Patent Description:
Catalyst material is typically used inside reactors to increase the rate of a chemical reaction. Conventional catalyst loading methods include sock loading and dense loading.

The sock loading method involves transferring catalyst material from a loading hopper at the top of the reactor into a catalyst bed, via a manway at the top of the reactor using a partly flexible loading sleeve or sock which typically consists of a rigid/semirigid pipe attached to a discharge outlet of the hopper at the top and a flexible sock connected to a lower end of the rigid pipe. An operator is normally required inside the reactor to direct the flexible sock to ensure even distribution of the catalyst material inside the reactor. Accordingly, the sock loading method typically requires reactor entry by the operator and, once inside, manual intervention by the operator.

In order to prevent damage to the catalyst, a maximum distance between a distal or discharge end of the flexible sock and a top surface of the catalyst bed should preferably be less than <NUM> meter. Furthermore, as operation continues, it is important to ensure that a maximum drop of <NUM> at the bottom of the flexible sock is maintained in order to avoid or minimise freefall of catalyst material which causes abrasion and dust formation.

It will be appreciated that during the loading process, the catalyst bed rises inside the reactor vessel which necessitates lifting or shortening of the rigid pipe of the loading sock. This is usually achieved by manually cutting a section of the lower end of the rigid pipe off by hand which necessitates prior disconnection and post-cutting reconnection of the flexible loading sock. It will be appreciated that this is a time-consuming, laborious task. In addition, the cut sections (approximately <NUM> lengths) need to be removed from the reactor during the loading process. For the sake of operator safety, the flexible part of the loading sock should not be longer than <NUM>. If it is longer than <NUM>, it poses a safety risk to the operator because in the event that it disconnects from the rigid pipe, it could cause serious or even fatal injury to the operator standing on the catalyst bed below, should it fall on the operator.

The dense loading method involves using a device operatively fixed or mounted inside the reactor to spread or distribute the catalyst material evenly or uniformly inside the reactor thus reducing void formation and bridging between catalyst particles. The device should spread the catalyst evenly over the surface of the catalyst bed whilst minimising it hitting side walls of the reactor. Accordingly, a drawback associated with dense loading is that it requires constant operator attention to regulate the feed rate (including regulating revolutions per minute of the spreader or distributer in order to ensure even distribution as the catalyst bed level rises) and avoid surges. Since the catalyst bed is denser, more catalyst material can be loaded into the same reactor volume using this method. Dense loading can also reduce channelling where poor or segregated packing allows preferential flow through part of the reactor. It normally requires an operator in the reactor to follow loading. Also, periodic checking of the level and evenness is required during loading. <CIT> and <CIT> describe devices for loading and unloading catalytic materials in a vessel.

Following chemical reactions, spent catalyst material needs to be removed from the reactor vessel. Conventional methods to remove such material typically require trained operators to enter an interior of the reactor through the manway at the top of the reactor and to manually remove the spent catalyst material from the interior of the reactor.

A common by-product of chemical reactions is the accumulation of pyrophoric material inside the reactor with the spent catalyst. Pyrophoric material spontaneously combusts when exposed to oxygen which can lead to a fire or an explosion. Significant measures to create inert conditions inside the reactor to prevent combustion of pyrophoric material is therefore necessary before an operator can enter the reactor to manually remove spent catalyst. Inert conditions are typically achieved via a constant nitrogen purge through the reactor. In order to remove spent catalyst material using conventional methods, operators are equipped with life support systems, such as breathing apparatus, before entering the reactor vessel in order to survive in the inert conditions created inside the reactor.

Manual removal of spent catalyst material by operators is dangerous and has led to a number of fatalities resulting from engulfment, asphyxiation, dust explosion and fire, exposure to heat and falling from heights.

Conventional catalyst handling methods, including methods for the removal and loading of catalyst material, typically involves reactor entry by an operator. Reactor entry by an operator is undesirable due to the associated risk to the health and safety of the operator.

There is therefore a need for a robotic device for removing catalyst material from a reactor and for loading catalyst material into the reactor which can operate automatically, or which can be remotely controlled by an operator, such that the need for operators to enter the reactor during the catalyst removal and catalyst loading process, is obviated and operator involvement during the above processes is limited. By obviating the need for operators to enter the reactor, the risk of operator death or injury is significantly reduced. The risk of catalyst breakage caused by an operator walking on the catalyst bed is also eliminated by obviating the need for operators to enter the reactor. The invention described below aims to provide such a device.

In accordance with a first aspect of the invention, there is provided a robotic device according to claim <NUM> for handling catalyst material in an interior of a reactor, wherein the robotic device comprises:.

The body may include a base plate which is configured to engage the flange of the reactor and a head which is articulated to the base plate for rotation relative to the base plate about a rotation axis. The handling arm may be in the form of a multistage telescopic handling arm which comprises a frame assembly which defines a central passageway along its length which is configured to receive or connect to the vacuum line to form the cleaning arm. The head of the body may define a longitudinally extending receiving channel therein, the handling arm being connected to the head of the body and being longitudinally displaceable or movable relative to the head of the body within the receiving channel.

The base plate of the body may be provided with a plurality of holes therethrough, positioning of the holes corresponding with or being in register with holes provided through the flange of the reactor such that the base plate of the body can be secured to the flange by means of fasteners. The head of the body may be configured to rotate about the rotation axis relative to the base plate of the body.

The handling arm may take the form of a multi-segmented, articulated cleaning arm which includes a first, multistage telescopic segment which is displaceably connected to the head of the body and which is removably connected by way of a pivot joint to a second segment which, in turn, is removably connected by way of another pivot joint to a third segment.

The head of the body may be connected to the base plate by way of a swivel joint such that the head is angularly displaceable relative to the base plate about the rotation axis.

The multistage telescopic handling arm may include a segment which comprises a plurality of interconnected extensions which are telescopically extendable/retractable relative to one another.

Telescopic displacement of the multistage telescopic handling arm may be achieved by means of a winch system. A winch cable may be secured to an innermost telescopic extension of the segment such that telescopic extension of the extensions is achieved by winding down or out the winch cable, which allows the extensions to be lowered into the interior of the reactor under the pull of gravity, and telescopic retraction is achieved by raising the innermost telescopic extension by winding up the winch cable.

The handling arm may be configured as a loading arm by connecting a telescopically extendable/retractable loading sleeve to individual telescopic extensions of the telescopic segment of the handling arm to form the loading arm for loading catalyst material into the interior of the reactor. The free end of the handling arm and an outlet of the loading sleeve may be proximate each other.

The loading sleeve may include telescopically extendable/retractable sections each of which is internally secured to an individual corresponding extension of the segment of the loading arm such that the loading sleeve is concentrically received within the segment of the loading arm, and such that the loading sleeve is telescopically displaceable, in inside out fashion relative to the segment, in unison within the segment of the loading arm. A revolving material distributor may be secured to the free end of the loading arm, in fluid flow communication with a lowermost section of the loading sleeve.

An operatively upper end of each respective section of the loading sleeve may be secured to the corresponding extension of the segment of the loading arm. The loading sleeve may therefore form an internal passageway for conveying the catalyst material from an inlet to the revolving material distributor.

An operatively lower end of each section of the loading sleeve may include a flow restriction or flow reducer which serves to impede the flow of catalyst material through the internal passageway such that the loading sleeve has multistage internal flow restriction along the internal passageway between the inlet and the revolving material distributor. The flow restrictions may be conical and alternate between a depending cone and an inverted or upwardly orientated cone.

The robotic device may be remotely controlled by an operator from a remote control station and may include at least one camera which is mounted to the handling arm for feeding video footage to the remote control station.

The invention extends to a method for removing catalyst material from an interior of a reactor using the robotic device as described above, the method comprising:.

The invention also extends to a method for loading catalyst material to an interior of a reactor using the robotic device as described above, the method comprising:.

The handling arm may comprise a frame assembly. The frame assembly may be configured to receive or connect to either the vacuum line to form the cleaning arm or to receive or connect to the loading sleeve to form the loading arm.

The opening defined by the flange of the reactor may be an entry manway. In particular, the opening may be located at an operative top of the reactor.

The body may be in the form of a pedestal.

The body may define a longitudinally extending receiving channel therein. The channel may be provided along a generally vertical axis passing through the body. The handling arm may be received in the channel of the body such that the handling arm is longitudinally displaceable or movable relative to the body within the receiving channel.

The body may be provided with a plurality of slotted holes therethrough configured to universally fit multiple reactor types and designs, wherein each hole is configured to receive a fastener. The positioning of the slotted holes through the body may correspond with the positioning of holes provided through the flange of the reactor such that the body can be secured to the flange by means of fasteners, such as bolts. In particular, the holes through the body may be provided on a base plate of the body such that the base plate of the body is configured to be secured to the flange of the reactor by means of fasteners.

The holes through the body may be configured to universally fit multiple reactor types and reactor designs.

The body may be configured to include a seal or seat element such that, in use, the seat element engages the flange of the reactor and supports the body on the flange of the reactor which may substantially, or at least partially, seal the opening of the reactor thereby protecting the reactor interior from atmospheric elements.

The seat element may be connected or connectable to the base plate of the body such that the seat element is sandwiched between the base plate of the body and the flange of the reactor when the body is secured to the flange of the reactor.

The seat element may have a shape complementary to the flange of the reactor. In particular, the seat element may be in the form of an annular ring. The seat element may be in the form of an annular gasket which corresponds to the manway flange dimensions. The seat element may have holes therethrough which corresponds with the holes in the body, wherein each hole is configured to receive a fastener. The seat element may typically be constructed from rubber, Teflon or any other suitable material.

The seat element may provide a protective surface between the body and the flange of the reactor during use.

Securing of the body to the flange of the reactor may stabilize the body relative to the reactor sufficiently such that the need for additional stabilizing means during use of the robotic device is obviated. In particular, stabilizing arms, to grip an inner surface of the reactor during use of the robotic device, are not necessary.

The handling arm may be configured to rotate in a horizontal plane about a generally vertical axis passing through the body. Accordingly, the handling arm may be angularly displaceable relative to the body about a swivel joint which connects the handling arm to the body.

Preferably, the body may be configured to rotate in a horizontal plane about the generally vertical axis, whereby the rotation of the body propels the handling arm connected to the body to rotate in a horizontal plane about the generally vertical axis.

As described herein, the handling arm may be configured to form a cleaning arm for removing catalyst material from the interior of the reactor by receiving or connecting to the vacuum line. Preferably, a second and third segment may be connected to the handling arm to form the cleaning arm.

The cleaning arm may, therefore, comprise at least three segments, such that a first segment is connected to the body, the second segment is connected to the first segment and the third segment is connected to the second segment.

Each segment of the cleaning arm may be removably connected to an adjacent segment. In particular, the second segment may be removably connected to the first segment and the third segment may be removably connected to the second segment.

The cleaning arm may comprise multiple segments, wherein at least one segment is telescopically extendible and/or retractable relative to the body. In particular, the first segment, which is connected to the body, may be telescopically extendible and/or retractable relative to the body.

In use, the cleaning arm may be moved in the receiving channel towards the catalyst material in the interior of the reactor such that the free end of the cleaning arm is embedded in the catalyst material inside the interior of the reactor.

Each segment of the cleaning arm may be removably connected to an adjacent segment by means of a hinge or pivot joint. In particular, the second segment may be removably connected to the first segment by means of a hinge or pivot joint and the third segment may be removably connected to the second segment by means of a hinge or pivot joint. Each hinge joint may be independently controlled to change the angle between adjacent segments such that the cleaning arm is configured to be moveable from a first inoperative condition, in which the segments of the cleaning arm are arranged to be aligned along the generally vertical axis relative to the body, to a second position, wherein at least one segment of the cleaning arm extends at an angle from the generally vertical axis relative to the body.

At least one segment of the cleaning arm may comprise a plurality of interconnected extensions, wherein these extensions may be telescopically extendible and retractable/contractable relative to one another.

When the handling arm is converted to be the cleaning arm, the at least one segment comprising telescopically extendible and retractable/contractable extensions may be the first segment, which is connected to the body.

The robotic device may be connected/connectable to a pneumatic power source configured to drive telescopic displacement in the form of extension or retraction/contractions of the extensions of the at least one segment of the cleaning arm.

Each segment of the cleaning arm may be telescopically extendible and telescopically retractable as described above. Preferably, the first segment may be telescopically extendible and telescopically retractable as described above.

Each segment of the cleaning arm may be independently controlled to adjust the length of the segment telescopically. In use, the length of a segment may be telescopically increased such that the free end of the cleaning arm is embedded in the catalyst material inside the interior of the reactor.

The vacuum line may be mounted or mountable to the frame assembly of the handling arm to form the cleaning arm. Preferably, the frame assembly of the handling arm may define a central passageway along its length to receive at least a portion of the vacuum line. The frame assembly may include or define a nozzle at the free end of the cleaning arm, wherein the nozzle is configured to connect to the inlet end of the vacuum line.

The vacuum line may be connected or connectable to an external vacuum source. The vacuum source may be mobile.

The frame assembly of the handling arm may be configured to support at least one camera. The frame assembly may be configured to support a plurality of cameras.

As described herein, the handling arm may be configured to form a loading arm for loading catalyst material into the interior of the reactor by receiving or connecting to a loading sleeve. The loading arm may comprise a single segment which is telescopically extendible and/or retractable relative to the body.

In order to convert the cleaning arm to the loading arm, the second and third segments of the cleaning arm may be removed such that only the first segment, which is connected to the body, remains. The vacuum line, and ancillary equipment such as a vacuum reel, may be removed from the cleaning arm such that the loading arm can receive or be connected to the loading sleeve.

In use, the loading arm may be moved in the receiving channel of the body towards a floor of the reactor.

The first segment of the loading arm may comprise a plurality of interconnected extensions, wherein these extensions may be telescopically extendible and retractable/contractable relative to one another.

Telescopic displacement of the loading arm may be achieved by means of a pneumatic power source configured to drive telescopic displacement or by means of a winch system, wherein a winch cable is secured to an innermost telescopic extension of the segment of the loading arm, as described herein.

The loading sleeve may be mounted or mountable to the frame assembly of the handling arm to form the loading arm. Preferably, the frame assembly of the handling arm may define a central passageway along its length to receive at least a portion of the loading sleeve.

It is preferred that the central passageway is configured to receive at least a portion of the vacuum line when the handling arm is to be used as the cleaning arm and wherein the central passageway is also configured to receive at least a portion of the loading sleeve when the handling arm is to be used as a loading arm.

The frame assembly may be configured to be connected to a conventional loading device. The frame assembly may be configured to define or be configured to be connected to an attachment to which a conventional loading device can be mounted. Preferably, the attachment to which a conventional loading device can be mounted is proximate the free end of the handling arm.

The frame assembly of the handling arm, when configured to form the loading arm, may be configured to support at least one camera. Preferably, the at least one camera may be supported proximate the free end of the handling arm.

In use, an inlet of the loading sleeve may protrude operatively above the body of the robotic device. The inlet of the loading sleeve may be cone-shaped to receive catalyst material. The inlet of the loading sleeve may be covered with a mesh screen to prevent foreign debris to enter the loading sleeve. The inlet may be positioned below a catalyst loading hopper.

The loading sleeve may be resiliently deformable.

At least a portion of the loading sleeve may be configured such that it is telescopically extendible and retractable/contractable in unison with the loading arm.

At the start of the loading process, the interconnected extensions of the first segment of the loading arm and the loading sleeve connected to the loading arm may be fully extended such that the outlet of the loading sleeve is proximate an internal floor of the reactor, preferably about <NUM> meter from the floor of the reactor, even more preferably less than <NUM> meter from the floor of the reactor. As the level of the catalyst bed rises, the interconnected extensions of the first segment and the loading sleeve may be telescopically retracted/contracted to ensure that the outlet of the loading sleeve remains within an acceptable distance of the catalyst bed level, typically within <NUM> meter. The loading arm and the loading sleeve may be continuously retracted/contracted as the level of the catalyst bed rises.

In particular, the loading sleeve may define an internal passageway between the inlet and the outlet to direct the flow of catalyst material. A portion of the passageway may incorporate a series of resiliently deformable constrictions to impede flow of catalyst material through the passageway. It will be appreciated that the constrictions would prevent freefall of catalyst material, by means of gravity, through the passageway from the inlet to the outlet which may result in structural damage to the catalyst material. It will also be appreciated that the constrictions create regions inside the passageway which are not fully filled with catalyst material during the loading process and which enables the loading sleeve to contract in unison with the loading arm.

The robotic device for loading catalyst material to an interior of a reactor may be configured to be connected to a vacuum unit or a dust extraction unit during catalyst loading to control dust formation during the loading process.

The robotic device as herein described may be connected to a power source. The robotic device may be configured to operate automatically or by an operator via remote control. The operator may operate the robotic device from a remote-control station located away from the reactor.

In accordance with conventional methods, nitrogen (N<NUM>) gas may be used to create and to maintain a positive inert atmosphere by continuously purging the reactor with a constant flow of N<NUM> gas to prevent any oxygen (O<NUM>) from entering the reactor interior, and to maintain an atmosphere where the O<NUM> concentration remains below a certain threshold, typically at or below <NUM> volume/volume %. The N<NUM> gas may act as a barrier or blanket over the catalyst material and may displace air or hydrocarbons that may be trapped or accumulated inside the reactor which may cause an explosion or fire.

The present invention may be configured to accommodate the abovementioned method of creating and maintaining a positive inert atmosphere in the reactor interior in the following ways:.

Connecting of the vacuum line to the handling arm of the robotic device may involve threading the vacuum line through the passageway defined by the frame assembly of the handling arm and connecting an inlet end of the vacuum line to the nozzle defined or included at the free end of the handling arm.

The method may further include an initial step of connecting the second and third segments, as described herein, to the handling arm to form the cleaning arm.

The method may further include longitudinally moving or displacing the cleaning arm relative to the body, in the receiving channel of the body, to position the free end of the cleaning arm relative to the catalyst material inside the interior of the reactor.

The method may further include adjusting the length of at least one segment of the cleaning arm telescopically to ensure that the free end of the cleaning arm is embedded in the catalyst material during use.

The method may further include independently adjusting the hinge or pivot joint connecting adjacent segments of the cleaning arm to adjust the angle between adjacent segments of the cleaning arm.

The method may further include purging an interior of the reactor using an inert gas whilst vacuuming to maintain inert conditions. The gas may be N<NUM> gas.

Connecting the loading sleeve to the handling arm of the robotic device may involve threading the loading sleeve through the passageway defined by the frame assembly of the handling arm and connecting the outlet of the loading sleeve to a conventional loading device.

The method may further include a step of positioning a catalyst loading hopper operatively above the inlet of the loading sleeve to allow the loading sleeve to receive catalyst material from the catalyst feeder hopper by means of gravity.

The method may further include longitudinally moving or displacing the loading arm relative to the body, in the receiving channel of the body, to position the free end of the loading arm relative to the catalyst material inside the interior of the reactor.

The method may further include adjusting the length of the at least one segment of the loading arm and the length of the loading sleeve telescopically and in unison to ensure that the free end of the loading arm is proximate an internal floor of the reactor at the start of the loading process. Preferably, the at least one segment of the loading arm and the length of the loading sleeve may be telescopically extended such that the free end of the loading arm is at least about <NUM> meter from the floor of the reactor at the start of the loading process, even more preferably such that the free end of the handling arm is less than <NUM> meter from the floor of the reactor at the start of the loading process.

The method may further include telescopically retracting/contracting the interconnected extensions of the at least one segment of the loading arm and the loading sleeve in unison as the bed of the catalyst rises in the reactor interior during the loading process. The interconnected extensions of the at least one segment of the loading arm and the loading sleeve may be continuously retracted/contracted during the loading process to ensure that the free end of the loading arm and the outlet of the loading sleeve remain about <NUM> meter from the level of the catalyst bed, preferably such that the free end of the loading arm and the outlet of the loading sleeve remain less than <NUM> meter from the level of the catalyst bed.

As described herein, the handling arm of the robotic device may either be converted to a cleaning arm when the device is to be used for removing catalyst material from an interior of a reactor, or to a loading arm when the device is to be used for loading catalyst material to an interior of a reactor. The term "handling arm" therefore refers to the term "cleaning arm" when used in the context of the catalyst removal process and vice versa, i.e. the term "cleaning arm" refers to the term "handling arm" in the same context. The term "handling arm" refers to the term "loading arm" when used in the context of the catalyst loading process and vice versa, i.e. the term "loading arm" refers to the term "handling arm" in the same context.

Although the above description specifically refers to the handling of catalyst material in the interior of the reactor, it will be appreciated that other material present in the reactor may also be removed and/or loaded by the device in accordance with the invention in a similar fashion. The term "catalyst material" should therefore be interpreted to include other material, including loose solids, adsorbents, coke, char, etc..

The invention will now be described, by way of example, with reference to the accompanying diagrammatic drawings in which:.

The following description of the invention is provided as an enabling teaching of the invention. Those skilled in the relevant art will recognise that many changes can be made to the embodiments described, while still attaining the beneficial results of the present invention. It will also be apparent that some of the desired benefits of the present invention can be attained by selecting some of the features of the present invention without utilising other features. Accordingly, those skilled in the art will recognise that modifications and adaptations to the present invention are possible and can even be desirable in certain circumstances and are a part of the present invention. Thus, the following description is provided as illustrative of the principles of the present invention and not a limitation thereof.

In the Figures, reference numerals <NUM>, <NUM> refer generally to the robotic device, in accordance with the invention, for handling catalyst material in an interior of a reactor. The robotic device <NUM>, <NUM> has dual purposes and, accordingly, is configured to be used, both, for removing spent catalyst or other material from the reactor, and for loading catalyst material into the reactor. In <FIG>, <FIG>, <FIG> and <FIG> a typical reactor vessel <NUM> is shown. The reactor vessel <NUM> comprises an outer shell <NUM>, enclosing or defining a reactor interior <NUM>, and an entry manway at the operative top of the reactor vessel <NUM>, the entry manway having a flange <NUM>. Inside the reactor vessel <NUM> is either spent catalyst material <NUM> (see <FIG> and <FIG>) or newly loaded catalyst material <NUM> (see <FIG> and <FIG>).

In <FIG>, the robotic device <NUM> is used to remove spent catalyst material <NUM> from the reactor vessel <NUM> by vacuum.

To this end, in order to facilitate removal of spent catalyst, the robotic device <NUM> is mounted to the reactor vessel <NUM> such that it is rotatable relative to the reactor vessel <NUM> and is moveable inside the reactor vessel <NUM>. The robotic device <NUM> is operated remotely by an operator from a remote control station (not shown) situated away from the reactor vessel <NUM>. In this way, the need for the operator to enter the reactor interior <NUM> is obviated. The remote control station is connected to the robotic device <NUM> by means of cables (not shown). The remote control station has one or more monitors for viewing images from video cameras <NUM>, <NUM> and is provided with controls to extend, retract, rotate and adjust the angle of the robotic device <NUM> relative to the catalyst material <NUM> inside the reactor vessel <NUM>.

The robotic device <NUM>, <NUM> has a body <NUM> in the form of a pedestal configured to support the robotic device on the entry manway flange <NUM>. The body <NUM> comprises an annular base plate <NUM> which is configured to support the robotic device on the entry manway flange <NUM> and a head <NUM> which is articulated to the base plate <NUM> for rotation about a vertical rotation axis <NUM>. The annular base plate <NUM> of the body <NUM> is provided with a plurality of holes <NUM>, which can be seen in <FIG> and <FIG>. The holes <NUM> correspond with bolt openings (not shown) provided in the entry manway flange <NUM>, to allow the base plate <NUM> to be securely connected to the entry manway flange <NUM> by means of bolts and nuts or other suitable fasteners. In doing so, the body <NUM> is sufficiently stabilized relative to the reactor vessel <NUM>.

Dimensions of the base plate <NUM> are designed to fit the most common reactor entry manway size which is <NUM> inside diameter. However, some newer design reactors have larger entry manways with inside diameters of <NUM> and <NUM>, respectively. In such cases a spacer flange (not shown) can be bolted on to the base plate <NUM> to allow for a larger footprint to engage the larger entry manway.

In order to extract the spent catalyst material <NUM> or to load fresh catalyst material <NUM>, the robotic device <NUM>, <NUM> includes a handling arm which is connected to the head <NUM> of the body <NUM>. In the embodiment of the robotic device <NUM> illustrated in <FIG>, the handling arm takes the form of a cleaning arm <NUM> for removing catalyst material <NUM> from the interior <NUM> of the reactor vessel <NUM>. This is achieved by connecting a flexible vacuum line <NUM> (see <FIG>) to the cleaning arm <NUM> by threading the vacuum line <NUM> through an internal passage of the cleaning arm <NUM>. In addition, to provide for increased manoeuvrability, additional cleaning segments <NUM> and <NUM> are pivotally connected to a distal end of a first segment <NUM> of the cleaning arm <NUM>.

Accordingly, the cleaning arm <NUM> as shown in <FIG> comprises three segments <NUM>, <NUM>, <NUM>. The first segment <NUM> is connected to the body <NUM>. A second segment <NUM> is removably and pivotally connected to a distal end of the first segment <NUM> by a hinge joint <NUM>. A third segment <NUM> is removably and pivotally connected to a distal end of the second segment <NUM> by another hinge joint <NUM>.

Accordingly, in this embodiment <NUM> of the robotic device, the cleaning arm <NUM> is multi-segmented and articulated comprising the various segments <NUM>, <NUM>, <NUM>. It can be seen from <FIG> that the cleaning arm <NUM> extends through the body <NUM> such that, in use, a portion of the first segment <NUM> of the cleaning arm <NUM> indicated as segment 22a is located outside the reactor vessel <NUM> above the body <NUM>, whilst a remaining portion of the first segment <NUM>, indicated as segment 22b, together with segments <NUM>, <NUM> of the cleaning arm <NUM> extend into the reactor interior <NUM>.

The cleaning arm <NUM> is longitudinally movable or displaceable relative to the body <NUM> in an operational upward or downward direction by way of multiple motor-driven rack and pinion arrangements <NUM>. As the cleaning arm <NUM> moves upwards or downwards relative to the body <NUM>, the lengths of inner and outer segments 22a, 22b are adjusted accordingly.

The robotic device <NUM> can be connected to a cable of a crane (not shown) via a lifting cable reel <NUM>. During installation, the crane is used to position the body <NUM> on top of the entry manway flange <NUM> such that a portion of the cleaning arm <NUM> extends through an opening defined by the entry manway flange <NUM>.

Initially, when the robotic device <NUM> is being positioned by the crane, the different segments <NUM>, <NUM>, <NUM> of the cleaning arm <NUM> must be aligned along a generally vertical axis <NUM> of the body <NUM> in order for segments 22b, <NUM>, <NUM> of the cleaning arm <NUM> to be raised and/or lowered through the opening defined by the entry manway flange <NUM> without being damaged.

Once in position, the body <NUM> is bolted to the entry manway flange <NUM>. The robotic device <NUM> is then connected to the remote control station by means of cables, including power supply cables and video camera cables, thereby rendering the robotic device <NUM> operational.

During operation of the robotic device <NUM>, the first segment <NUM> of the cleaning arm <NUM> is extended and retracted/contracted in telescopic fashion. In <FIG>, it can be seen that the first segment <NUM> comprises four telescopic extensions 24a, 24b, 24c, 24d. In <FIG>, these extensions 24a, 24b, 24c, 24d are shown in a telescopically extended condition such that all four extensions 24a, 24b, 24c, 24d are visible. In <FIG>, extensions 24a, 24b, 24c, 24d are in a contracted condition.

To clean the reactor interior <NUM>, a connection angle of each hinge or pivot joint <NUM>, <NUM> is adjustable. As shown in <FIG>, the hinge joints <NUM>, <NUM> may be remotely adjusted or controlled to allow segments <NUM> and <NUM> to be angled relative to the generally vertical axis <NUM> in order to reach catalyst material <NUM> distributed towards a side wall of the outer shell <NUM> of the reactor vessel <NUM>. Each hinge joint <NUM>, <NUM> can be controlled independently by way of a motor driving a gear.

The head <NUM> of the body <NUM> is connected to the base plate <NUM> by way of a swivel joint <NUM> which is configured to rotate in a horizontal plane about the generally vertical axis <NUM> in a clockwise and/or anti-clockwise fashion. An electrical motor situated inside the body <NUM> is drivingly connected to a horizontal ring gear such that when the motor is actuated, the ring gear is angularly displaced about the vertical axis <NUM>. In rotating the body <NUM>, the cleaning arm <NUM>, which is connected to the swivel joint <NUM> of the body <NUM>, is propelled to also rotate in a horizontal plane about the generally vertical axis <NUM>.

A vacuum source (not shown) is provided exterior to the reactor vessel <NUM>. In use, the vacuum line <NUM> runs from the vacuum source into the reactor interior <NUM> and is mounted to the robotic device <NUM> along the cleaning arm <NUM> and extends through the body <NUM>. The vacuum line <NUM> is threaded through the internal passage defined by roughly circular cylindrical frameworks or frame assemblies <NUM> of the segments <NUM>, <NUM>, <NUM> of the cleaning arm <NUM>. Accordingly, the vacuum line <NUM> is partially enclosed by the framework <NUM> of the cleaning arm <NUM> and is therefore securely held in position by the cleaning arm <NUM>. An inlet end of the vacuum line <NUM> is connected to a nozzle <NUM> which is integral to the framework of the cleaning arm <NUM>. In this way, moving the cleaning arm <NUM> would move the vacuum line <NUM> in a corresponding fashion. By controlling the movement of the cleaning arm <NUM>, an operator can control and direct the inlet end of the vacuum line <NUM> and thereby control the direction of its suction.

The insertion/removal of a length of the vacuum line <NUM> is facilitated by means of the vacuum line reel <NUM> as the first segment <NUM> of the cleaning arm <NUM> is telescopically adjusted.

The vacuum line <NUM> is constructed from a flexible material such as rubber or PVC with a flexible or accordion-like fabrication in order to allow for the vacuum line <NUM> to be bent as segments <NUM> and <NUM> are angled or angularly displaced relative to the generally vertical axis <NUM>. The vacuum line <NUM> typically has a diameter of about <NUM> (<NUM> inches).

Cameras <NUM>, <NUM> are mounted to the operatively lower segments <NUM>, <NUM> of the cleaning arm <NUM>. The positioning of the cameras <NUM>, <NUM> allows the operator to monitor multiple fields of vision during operation of the robotic device <NUM>. A camera <NUM> is mounted to segment <NUM> proximate the nozzle <NUM> of the vacuum line <NUM>. A camera <NUM> is also mounted on segment <NUM>. In use, cameras <NUM>, <NUM> are directed towards the catalyst material <NUM> to be vacuumed. Cameras <NUM>, <NUM> are provided with built-in, adjustable lights to allow a focused view in dusty areas. A camera (not shown), mounted to the back of camera <NUM>, is directed operatively upwardly in order to provide a view of first segment <NUM> and the reactor opening defined by the entry manway flange <NUM>. This view will assist the operator during initial movement of the robotic device <NUM> underneath reactor trays (not shown) where catalyst beds are loaded to maximum capacity and to enable incident free movement through the reactor trays and in multibed reactors.

As operation commences, the segments <NUM>, <NUM>, <NUM> of the cleaning arm <NUM> would typically be aligned along the generally vertical axis <NUM>. A vacuum breaker valve (not shown) will be opened to allow suction through the vacuum line <NUM> by means of the nozzle <NUM> to which the inlet end of the vacuum line <NUM> is connected. The cleaning arm can move or displace longitudinally in an operatively downward direction relative to the body <NUM> and/or segment <NUM> of the cleaning arm <NUM> can extend telescopically until the nozzle <NUM> is embedded in the catalyst material <NUM>. Once sufficient catalyst material <NUM> has been removed by vacuum, the hinge joints <NUM>, <NUM> can be adjusted independently to adjust the angles of segments <NUM>, <NUM> relative to the vertical axis <NUM> in order for the nozzle <NUM> to reach catalyst material <NUM> which is distributed closer to the outer shell <NUM>. The swivel joint <NUM> of the cleaning arm <NUM> is then rotated about the vertical axis <NUM> in a clockwise and/or anti-clockwise direction to remove a surface layer of catalyst material <NUM>. Once a full <NUM> degree rotation cycle has been completed by the cleaning arm <NUM>, the cleaning arm <NUM> can be further moved in an operatively downward direction relative to the body <NUM> and/or segment <NUM> of the cleaning arm <NUM> can be further extended telescopically to reach the remaining catalyst material <NUM> and to remove the next surface layer of catalyst material <NUM> in the same way described above. Once all the catalyst material <NUM> has been removed from the reactor interior <NUM>, the vacuum breaker valve is closed and the hinge joints <NUM>, <NUM> are adjusted independently to adjust the angles of segments <NUM>, <NUM> to align with the vertical axis <NUM> in order for segments 22b, <NUM>, <NUM> of the cleaning arm <NUM> to be safely raised or removed through the opening defined by the entry manway flange <NUM>.

In order to facilitate telescopic extension/retraction of the extensions 24a, 24b, 24c and 24d of the first segment <NUM>, the robotic device <NUM> includes a lifting cable <NUM> (see <FIG>) which runs over the lifting cable reel <NUM> and has one end, which is secured to a drum of a winch <NUM> which is mounted toward a top of the cleaning arm <NUM>, and an opposite end which is secured to the lowermost extension 24d of the first segment <NUM>. The lifting cable <NUM> runs inside the framework <NUM> of the first segment <NUM>. Accordingly, during retraction of the cleaning arm <NUM>, as the lifting cable <NUM> is wound up, it pulls the lowermost extension 24d into the extension 24c until it has been fully retracted following which the extension 24c starts to retract into the extension 24b. The same applies in relation to extension 24b retracting into extension 24a. During extension of the cleaning arm <NUM>, the telescopic extensions 24a, 24b, 24c, 24d extend under the influence of gravity as the lifting cable <NUM> is lengthened and lowered.

As mentioned before, by making changes to the configuration of the robotic device <NUM> described above, the robotic device <NUM> shown in <FIG> is constructed. This embodiment of the robotic device <NUM> is configured to load catalyst material <NUM> into the interior <NUM> of the reactor vessel <NUM>. The same reference numerals used above to refer to parts of the robotic device <NUM> have again been used below to refer to similar parts of the robotic device <NUM>. For the sake of brevity, a description of similar parts will not be repeated below.

The robotic device <NUM> has the same body <NUM>, the base plate <NUM> of which is received on the entry manway flange <NUM>. The base plate <NUM> of the body <NUM> is therefore secured to the entry manway flange <NUM> using suitable fasteners in the same fashion as described with reference to the robotic device <NUM>. The body <NUM> is therefore supported on the flange <NUM> of the reactor vessel <NUM>. Furthermore, for the sake of clarity, it is repeated here that the body <NUM> includes the swivel joint <NUM> which is configured to rotate about the generally vertical axis <NUM> in a clockwise and/or anti-clockwise fashion.

In this embodiment, the handling arm of the robotic device <NUM> is configured as a loading arm <NUM> (see <FIG>). This is achieved by connecting a multistage, telescopically extendable/retractable loading sleeve <NUM> internally to the framework <NUM> of the loading arm <NUM>. Accordingly, the loading sleeve <NUM> is installed into the internal passageway or hollow defined by the framework <NUM> of the loading arm <NUM>. In contrast to the robotic device <NUM>, which has three segments <NUM>, <NUM>, <NUM>, the loading arm <NUM> of the robotic device <NUM> comprises only a single multistage segment <NUM> which is telescopically extendible and retractable relative to the body <NUM>, in similar fashion as described above with reference to the robotic device <NUM>. As before, segment <NUM> of the loading arm <NUM> can extend and retract/contract in telescopic fashion. With reference to <FIG>, segment <NUM> comprises four telescopic extensions or stages 24a, 24b, 24c, 24d. In <FIG>, these extensions 24a, 24b, 24c, 24d are shown in a telescopically extended condition such that all four extensions 24a, 24b, 24c, 24d are visible. In <FIG>, the extensions 24a, 24b, 24c, 24d are in a contracted condition.

Therefore, in order to convert the robotic device <NUM> shown in <FIG>, having the cleaning arm <NUM>, to the robotic device <NUM> shown in <FIG>, having the loading arm <NUM>, the second and third segments <NUM> and <NUM> of the cleaning arm <NUM> are removed. In addition, the vacuum line <NUM>, and ancillary equipment such as the vacuum reel <NUM> are also removed. Then the loading sleeve <NUM>, comprising a plurality of telescopically extendable/retractable sections 208a, 208b, 208c, 208d (see <FIG> and <FIG>), is threaded through the internal passageway of the framework <NUM> of the loading arm <NUM> and is internally secured to individual extensions 24a, 24b, 24c, 24d of the loading arm <NUM>. The loading sleeve <NUM> is concentrically and telescopically received within the loading arm <NUM>. However, telescopic action of the loading sleeve <NUM> is inside out when compared to that of the segment <NUM> of the loading arm <NUM>. This is owing to the fact that an operatively upper end of each respective section 208a, 208b, 208c, 208d of the loading sleeve <NUM> is secured to the corresponding extension 24a, 24b, 24c, 24d of the multistage segment <NUM>. The loading sleeve <NUM> therefore forms an internal passageway <NUM> for conveying the catalyst material <NUM>. Furthermore, the loading sleeve <NUM> is accommodated on the inside of the framework <NUM> of the loading arm <NUM> which surrounds it. A loading device or revolving material distributor <NUM> is secured to a distal or free end of the framework <NUM> of the lowermost extension 24d of the loading arm <NUM>, in fluid flow communication with the lowermost section 208d of the loading sleeve <NUM>.

The catalyst material <NUM> is fed from a catalyst loading hopper (not shown), which is secured to a structure (not shown) above the reactor vessel <NUM>, to the reactor interior <NUM> via the internal passageway <NUM> of the loading sleeve <NUM>. To this end, an upstream cone-shaped inlet <NUM> is secured over a mouth of the internal passageway <NUM> defined by the uppermost section 208a of the loading sleeve <NUM>. Accordingly, the cone-shaped inlet <NUM> leads into the loading sleeve <NUM> below and is configured to receive the catalyst material <NUM> from the loading hopper (not shown) above via a flexible sock (not shown). The inlet <NUM> is covered by a mesh or grid <NUM> (see <FIG>) to prevent debris and foreign objects from entering the loading sleeve <NUM>.

In the same manner as the cleaning arm <NUM>, the loading arm <NUM> is longitudinally displaceable relative to the body <NUM> in an operational upward or downward direction by way of the multiple motor-driven rack and pinion arrangements <NUM>. In rotating the swivel joint <NUM> of the body <NUM>, the loading arm <NUM>, which is connected to the swivel joint <NUM> via the rack and pinion arrangements <NUM>, is propelled to rotate in a horizontal plane about the generally vertical axis <NUM>.

In order to facilitate telescopic extension/retraction of the extensions 24a, 24b, 24c and 24d of the segment <NUM> as well as the sections 208a, 208b, 208c, 208d of the loading sleeve <NUM>, the robotic device <NUM> includes the lifting cable <NUM> (see <FIG>) which runs over the lifting cable reel <NUM>. Two lifting cables <NUM> and lifting cable reels <NUM> are provided, one on either side of the inlet <NUM>. One end of each lifting cable <NUM> is secured to a drum of a winch <NUM> which is mounted toward a top of the uppermost extension 24a of the segment <NUM> of the loading arm <NUM>, and an opposite end is secured to the lowermost extension 24d of the segment <NUM>. The lifting cable <NUM> runs inside the framework <NUM> of the segment <NUM>. Accordingly, during retraction of the loading arm <NUM>, as the lifting cables <NUM> are wound up by the winches <NUM>, they pull the lowermost extension 24d into the extension 24c until it has been fully retracted. At the same time, the lowermost section 208d slides over the section 208c. Upon continued winding of the lifting cable <NUM>, the extension 24c starts to retract into the extension 24b. At this time, the section 208c slides over the section 208b of the loading sleeve <NUM>. Hence, the telescopic action of the loading sleeve <NUM> is simultaneous and inside out when compared to that of the segment <NUM> of the loading arm <NUM>. The same applies in relation to extension 24b retracting into extension 24a etcetera. During extension of the loading arm <NUM>, the telescopic extensions 24a, 24b, 24c, 24d, and corresponding sections 208a, 208b, 208c, 208d of the loading sleeve <NUM> extend under the influence of gravity as the lifting cables <NUM> are unwound from the winches <NUM> and lowered.

As with the robotic device <NUM>, the robotic device <NUM> is connected to the remote control station by means of cables, including power supply cables and video camera cables. In order to distribute the catalyst material received into the loading device <NUM> via the internal passageway <NUM> of the loading sleeve <NUM>, the loading device <NUM> is angularly displaced or rotated about the vertical axis <NUM> which results in the catalyst material <NUM> being propelled or spread radially outward from outlets <NUM> of the loading device <NUM> owing to centrifugal action induced by rotation of the loading device <NUM>. Accordingly, rotation of the loading device <NUM>, which serves the purpose of evenly spreading or distributing the catalyst material <NUM> inside the reactor vessel <NUM>, may be remotely controlled by the operator.

As can be seen in <FIG>, <FIG>, the loading sleeve <NUM> has multistage internal flow restriction along the internal passageway <NUM> between the inlet <NUM> and the outlet <NUM>. To this end, an operatively lower end of each section 208a, 208b, 208c, 208d of the loading sleeve <NUM> includes a conical flow restriction <NUM> which serves to impede the flow of catalyst material <NUM> through the internal passageway <NUM>. As can be seen in the Figures, the conical flow restrictions <NUM> alternate between a depending cone (see <FIG>) and an inverted or upwardly orientated cone (see <FIG>). These restrictions <NUM> break the fall of catalyst material from the inlet <NUM> to the outlet <NUM> and thus prevent structural damage to the catalyst material <NUM>. The flow restrictions <NUM> also create cavities or breaks the flow of catalyst material inside the internal passageway <NUM> which facilitates easier retraction of the loading arm <NUM> and loading sleeve <NUM>. This is because an entire column of catalyst material <NUM> extending from inlet <NUM> to outlet <NUM> would hamper retraction of the individual sections 208a, 208b, 208c, 208d.

A camera (not shown) can be mounted to segment 24d. The positioning of this camera allows the operator to monitor the level of the catalyst bed during the loading process.

As the loading process commences, telescopic extensions 24a, 24b, 24c, 24d of segment <NUM> of the loading arm <NUM> and the sections of the loading sleeve <NUM> will be extended to ensure that the outlet <NUM> of the loading sleeve <NUM> is proximate an internal floor <NUM> of the reactor, preferably about <NUM> meter from the floor <NUM> of the reactor <NUM>, even more preferably less than <NUM> meter from the floor <NUM> of the reactor <NUM>. As the level of the catalyst bed <NUM> rises, the extensions 24a, 24b, 24c, 24d of segment <NUM> of the loading arm <NUM> and the sections 208a, 208b, 208c, 208d of the loading sleeve <NUM>, starting with the lowermost extension 24d and lowermost section 208d, is telescopically retracted to ensure that the outlet <NUM> of the loading device <NUM> remains within an acceptable distance of the catalyst bed <NUM> level, typically within <NUM> meter.

The loading arm <NUM> of the robotic device <NUM> is rotatable about the vertical axis <NUM>, longitudinally displaceable relative to the body <NUM> and is telescopically extendable/retractable inside the reactor vessel <NUM> and is operated remotely by the operator from the remote control station (not shown) situated away from the reactor vessel <NUM>. In this way, the need for the operator to enter the reactor interior <NUM> is obviated. The remote control station is connected to the robotic device by means of cables (not shown). The remote control station has one or more monitors for viewing images from video camera (not shown) proximate a free, distal end of the loading arm <NUM> and is provided with controls to extend, retract and rotate the loading arm <NUM> inside the reactor vessel <NUM>.

In order to maintain inert conditions inside the reactor <NUM>, the robotic device <NUM>, <NUM> shown in <FIG> is configured to purge the interior of the reactor <NUM> using an inert gas. In accordance with conventional methods, nitrogen (N<NUM>) gas is used to create and to maintain a positive inert atmosphere by continuously purging the reactor <NUM> with a N<NUM> gas to prevent any oxygen (O<NUM>) from entering the interior of the reactor <NUM>, and to maintain an atmosphere where the O<NUM> concentration remains below a certain threshold, typically at or below <NUM> volume/volume %. The N<NUM> gas may act as a barrier over the catalyst material <NUM>, <NUM> and may displace air or hydrocarbons that may be trapped or accumulated in the interior of the reactor <NUM> which may cause an explosion or fire.

The robotic device <NUM> is configured to accommodate the abovementioned method of creating and maintaining a positive inert atmosphere in the interior of the reactor <NUM>. In particular, the body <NUM> is provided with three different inlet/outlet points or ports <NUM>, <NUM>, <NUM>. These inlet/outlet points are discussed below. In addition, dust may be extracted from the interior of the reactor via one of the ports.

An N<NUM> gas return line inlet <NUM> is provided on the body <NUM> to re-direct any of the N<NUM> gas which has been removed from the interior of the reactor <NUM>, either during the vacuuming process or during the loading process, back into the interior <NUM> of the reactor <NUM>. During the removal process, the vacuumed product, comprising N<NUM> gas and catalyst material <NUM>, which is removed during the vacuuming process is passed through a solid gas separation stage (not shown), such as a cyclone hopper, to substantially separate the catalyst material <NUM> and the N<NUM> gas. The N<NUM> gas which has been substantially separated from the catalyst material <NUM>, may be directed to the interior of the reactor <NUM> by means of the N<NUM> gas return line (not shown) connected to the N<NUM> gas return line inlet <NUM>, thereby recycling at least a portion of the N<NUM> gas which was removed during the vacuuming process. The N<NUM> gas return line may have a diameter of about <NUM> (about <NUM> inches).

A fresh N<NUM> inlet <NUM> may be provided on the body <NUM> which is connected to a N<NUM> source (not shown) by means of a fresh N<NUM> line (not shown). In particular, the fresh N<NUM> line connecting the fresh N<NUM> inlet <NUM> and the N<NUM> source may have a diameter of about <NUM> (about <NUM> inch). This fresh N<NUM> line enters the fresh N<NUM> inlet <NUM> and has an approximate <NUM> degree bend in order to direct the fresh N<NUM> to the interior of the reactor <NUM>. The fresh N<NUM> inlet line may be connected to a flange comprising a shut-off valve and a pressure gauge (not shown). The N<NUM> source may include Refinery N<NUM> stock, N<NUM> from an evaporator plant or portable N<NUM> cylinder banks, in order to introduce additional heated or cooled N<NUM> to the top of the reactor <NUM> when difficult vacuum tasks occur, e.g. where catalyst material <NUM> is crusty or sticky. Introducing additional fresh N<NUM> to the top of the reactor <NUM> forms an inert barrier or blanket over the catalyst material <NUM>. It is common practice to vent excess N<NUM> out the top of the reactor <NUM> as this is an indication that the reactor is under positive pressure which will prevent O<NUM> from entering the reactor.

A pressure relief valve (PRV) connection point <NUM> is provided on the body <NUM>. The PRV specification will be in accordance with the reactor's shell pressure requirement and will be fitted with a replaceable rupture disc inside a sealed housing. In the event that the reactor pressure increases beyond or below the PRV parameters, the rupture disc will fail and relieve pressure on the reactor shell <NUM> which could otherwise cause damage to the plant equipment and cause expensive delays.

All movements and operation can be controlled from a BRM (blast resistant module) control unit (not shown) by a trained and certified operator. From the BRM unit a cable harness will be connected to a top connection panel of the robotic device <NUM>. The BRM unit will be equipped with two monitors (not shown) in order to continuously view the footage of cameras <NUM>, <NUM> mounted to the cleaning arm <NUM>.

The body <NUM> can be rotated through <NUM> degrees both in a clockwise and an anti-clockwise direction by way of two 110V EX rated high torque, slow drive electric motors situated on the top of the body circling around the ring gear mounted to the base plate <NUM>.

Longitudinal movement of the cleaning arm <NUM> relative to the body <NUM> is achieved by four 110V EX rated high torque, slow drive electric motors situated across from each other on top of the body <NUM>. These motors form parts of the rack and pinion arrangements <NUM>.

Telescopic extension and contraction/retraction of extensions 24a, 24b, 24c, 24d of segment <NUM> of the cleaning arm <NUM> or the loading arm <NUM> is achieved by an 110V EX rated high torque, slow drive electric winch motors with reliable load tested cables <NUM> anchored to the top of extension 24d to allow telescopic extraction or contraction/retraction of extensions 24a, 24b, 24c, 24d.

Claim 1:
A robotic device (<NUM>) for handling catalyst material (<NUM>) in an interior (<NUM>) of a reactor (<NUM>), characterized in that the robotic device (<NUM>) comprises:
a body (<NUM>) configured to engage a flange (<NUM>) of the reactor (<NUM>), wherein an inner edge of the flange (<NUM>) defines an opening in the reactor (<NUM>); and
a handling arm connected to the body (<NUM>) and having a free end, the handling arm comprising at least one segment (<NUM>) which is telescopically extendible/retractable relative to the body (<NUM>), wherein at least a part of the handling arm including the free end is configured to extend through the opening in the reactor (<NUM>) into the interior (<NUM>) of the reactor, and wherein the handling arm is configured to receive or connect to a vacuum line (<NUM>) to form a cleaning arm (<NUM>) for removing catalyst material (<NUM>) from the interior (<NUM>) of the reactor (<NUM>) such that the free end of the handling arm and an inlet end of the vacuum line are proximate each other,
wherein the body (<NUM>) includes a base plate (<NUM>) which is configured to engage the flange (<NUM>) of the reactor and a head (<NUM>) which is articulated to the base plate (<NUM>) for rotation relative to the base plate about a rotation axis (<NUM>); wherein the handling arm is in the form of a multistage telescopic handling arm which comprises a frame assembly (<NUM>) which defines a central passageway along its length which is configured to receive or connect to the vacuum line (<NUM>) to form the cleaning arm (<NUM>), and wherein the head (<NUM>) of the body (<NUM>) defines a longitudinally extending receiving channel therein, the handling arm being connected to the head (<NUM>) of the body (<NUM>) and being longitudinally displaceable relative to the head (<NUM>) of the body within the receiving channel.