the same or different type as the solid material C1 or the solid material C2 such as a catalyst, may be formed in the interior 513 of the tubular body 510 below the second layer L2.

[0033] 4A to 17 are diagrams illustrating the components of the extractor 10. The extractor 10 of the embodiment generally includes a gas supply unit 101, an inching drive unit 102, a rotation drive unit 103, and a suction unit 104. Each of the components of the extractor 10 will be described below.

[0034] <Gas Supply Unit 101> The gas supply unit 101 includes a tube storage unit 80, a gas supply pipe 20, and a gas supplier 410. The gas supply pipe 20 includes a nozzle 21 capable of discharging gas inside a pipe body 510, and a flexible tube 22 that supplies gas to the nozzle 21.

[0035] 1 , the tube storage unit 80 includes a reel 81 around which the tube 22 of the gas supply pipe 20 is wound, and a motor 82 that rotates and drives the reel 81. The reel 81 and the motor 82 constitute a retraction unit that pulls out the gas supply pipe 20 from inside the pipe body 510.

[0036] (Gas Supply Pipe 20) Fig. 4A is a diagram showing the gas supply pipe 20. As shown in Fig. 4A, the gas supply pipe 20 has a nozzle 21 capable of discharging gas into the interior 513 of the pipe body 510, and a flexible tube 22 that supplies gas to the nozzle 21. The gas used may be, for example, compressed air. In the description of this specification, the distal end side of the gas supply pipe 20 and each component constituting the gas supply pipe 20 refers to the distal end side in the insertion direction into the pipe body 510 (the right side in Fig. 4A and the lower side in Figs. 2 and 3), and the proximal end side refers to the opposite side to the insertion direction (the left side in Fig. 4A and the upper side in Figs. 2 and 3).

[0037] In the gas supply pipe 20 of this embodiment, the base end of the nozzle 21 is connected to the tip end of the tube 22 via a pipe 23. The base end of the tube 22 is connected to a gas supplier 410 (see FIG. 2 ) that supplies compressed air via a hose 96. The gas supplier 410 is composed of a known compressor, or a pipe that supplies compressed air and is installed in a factory where the multi-tubular reactor 500 is installed.

[0038] 4B is a diagram showing the nozzle 21. As shown in FIG. 4B, the nozzle 21 has a flow path 21a through which the gas flows, a tip opening 21b formed at the tip side of the flow path 21a, and a base opening 21c formed at the base side of the flow path 21a. One or more tip openings 21b are formed toward the direction of the flow path 21a. In this embodiment, the nozzle 21 has a tapered shape in which the outer diameter decreases toward the tip side, but any shape may be used as long as the nozzle can supply gas from the tip opening 21b and can apply a striking force to the solid matter C such as a catalyst.

[0039] FIG. 5 is a diagram illustrating the flow of gas discharged from the nozzle 21. Small black dots labeled 111 in FIG. 5 schematically represent impurities such as carbides. The impurities 111 cause the solid matter C, such as catalyst, to adhere to itself or to the inner wall of the tubular body 510. As shown in FIG. 5, the gas flow a discharged from the tip opening 21b of the nozzle 21 mainly dissolves the solid matter C, such as catalyst, packed inside 513 of the tubular body 510. The gas discharged from the tip opening 21b generates a gas flow b directed toward the upper opening 511. The gas flow b serves to push (move) the dissolved solid matter C, such as catalyst, upward toward the upper opening 511 of the tubular body 510. As a result, the solid matter C, such as catalyst, can be efficiently extracted to the outside of the tubular body 510. The shorter the distance between the tip opening 21b and the upper end of the catalyst or other solid material C filled inside 513 of the tubular body 510, the more likely the catalyst or other solid material C at the upper end of the filled catalyst or other solid material C is to be strongly affected by gas flow a and to be pushed up to the upper end opening 511 of the tubular body 510 by gas flow b.

[0040] The nozzle 21 can be made of a metal material such as SUS, aluminum, etc. However, the nozzle 21 may be made of a material other than a metal material such as a hard resin such as an acrylic resin.

[0041] The outer diameter of the nozzle 21 can be formed so as to satisfy the following formula 1 with respect to the outer diameter of the solid material C such as a catalyst to be extracted and the inner diameter of the pipe body 510. The length of the nozzle 21 can be 1 cm or more and 10 cm or less.

[0042] Formula 1 is as follows: outer diameter of solid matter C such as catalyst [mm]≦(inner diameter of pipe body 510 [mm]−outer diameter of nozzle 21 [mm]) / 2.

[0043] The pipe 23 can be made of, for example, a rigid metal pipe. The pipe 23 serves to increase the weight of the entire gas supply pipe 20. Therefore, the combined weight of the pipe 23 and the nozzle 21 may be 20 to 600 times the weight of one solid material, such as a catalyst, to be extracted. The outer diameter of the pipe 23 can be formed to satisfy Equation 1, similar to that of the nozzle 21 (the outer diameter of the nozzle 21 is replaced with the outer diameter of the pipe 23), and as long as the outer diameter of the pipe 23 is equal to or smaller than the outer diameter of the nozzle 21 (see Equation 2 below), the solid material C, such as a catalyst, will not get caught at the connection between the pipe 23 and the nozzle 21 during extraction.

[0044] Equation 2 is as follows: outer diameter of pipe 23≦outer diameter of nozzle 21.

[0045] The length of the pipe 23 is preferably 4 to 10 times that of the nozzle 21. Furthermore, if the combined length of the nozzle 21 and the pipe 23 is 1 cm or more and 50 cm or less, the impact force can be efficiently transmitted to the catalyst or other solid matter C, which is preferable. Furthermore, the base end of the nozzle 21 can be directly connected to the tip end of the tube 22 without using the pipe 23.

[0046] The tube 22 can be made of a known piping material that is flexible and has pressure resistance that allows it to feed gas such as compressed air. The tube 22 can also be made of a material that can transmit the pushing force toward the tip of the nozzle 21 to the solid matter C such as a catalyst, and is preferably made of, for example, rubber, resin, or metal. Among these, resin is preferable from the viewpoint of flexibility and strength against bending, and nylon, polyurethane, or polyolefin is particularly preferable.

[0047] FIG. 6 shows a testing machine for measuring the bending strength of the tube 22. The bending strength of the tube 22 can be examined by a piping component selection test that measures the buckling force of the tube 22 when compressed from both axial ends of the tube 22. For example, as shown in FIG. 6 , a 30 cm long tube 22 is passed through two 10 cm long fixed guides 201, and both ends of the fixed guides 201 are fixed. The lower end of the tube 22 is fixed, leaving 10 cm exposed between the two fixed guides 201. The upper end of the tube 22 is fixed to the measurement axis of a load measuring device 202, such as a NIDEC digital force gauge, via an adapter, and a force is applied toward the lower end of the tube 22. As the force increases, the exposed portion of the tube 22 bends and buckles. A material with a buckling force of 10 N or more is suitable for use as a piping component, and can be used for the tube 22 as a material capable of transmitting the pushing force of the nozzle 21 toward the tip end of the nozzle 21 to the solid material C, such as a catalyst.

[0048] The outer diameter of the tube 22 can be formed to satisfy formula 1, similar to that of the nozzle 21 (read the outer diameter of the nozzle 21 as the outer diameter of the tube 22), and the length can be 1.1 to 10 times the length from the upper end opening 511 of the tubular body 510 to the intended extraction position, so that the solid material C, such as a catalyst, filled in the tubular body 510 can be extracted.

[0049] 7 and 8 are a perspective view and a front view showing the inching drive unit 102 and the rotation drive unit 103. The inching drive unit 102 has a gripping unit 30, a vertical frame 31, a linear actuator 32, and a movable guide unit 60. The inching drive unit 102 inserts the nozzle 21 into the tubular body 510 by advancing the gripping unit 30 gripping the tube 22 in a direction toward the tubular body 510. The inching drive unit 102 has an insertion mechanism that inserts the nozzle 21 into the tubular body 510 by performing an inching motion that alternates between advancing and retreating the gripping unit 30 gripping the tube 22 in a direction away from the tubular body 510.

[0050] 7 and 8, the linear actuator 32 has a slide rail 32a arranged in the vertical direction and a slider 32b arranged so as to be freely slidable on the slide rail 32a. A fixed chuck 33 is fixed to the vertical frame 31. A rotary actuator 34 is fixed on the slider 32b of the linear actuator 32. A movable chuck 35 is attached to the rotating part 34a of the rotary actuator 34. The movable chuck 35 moves together with the movement of the slider 32b. The fixed chuck 33 and the movable chuck 35 constitute the gripping part 30 that can grip and release the grip of the tube 22 of the gas supply pipe 20.

[0051] Fig. 9(A) is a perspective view showing a state in which the tube 22 is gripped, and Fig. 9(B) is a perspective view showing a state in which the grip of the tube 22 is released. Figs. 10(A) to 10(D) are diagrams illustrating the operation of feeding out the tube 22 and the operation of changing the grip position of the tube 22 within the movable range of the slider 32b.

[0052] Both the fixed chuck 33 and the movable chuck 35 are capable of gripping and releasing the tube 22. The operation of feeding out the tube 22 and the operation of changing the gripping position of the tube 22 within the movable range of the slider 32b will be described.

[0053] 9(A) and 9(B), the fixed chuck 33 and the movable chuck 35 each have a pair of blocks 36a, 36b (a first block 36a and a second block 36b), and the gripping surfaces of the blocks 36a, 36b are formed with recessed grooves 36c, 36d for receiving the tube 22. When the pair of blocks 36a, 36b closes (the closed state is represented by Pc), the tube 22 is gripped (FIG. 9(A)). On the other hand, when the pair of blocks 36a, 36b open (the open state is represented by Po), the gripping of the tube 22 is released (FIG. 9(B)).

[0054] 10A shows a state in which the slider 32b is moving downward in the figure toward the lower limit of its movable range. As the slider 32b moves, the movable chuck 35 gripping the tube 22 moves forward in the direction toward the tubular body 510 (downward in the figure). The movable chuck 35 grips the tube 22, and the fixed chuck 33 releases its grip on the tube 22. The slider 32b reciprocates slightly as it moves, generating vibrations.

[0055] 10B shows a state in which the slider 32b has reached the lower limit of its movable range. When the slider 32b reaches the lower limit of its movable range, the fixed chuck 33 grips the tube 22, and the movable chuck 35 releases its grip on the tube 22.

[0056] 10C shows a state in which the slider 32b moves upward in the drawing toward the upper limit of the movable range while the fixed chuck 33 still grips the tube 22. The movement of the slider 32b causes the movable chuck 35 to move backward in a direction away from the tube 510 (upward in the drawing).

[0057] 10(D) shows a state in which the slider 32b has reached the upper limit of its movable range. When the slider 32b reaches the upper limit of its movable range, the movable chuck 35 grips the tube 22, and the fixed chuck 33 releases its grip on the tube 22.

[0058] Through this series of operations, the movable chuck 35 feeds out the tube 22 and then changes the gripping position of the tube 22 .

[0059] When the slider 32b moves forward in the direction toward the tubular body 510 (downward in the figure), the movable chuck 35 gripping the tube 22 moves forward in the direction toward the tubular body 510. As a result, the nozzle 21 is inserted into the tubular body 510.

[0060] Figure 11(A) is a graph showing a schematic diagram of the change in the insertion length of the nozzle 21 into the tube body 510, and Figure 11(B) is a schematic diagram showing a state in which a blockage (bridge) of the catalyst or other solid material C occurs while the catalyst or other solid material C is being extracted.

[0061] 11(A), the slider 32b performs an inching motion in which the movable chuck 35 gripping the tube 22 is repeatedly moved backward in a direction away from the tubular body 510 and forward, thereby inserting the nozzle 21 into the tubular body 510. The slider 32b performs an inching motion in which the movable chuck 35 gripping the tube 22 is repeatedly moved backward in a direction away from the tubular body 510 and forward, thereby forming an insertion mechanism for inserting the nozzle 21 into the tubular body 510.

[0062] The inching motion is a motion in which the linear actuator 32 alternately moves the slider 32b on the slide rail 32a forward in a direction toward the tubular body 510 and backward in a direction away from the tubular body 510, thereby advancing the nozzle 21 connected to the tip of the tube 22 toward the inside of the tubular body 510. The inching motion allows the catalyst or other solid material C to receive intermittent impact forces and intermittently changes the amount of gas received by the catalyst or other solid material C. In this way, as shown in FIG. 5 , the catalyst or other solid material C dissolved by the gas flow a is pushed up by the gas flow b toward the upper end opening 511 of the tubular body 510. Furthermore, during the backward motion, the amount of gas received by the catalyst or other solid material C on the top surface of the catalyst layer decreases, and therefore the amount of the catalyst or other solid material C moving toward the opening 511 also decreases. As a result, the amount of solid matter C such as catalyst heading toward the opening 511 is not excessively large at the same time, so that the occurrence of a bridge in which the solid matter C such as catalyst clogs between the inner wall of the pipe body 510 and the tube 22 can be suppressed.

[0063] In this way, by performing an inching motion that combines not only forward movement but also backward movement, the solid matter C such as catalyst can be extracted more efficiently than by forward movement alone.

[0064] The insertion speed or inching frequency of the nozzle 21 is controlled by the distance of one forward movement of the slider 32b, the distance of one backward movement, the speed of one forward movement, the speed of one backward movement, and the acceleration. Note that if the catalyst or other solid material C is not a difficult-to-extract substance and is easy to extract, the backward movement distance may be 0 (zero), which is also considered an inching movement. When the slider 32b reaches a preset distance in its forward or backward movement, the control of forward or backward movement is switched.

[0065] The relationship between the distance of one forward movement of the slider 32b in the inching movement and the distance of one backward movement of the slider 32b in the inching movement is given by the following formula 3.

[0066] Equation 3 is expressed as follows: Distance in one forward movement of the slider 32b in the inching movement≧Distance in one backward movement of the slider 32b in the inching movement.

[0067] As shown in FIG. 11(B), when the catalyst or other solid material C is being extracted, depending on the shape and size of the catalyst or other solid material C, the catalyst or other solid material C may become clogged (bridged) between the inner wall of the tubular body 510 and the tube 22. When the movable chuck 35 makes an inching motion, the tube 22 vibrates up and down at high speed. This vibration can eliminate the bridge. It can also suppress the occurrence of the bridge itself. The inching motion of the movable chuck 35 further causes the sharp tip of the nozzle 21 to continuously pierce the catalyst or other solid material C. In this way, the catalyst or other solid material C pushed out by the striking force becomes movable, making it easier to extract the catalyst or other solid material C.

[0068] The movable chuck 35 is arranged to be movable between a gripping position (FIG. 10D) where it grips the tube 22 and a release position (FIG. 10B) located in a direction toward the tube 510 from the gripping position where it releases the grip of the tube 22. The slider 32b constitutes a return mechanism that returns the movable chuck 35 from the release position to the gripping position.

[0069] The insertion mechanism and the return mechanism are composed of a drive source (not shown) such as a servo motor or stepping motor that moves the slider 32b, a controller (not shown) that controls the operation of the drive source, and the like.

[0070] FIG. 12 is a diagram schematically showing the drive system of the movable chuck 35.

[0071] As shown in FIG. 12 , the movable chuck 35 includes a first block 36 a, a second block 36 b, and a pressing mechanism 120. The first block 36 a and the second block 36 b are configured to be movable relative to each other. The pressing mechanism 120 is configured to press the first block 36 a and the second block 36 b relative to each other. In the illustrated example, the first block 36 a is configured to be movable, and the second block 36 b is fixed. The pressing mechanism 120 is configured to press the first block 36 a toward the second block 36 b. The fixed chuck 33 is configured in a similar manner. The pressing mechanism 120 includes, for example, a cylinder 121 and a piston 123 that divides the interior of the cylinder 121 into two chambers (a first chamber 122 a and a second chamber 122 b).

[0072] The first block 36a is connected to a piston 123. When fluid pressure, such as compressed air, is supplied only to the first chamber 122a, the piston 123 moves toward the second block 36b. As a result, the first block 36a is pressed toward the second block 36b and grips the tube 22. On the other hand, when fluid pressure is supplied only to the second chamber 122b, the piston 123 moves in a direction away from the second block 36b. As a result, the first block 36a moves away from the second block 36b and the tube 22 is released from gripping.

[0073] Switching between the chambers to which fluid pressure is supplied is controlled by a solenoid valve. Solenoid valves 126a, 126b, 127a, and 127b are provided on a supply line 124a that supplies fluid pressure to the first chamber 122a, a supply line 124b that supplies fluid pressure to the second chamber 122b, an exhaust line 125a that exhausts the first chamber 122a, and an exhaust line 125b that exhausts the second chamber 122b, respectively. The upstream sides of the solenoid valves 126a and 126b on the supply lines 124a and 124b are connected via a pressure reducing valve 128 to a tank 129a that stores compressed air. The tank 129a is filled with compressed air pressurized by a compressor 129b.

[0074] The tube 22 of the gas supply pipe 20 is gripped and released as follows. First, the solenoid valve 126b for the second chamber 122b is closed, and the solenoid valve 127b is opened, opening the second chamber 122b to the atmosphere. In this state, the solenoid valve 127a for the first chamber 122a is closed, and the solenoid valve 126a is opened. Fluid pressure is supplied only to the first chamber 122a, and the tube 22 is gripped by the first block 36a and the second block 36b. Meanwhile, the solenoid valve 126a for the first chamber 122a is closed, and the solenoid valve 127a is opened, opening the first chamber 122a to the atmosphere. In this state, the solenoid valve 127b for the second chamber 122b is closed, and the solenoid valve 126b is opened. Fluid pressure is supplied only to the second chamber 122b, and the tube 22 is released from grip by the first block 36a and the second block 36b.

[0075] The pressure of the fluid supplied to the first chamber 122a can be adjusted by operating the pressure reducing valve 128. This makes it possible to adjust the gripping force that grips the tube 22. In this way, the pressure reducing valve 128 constitutes a variable mechanism that can adjust the gripping force that grips the tube 22.

[0076] The movable chuck 35 and the fixed chuck 33 each have a sensor 130 that can detect when the first block 36a has moved to a normal position. Here, the "normal position of the first block 36a" refers to the position at which the tube 22 is gripped without the axis of the tube 22 being misaligned. Therefore, when gripping the tube 22, if the sensor 130 does not detect the first block 36a, it can be determined that the axis of the tube 22 has shifted and the first block 36a has not moved to the normal position, and an abnormality has occurred in gripping the tube 22. In this case, error information is displayed, allowing the operator to recognize that an abnormality has occurred.

[0077] (Movable guide portion 60) As shown in Figures 3, 7, 8, and 10(A) to 10(D), the movable guide portion 60 extends from the movable chuck 35 of the gripping portion 30 toward the fixed guide portion 50. The movable guide portion 60, while holding the tube 22, moves toward the fixed guide portion 50 as the gripping portion 30 moves forward. The fixed guide portion 50 is provided in the suction portion 104, which will be described later. The configuration and function of the movable guide portion 60 will be described later, along with the configuration and function of the fixed guide portion 50.

[0078] The material that can be used for the movable guide portion 60 needs only to be harder than the tube 22, and materials that can be used include metals such as SUS and aluminum, hard resins such as acrylic, and wood.

[0079] 16(A) and 16(B) are top views illustrating the rotational movement of the movable chuck 35 of the gripping unit 30, and Fig. 17 is a diagram illustrating the forward and reverse rotational movement of the nozzle 21. The rotational drive unit 103 has the rotary actuator 34, the movable chuck 35 of the gripping unit 30, and a rotating unit 34a. The rotational drive unit 103 rotates the gripping unit 30, which grips the tube 22, forward and reverse in the circumferential direction of the tube 22, thereby causing the nozzle 21 to rotate forward and reverse.

[0080] (Rotary actuator 34, rotating portion 34a) As shown in Figures 16(A) and 16(B), the rotary actuator 34 can rotate the movable chuck 35 forward and backward around the circumference of the tube 22. As the movable chuck 35 gripping the tube 22 rotates, the tube 22 is twisted at the gripped portion. This twist of the tube 22 is propagated to the nozzle 21. The twist of the tube 22 can cause the nozzle 21 to move in a forward and backward revolving motion. As the nozzle 21 moves in a forward and backward revolving motion, the nozzle 21 can evenly pierce the solid matter C such as a catalyst.

[0081] The rotary actuator 34 has an oscillating mechanism that rotates the movable chuck 35 forward and backward around the penetration axis of the tube 22 relative to the movable chuck 35. The movable chuck 35 is attached to a rotating portion 34a of the rotary actuator 34 so as to rotate around the penetration axis of the tube 22 (see FIGS. 7 and 8). The oscillating mechanism uses fluid pressure such as compressed air as power and changes the direction of rotation by changing the direction of the supplied fluid pressure. The oscillating mechanism rotates the movable chuck 35 between the "-90° position" shown in FIG. 16(A) and the "+90° position" shown in FIG. 16(B). In this example, the range (rotation angle) of rotation of the movable chuck 35 is 180°.

[0082] The oscillating mechanism can set the range (rotation angle) of the rotational motion of the movable chuck 35 as desired. Increasing the range (rotation angle) of the rotational motion of the movable chuck 35 increases the twist of the tube 22. As a result, the forward and reverse rotational motion of the nozzle 21 becomes relatively large. Conversely, decreasing the range (rotation angle) of the rotational motion of the movable chuck 35 decreases the twist of the tube 22. As a result, the forward and reverse rotational motion of the nozzle 21 becomes relatively small. By changing the range (rotation angle) of the rotational motion of the movable chuck 35 using the oscillating mechanism, the magnitude of the forward and reverse rotational motion of the nozzle 21 can be adjusted.

[0083] As shown in Figure 17, the nozzle 21 rotates in both forward and reverse directions by rotating the movable chuck 35 gripping the tube 22 in the circumferential direction of the tube 22. This causes the position at which the striking force is applied to change irregularly, allowing the nozzle 21 to strike the catalyst or other solid material C evenly. This prevents the striking force from being applied to a limited location, even when a relatively strong striking force is applied to the catalyst or other solid material C, and loosens the struck catalyst or other solid material C. Furthermore, the catalyst or other solid material C loosened by striking moves, creating gaps, which make it easier to loosen the solid material C by the next strike. As a result, the catalyst or other solid material C can be extracted from the inside of the tube 510.

[0084] 1 , 2 , and 3 , the suction unit 104 includes an L-shaped pipe 91 having a substantially L-shape, a fixed guide unit 50, a suction pipe 93, hoses 94 and 95, a collection container 430, and an aspirator 420. The suction unit 104 sucks the solid matter C such as a catalyst together with the flow of the gas discharged from the nozzle 21.

[0085] (L-shaped pipe 91, suction pipe 93) The lower end of the L-shaped pipe 91 in Figure 3 is connected to the upper end opening 511 of the pipe body 510. The other end of the L-shaped pipe 91 is connected to the suction pipe 93 as shown in Figure 1.

[0086] The L-shaped pipe 91 has a through hole 92 formed therein through which the fixed guide portion 50 is inserted. The through hole 92 may or may not be located on an extension of the central axis of the pipe 510 when the L-shaped pipe 91 is connected to the upper end opening 511 of the pipe 510. By striking the vicinity of the inner wall surface of the pipe 510 with a forward and reverse rotating motion rather than on the central axis of the pipe 510, the catalyst or other solid matter C can be extracted more efficiently.

[0087] 13A(A) and 13A(B), the fixed guide part 50 is directly connected to the through hole 92, and is located closer to the tubular body 510 than the gripping part 30, covering the tube 22. As shown in Figures 14(A) and 14(B), the fixed guide part 50 can be formed from a hollow cylindrical body 51 connected to the through hole 92 of the L-shaped pipe 91.

[0088] (Aspirator 420, Collection Container 430) As shown in FIG. 2 , the suction pipe 93 is connected to the collection container 430 via a hose 94. The collection container 430 is connected to the aspirator 420 via a hose 95. The aspirator 420 can be configured, for example, from a known dust collector that generates negative pressure by aspirating gas. The collection container 430 can be configured, for example, from a metal container (such as a drum). When the aspirator 420 is operated, the catalyst or other solid matter C is sucked in along with the flow of gas discharged from the nozzle 21. The catalyst or other solid matter C is transferred to the collection container 430 via the suction pipe 93 and the hose 94.

[0089] (Fixed guide portion 50, movable guide portion 60) Figures 13A(A) and 13A(B) are diagrams showing the main parts of the inching drive portion 102 and the suction portion 104, and Figures 14(A) and 14(B) are cross-sectional views showing the fixed guide portion 50 and the movable guide portion 60. Figures 15(A) and 15(B) are diagrams explaining the problem of bending of the tube 22. The configuration and operation of the fixed guide portion 50 will be described in detail below, along with the configuration and operation of the movable guide portion 60.

[0090] 13A(A) and 13A(B), fixed guide part 50 is located closer to pipe body 510 than gripping part 30 and covers tube 22. Movable guide part 60 extends from movable chuck 35 of gripping part 30 toward fixed guide part 50, and moves toward fixed guide part 50 as gripping part 30 moves forward while holding tube 22.

[0091] As shown in FIGS. 14A and 14B , the fixed guide unit 50 can be configured with a hollow cylinder 51 connected to the through-hole 92 of the L-shaped pipe 91. The movable guide unit 60 can also be configured with a hollow cylinder 61. The movable guide unit 60 is attached to the movable chuck 35 of the gripping unit 30 and extends toward the fixed guide unit 50. The hollow cylinders 51 and 61 constituting the fixed guide unit 50 and the movable guide unit 60 have a continuous ring shape in a cross section perpendicular to the axis, but are not limited to this shape. The fixed guide unit 50 can have any suitable shape as long as it can cover the tube 22. The movable guide unit 60 can have any suitable shape as long as it can hold the tube 22 while moving toward the fixed guide unit 50. For example, the hollow cylinders 51 and 61 can have a substantially C-shaped cross section perpendicular to the axis, with an interrupted portion. However, the interrupted portion has a size sufficient to prevent the tube 22 from slipping out.

[0092] Furthermore, the movable guide unit 60 is not limited to being composed of a single hollow cylinder 61. For example, the movable guide unit 60 can be configured so that multiple hollow cylinders 61 can be connected in the axial direction by a screw-type mechanism. Alternatively, as shown in FIGS. 13B(A) to 13B(D), the movable guide unit 60 can be configured so that multiple (three in the illustrated example) hollow cylinders 62a, 62b, and 62c can be connected in the axial direction by a telescopic structure. Each of the hollow cylinders 62a, 62b, and 62c has a different outer diameter and inner diameter. When the gripping unit 30 moves forward, the hollow cylinder 62a is housed within the hollow cylinder 62b, the hollow cylinder 62b is housed within the hollow cylinder 62c, and the hollow cylinder 62c is housed within the hollow cylinder 51 that constitutes the fixed guide unit 50 (movement from FIG. 13B(A) to FIG. 13B(D)). On the other hand, when the gripper 30 moves backward, the hollow cylinder 62a is pulled out from the hollow cylinder 62b, the hollow cylinder 62b is pulled out from the hollow cylinder 62c, and the hollow cylinder 62c is pulled out from the hollow cylinder 51 constituting the fixed guide 50 (movement from FIG. 13B(D) to FIG. 13B(A)). During the inching motion, the overall length of the movable guide 60 changes depending on whether the hollow cylinders 62a, 62b, and 62c are retracted or pulled out. In the case of a screw-in or telescopic structure, the axial length of the movable guide 60 can be adjusted, which allows the size of the inching drive unit 102 to be reduced. The movable guide 60 may be configured to be extendable and retractable, allowing the axial length of the movable guide 60 to be adjusted.

[0093] As shown in Figure 14(A), the inner diameter of the fixed guide part 50 may be larger than the outer diameter of the movable guide part 60. In this case, when the grip part 30 is moved forward, the movable guide part 60 is inserted into the interior of the fixed guide part 50. Alternatively, as shown in Figure 14(B), the outer diameter of the fixed guide part 50 may be smaller than the inner diameter of the movable guide part 60. In this case, when the grip part 30 is moved forward, the movable guide part 60 is inserted outside the fixed guide part 50.

[0094] The material that can be used for the fixed guide portion 50 needs only to be harder than the tube 22, and materials that can be used include metals such as SUS and aluminum, hard resins such as acrylic, and wood.

[0095] With long-term use, the catalyst or other solid matter C may adhere to each other, change to an uneven shape, or adhere to the inner wall surface. Reference numeral 111 in Figures 15(A) and 15(B) schematically represents impurities such as carbides, as in Figure 5. When extracting the catalyst or other solid matter C, the tube 22 is pushed into the tubular body 510, and the tip of the nozzle 21 is caused to collide with the adhered catalyst or other solid matter C, applying an impact force, thereby loosening the adhered catalyst or other solid matter C. This allows the catalyst or other solid matter C to be smoothly extracted.

[0096] As shown in FIG. 15(A), when extracting a solid material C such as a catalyst containing a difficult-to-extract substance, a relatively strong impact force must be applied from the nozzle 21 to the upper surface of the difficult-to-extract substance, which tends to place a heavy load on the tube 22. The tube 22 is unsupported and exposed from the portion from the gripping portion 30 to the portion inserted into the L-shaped pipe 91. Therefore, as shown in FIG. 15(B), the exposed portion of the tube 22 is prone to bending. If the tube 22 bends, it becomes impossible to apply a striking force to the difficult-to-extract substance. To prevent bending of the tube 22, it is conceivable to set the gripping force with which the gripping portion 30 grips the tube 22 weakly, making the tube 22 more likely to slip relative to the gripping portion 30. However, in this case, a strong impact force cannot be applied.

[0097] As shown in FIG. 13A (A), the movable guide unit 60 eliminates an exposed portion of the tube 22 between the gripping unit 30 and the fixed guide unit 50. Therefore, even if a high load is applied to the tube 22 when extracting a solid material C such as a catalyst containing a difficult-to-extract substance, bending of the tube 22 can be prevented. Specifically, the solid material C such as a catalyst can be extracted even when a high load is applied, which is between two and 20 times the compressive force at which the tube buckles in the above-mentioned piping member selection test. This ensures smooth vertical movement of the tube 22 even when a relatively strong impact force is applied to the difficult-to-extract substance. As a result, the solid material C such as a catalyst containing a difficult-to-extract substance can be extracted from the inside of the tubular body 510.

[0098] Furthermore, if solidified catalyst or other solid material C is present during the extraction process, it may not be possible to extract it using just the inching motion. In such cases, combining the inching motion with the forward and reverse swirling motion may enable extraction. By shifting the impact point from the inching motion on the solidified catalyst or other solid material to the unsolidified catalyst or other solid material using the forward and reverse swirling motion, the solidified catalyst or other solid material may begin to move. At this time, the solidified catalyst or other solid material begins to move as a mass, which may cause a bridge in the process. Performing the inching motion when a bridge has formed places a heavy load on the tube 22. Even in such cases, the movable guide unit 60 minimizes the exposed portion of the tube 22 between the gripping unit 30 and the fixed guide unit 50, preventing bending of the tube 22.

[0099] The tube 22 is flexible but also has the rigidity required to transmit a striking force. Therefore, even if a certain portion of the tube 22 is exposed, bending of the tube 22 can be prevented. The maximum length of the tube 22 that can be exposed varies depending on the material of the tube 22 and the magnitude of the striking force, but is empirically approximately 5 cm.

[0100] Therefore, as shown in Figure 13A (B), the forward movement of the movable guide part 60 can be started when the nozzle forward direction end 60a (lower end in the figure) of the movable guide part 60 is positioned in a direction toward the tube body 510 (lower side in the figure) 5 cm before (upper side in the figure) the nozzle backward direction end 50a (upper end in the figure) of the fixed guide part 50.

[0101] The range of movement of the movable guide part 60 is controlled by controlling the range of movement of the slider 32b. The upper limit of the range of movement of the slider 32b is set at the upper side in the figure. The nozzle forward direction end 60a of the movable guide part 60 can be positioned in front of (above in the figure) the nozzle retraction direction end 50a of the fixed guide part 50.

[0102] As described above, the extraction device 10 has a movable guide control mechanism that controls the movement range of the movable guide unit 60. The movable guide control mechanism is, for example, a mechanism that controls the movement range of the slider 32b. The movement range of the slider 32b is controlled by controlling a stepping motor that drives the slider 32b. The movable guide control mechanism controls the forward movement range of the movable guide unit 60 between a position where the nozzle forward direction end 60a of the movable guide unit 60 is 5 cm or less in the nozzle retraction direction from the nozzle retraction direction end 50a of the fixed guide unit 50 in the nozzle forward direction, and a position where the nozzle forward direction end 50a of the fixed guide unit 50 is 70 cm or less in the nozzle forward direction from the nozzle retraction direction end 50a of the fixed guide unit 50 in the nozzle forward direction. If the nozzle forward direction end 50a of the fixed guide unit 50 is 70 cm or less in the nozzle forward direction from the nozzle retraction direction end 50a, it is possible to avoid the gripper 30 colliding with the fixed guide unit 50 when the nozzle 21 advances.

[0103] In this embodiment, in order to eliminate exposed portions of the tube 22, the fixed guide portion 50 is configured from a hollow cylinder 51 connected to a through-hole 92 of the L-shaped pipe 91 (see FIG. 3 ). The configuration of the fixed guide portion 50 is not limited to this case. When the L-shaped pipe 91 is fixed to the pipe body 510, the L-shaped pipe 91 itself can function as the fixed guide portion 50. In this configuration, the movable guide portion 60 is inserted directly into the interior of the L-shaped pipe 91 through the through-hole 92.

[0104] (Action, effect) As described above, the extraction device 10 of this embodiment has the gas supply pipe 20, the gripping portion 30, and the inching drive portion 102, and further has a fixed guide portion 50 that is located closer to the pipe body 510 than the gripping portion 30 and covers the tube 22, and a movable guide portion 60 that extends from the gripping portion 30 toward the fixed guide portion 50 and moves toward the fixed guide portion 50 as the gripping portion 30 moves forward while holding the tube 22.

[0105] With this configuration, when extracting a solid material C such as a catalyst containing a substance difficult to extract, even if a high load is applied to the tube 22, bending of the tube 22 can be prevented. This ensures smooth up and down movement of the tube 22 even when a relatively strong impact force is applied to the substance difficult to extract. As a result, the solid material C such as a catalyst containing a substance difficult to extract can be extracted from the inside of the tube 510.

[0106] The fixed guide part 50 and the movable guide part 60 are both composed of hollow cylinders 51, 61, and the inner diameter of the fixed guide part 50 is larger than the outer diameter of the movable guide part 60, or the outer diameter of the fixed guide part 50 is smaller than the inner diameter of the movable guide part 60. With this configuration, when the grip part 30 is moved forward, the movable guide part 60 is inserted into the fixed guide part 50 or inserted outside the fixed guide part 50. This makes it possible to prevent bending of the tube 22 even when a high load is applied to the tube 22.

[0107] The extracting device 10 has a movable guide control mechanism that controls the movement range of the movable guide unit 60. The movable guide control mechanism controls the forward movement range of the movable guide unit 60 between a position where the nozzle forward direction end 60a of the movable guide unit 60 is 5 cm or less in the nozzle retraction direction from the nozzle retraction direction end 50a of the fixed guide unit 50, and a position where the nozzle forward direction end 50a of the fixed guide unit 50 is 70 cm or less in the nozzle forward direction from the nozzle retraction direction end 50a. With this configuration, even if a portion of the tube 22 is exposed, bending of the tube 22 can be prevented.

[0108] The extraction device 10 of this embodiment includes a gas supply pipe 20, a gripping unit 30, and an inching drive unit 102, and further includes a rotation drive unit 103 that rotates the nozzle 21 in both forward and reverse directions by rotating the gripping unit 30 gripping the tube 22 in both forward and reverse directions around the circumference of the tube 22. The inching drive unit 102 has an insertion mechanism that inserts the nozzle 21 into the tube 510 by causing the gripping unit 30 gripping the tube 22 to perform an inching motion that alternates between a backward movement in which the gripping unit 30 moves back in a direction away from the tube 510 and a forward movement.

[0109] With this configuration, the nozzle 21 rotates forward and backward, so that the nozzle 21 can evenly strike the catalyst or other solid material C. This prevents the striking force from being applied to a limited area even when a relatively strong striking force is applied to the difficult-to-extract substance, and allows the catalyst or other solid material C containing the difficult-to-extract substance to be efficiently extracted.

[0110] The nozzle 21 strikes forward by its inching motion, and the striking point is changed by its forward and reverse swiveling motion. The combination of these inching motions and forward and reverse swiveling motions may cause bending of the tube 22. In contrast, the extracting device 10 has a movable guide unit 60 and a fixed guide unit 50, so bending of the tube 22 can be prevented even when the nozzle 21 is given a combination of inching motions and forward and reverse swiveling motions.

[0111] The rotation drive unit 103 has a swing mechanism that rotates the gripping unit 30 forward and backward around the axis of the tube 22 that penetrates the gripping unit 30. With this configuration, the nozzle 21 can be easily rotated forward and backward.

[0112] It is preferable to extract the catalyst or other solid matter C by combining the inching movement by the inching drive unit 102 and the turning movement by the rotation drive unit 103. The combination may be one in which the inching movement and the turning movement are performed simultaneously, one in which the inching movement and the turning movement are performed alternately at a fixed timing or at an arbitrary timing, or one in which only the inching movement is performed followed by the turning movement.

[0113] The gripping unit 30 is arranged to be movable between a gripping position where it grips the tube 22 and a release position, which is located in a direction toward the tubular body 510 from the gripping position and where it releases its grip of the tube 22. The inching drive unit 102 has a return mechanism that returns the gripping unit 30 from the release position to the gripping position. With this configuration, the nozzle 21 can be easily inserted into the tubular body 510 by repeatedly gripping and releasing the tube 22 with the gripping unit 30.

[0114] The gripping portion 30 has a variable mechanism that can adjust the gripping force with which the tube 22 is gripped. With this configuration, it is possible to prevent the tube 22 from slipping relative to the gripping portion 30 in accordance with the required striking force to be applied to the solid material C such as a catalyst.

[0115] The pipe body 510 has a pull-back section for pulling out the gas supply pipe 20 from inside the pipe body 510. With this configuration, the gas supply pipe 20 can be easily pulled out after the extraction of the catalyst or other solid matter C is completed.

[0116] The pipe 510 has a suction section 104 that sucks in the catalyst or other solid matter C along with the flow of gas discharged from the nozzle 21. With this configuration, the catalyst or other solid matter C can be easily extracted from inside the pipe 510.

[0117] In the extraction method of this embodiment, gas is supplied through the gas supply pipe 20 having the nozzle 21 and the tube 22, and the tube 22 is moved forward by an inching motion toward the tubular body 510 while being protected by the fixed guide part 50 and the movable guide part 60. The nozzle 21 is struck against the solid matter C such as a catalyst to loosen it. Then, the solid matter C such as a catalyst is extracted by ejecting gas from the nozzle 21 and sucking in the solid matter C along with the gas flow.

[0118] According to this extraction method, when extracting a solid material C such as a catalyst containing a substance difficult to extract, even if a high load is applied to the tube 22, bending of the tube 22 can be prevented. This ensures smooth up and down movement of the tube 22 even when a relatively strong impact force is applied to the substance difficult to extract. As a result, the solid material C such as a catalyst containing a substance difficult to extract can be extracted from the inside of the tube 510.

[0119] The extraction method extracts the catalyst or other solid material C by combining the inching movement of the nozzle 21 with the rotational movement of the nozzle 21. By combining the inching movement and the rotational movement, the nozzle 21 can evenly pierce the catalyst or other solid material C. This prevents the impact force from being applied to a limited area, even when a relatively strong impact force is applied to the difficult-to-extract material, and allows the catalyst or other solid material C containing the difficult-to-extract material to be efficiently extracted.

[0120] The extraction method includes a step of extracting the catalyst or other solid material C and then extracting the gas supply pipe 20 from the pipe body 510. By doing so, the gas supply pipe 20 can be easily extracted after the extraction of the catalyst or other solid material C is completed.

[0121] (Variations) Although the embodiments of the present invention have been described above, the present invention is not limited to the configurations described in the above-described embodiments, and can be modified as appropriate based on the claims.

[0122] The extractor 10 of this embodiment includes a fixed guide unit 50 and a movable guide unit 60 that can prevent bending of the tube 22, and a rotation drive unit 103 that can evenly strike the catalyst or other solid material C with the nozzle 21. In order to be able to extract the catalyst or other solid material C containing the difficult-to-extract substance from inside the tube 510 even when a relatively strong striking force is applied to the difficult-to-extract substance, the latter extractor 10 (invention according to claim 1) that does not include the rotation drive unit 103, or the former extractor 10 (invention according to claim 5) that does not include the fixed guide unit 50 and the movable guide unit 60, can be realized.

[0123] The following embodiments are also within the scope of the present invention: an extraction device 10 according to any one of claims 2, 3 and 6 with the features of claim 7; an extraction device 10 according to any one of claims 2, 3, 6 and 7 with the features of claim 8; an extraction device 10 according to any one of claims 2, 3, 6, 7 and 8 with the features of claim 9; an extraction device 10 according to any one of claims 2, 3, 6, 7, 8 and 9 with the features of claim 10.

[0124] This application is based on Japanese Patent Application No. 2024-055559, filed on March 29, 2024, the disclosure of which is incorporated by reference in its entirety.

[0125] 10 Extraction device 20 Gas supply pipe 21 Nozzle 22 Tube 23 Pipe 30 Grip portion 32 Linear actuator 32a Slide rail 32b Slider 33 Fixed chuck 34 Rotary actuator 34a Rotating portion 35 Movable chuck 50 Fixed guide portion 50a End portion of nozzle in backward direction 51 Hollow cylinder 60 Movable guide portion 60a End portion of nozzle in forward direction 61 Hollow cylinder 62a Hollow cylinder 62b Hollow cylinder 62c Hollow cylinder 80 Tube storage portion 81 Reel 91 L-shaped piping 93 Suction pipe 101 Gas supply portion 102 Inching drive portion 103 Rotation drive portion 104 Suction portion 120 Pressing mechanism 500 Reactor 510 Pipe

Claims

1. An extraction device that extracts solid matter such as a catalyst by supplying gas into the inside of a tube filled with the solid matter, the extraction device comprising: a gas supply pipe having a nozzle capable of discharging gas into the inside of the tube and a flexible tube that supplies the gas to the nozzle; a gripping unit that can grip and release the tube; an inching drive unit that inserts the nozzle into the tube by moving the gripping unit, which is gripping the tube, forward in a direction toward the tube; a fixed guide unit that is located closer to the tube than the gripping unit and covers the tube; and a movable guide unit that extends from the gripping unit toward the fixed guide unit and moves toward the fixed guide unit as the gripping unit moves forward while holding the tube.

2. The extraction device according to claim 1, wherein the fixed guide section and the movable guide section are both constructed from hollow cylinders, and the inner diameter of the fixed guide section is larger than the outer diameter of the movable guide section, or the outer diameter of the fixed guide section is smaller than the inner diameter of the movable guide section.

3. An extraction device as described in claim 1 or 2, which has a movable guide control mechanism that controls the movement range of the movable guide part, and which controls the forward movement range of the movable guide part between a position where the nozzle advancement direction end of the movable guide part is 5 cm or less in the nozzle retraction direction from the nozzle retraction direction end of the fixed guide part, and a position where the nozzle advancement direction end of the fixed guide part is 70 cm or less in the nozzle advancement direction from the nozzle retraction direction end of the fixed guide part.

4. An extraction device for extracting solid matter such as a catalyst by supplying gas into the inside of a tube filled with the solid matter, comprising: a gas supply pipe having a nozzle capable of discharging gas into the inside of the tube and a flexible tube that supplies the gas to the nozzle; a gripping unit capable of gripping and releasing the tube; an inching drive unit that inserts the nozzle into the tube by moving the gripping unit that grips the tube forward in a direction toward the tube; and a rotation drive unit that causes the nozzle to rotate forward and backward by rotating the gripping unit that grips the tube in a forward and backward direction around the tube, wherein the inching drive unit has an insertion mechanism that inserts the nozzle into the tube by inching the gripping unit that grips the tube back in a direction away from the tube and repeating the forward movement.

5. An extraction device that extracts solid matter such as a catalyst by supplying gas into the inside of a tube filled with the solid matter, the extraction device comprising: a gas supply pipe having a nozzle capable of discharging gas into the inside of the tube and a flexible tube that supplies the gas to the nozzle; a gripping unit that can grip and release the tube; an inching drive unit that inserts the nozzle into the tube by moving the gripping unit that grips the tube forward in a direction toward the tube; and a rotation drive unit that causes the nozzle to rotate forward and backward by rotating the gripping unit that grips the tube in a forward and backward direction around the tube, wherein the inching drive unit has an insertion mechanism that inserts the nozzle into the tube by inching the gripping unit that grips the tube back in a direction away from the tube and then moving forward.

6. The extraction device according to claim 5, wherein the rotation drive unit has a swing mechanism that rotates the gripping unit forward and backward around the axis of the tube passing through the gripping unit.

7. An extraction device as described in claim 1 or 5, wherein the gripping portion is arranged to be movable between a gripping position where it grips the tube and a grip release position located in a direction toward the tube body from the gripping position where it releases its grip on the tube, and the inching drive portion has a return mechanism that returns the gripping portion from the grip release position to the gripping position.

8. The extraction device according to claim 1 or 5, wherein the gripping portion has a variable mechanism that can adjust the gripping force with which the tube is gripped.

9. The extraction device according to claim 1 or 5, further comprising a retraction section for extracting the gas supply pipe from the pipe body.

10. The extracting device according to claim 1 or 5, further comprising a suction section for sucking in the catalyst or other solid matter together with the flow of gas discharged from the nozzle.

11. A method for extracting a solid material such as a catalyst by supplying gas into a pipe filled with the solid material, the method comprising: supplying gas through a gas supply pipe having a nozzle and a tube; advancing the tube toward the pipe by an inching motion while protecting the tube with a fixed guide section and a movable guide section; impacting the nozzle against the solid material such as a catalyst to break it up; and ejecting gas from the nozzle while sucking in the solid material along with the flow of gas, thereby extracting the solid material such as a catalyst.

12. The method of claim 11, wherein the catalyst or other solid material is extracted by combining the inching motion of the nozzle with the rotational motion of the nozzle.

13. The extraction method according to claim 11 or 12, further comprising the step of removing the gas supply pipe after removing the catalyst or other solid material.

Images