Oil tank inspection robot retracting and releasing device and retracting and releasing method thereof

Abstract

The present invention discloses a retracting and releasing device of an oil storage tank inspection robot and a retracting and releasing method thereof, which relate to the technical field of oil storage tank inspection equipment, and comprise a support frame, an entrance guide frame and a composite cable reel, wherein the support frame is fixed at a manhole of the oil storage tank, a lifting mechanism is fixed on the support frame, the composite cable reel is arranged on the top of the oil storage tank and is wound with a composite cable capable of bearing tension, and an end of the composite cable is used to connect with the inspection robot; the entrance guide frame is arranged close to the manhole in the vertical direction, and its position is lower than the maximum height lifted by the lifting mechanism; the entrance guide frame has an arc-shaped portion, a vertical tangent of the arc-shaped portion is directly opposite to the manhole, and an end of the composite cable is laid on the arc-shaped portion of the entrance guide frame; the present invention utilizes the support frame and the lifting mechanism to lift and lower the inspection robot above the manhole, thereby the height of the entrance guide frame can be set lower, making it closer to the manhole, reducing its lateral moment and rollover risk, and ensuring structural stability.

Description

Technical Field

[0001] The present invention relates to the technical field of oil storage tank detection equipment, and in particular to an oil storage tank detection robot retracting and releasing device and a retracting and releasing method thereof. Background Art

[0002] Large oil storage tanks are used to store crude oil or other petroleum products. They are the main equipment of oil depots and are mainly used in refineries, oil fields, and oil depots. Various chemical substances in crude oil will corrode the bottom plate of the oil storage tank, and in severe cases, it will cause perforation and leakage. Therefore, it is necessary to regularly inspect the bottom plate of the tank to reduce safety hazards. The traditional method is to empty the tank, and then the inspectors enter the tank for inspection. This method is costly and time-consuming. The tank bottom plate inspection robot overcomes the shortcomings of traditional inspection methods and realizes the non-opening inspection of the bottom plate of large oil storage tanks. To use the tank bottom plate inspection robot for inspection, the inspection robot must first be sent to the inside of the tank through the manhole on the floating roof of the tank, so a special retraction and release device is required to complete this key step.

[0003] The existing technical solution for the retracting and releasing device of the inspection robot uses steel wire to realize the retracting and releasing of the robot. A steel wire reel is arranged just above the floating roof manhole, and the motor drives the steel wire reel to rotate to realize the retracting and releasing of the robot. However, the composite cable for power supply and communication to the robot cannot be rolled up at the same time as the steel wire, and can only be fed into the tank in parallel with the steel wire. Because the cable and the steel wire interfere with each other during the retracting and releasing process, it is unreliable and inconvenient when performing inspection and retracting and releasing operations.

[0004] In the invention patent with application number "201810284505.3" and titled "A Corrosion Detection Robot for In-Service Storage Tanks", a robot connected with an umbilical cable is slowly lowered into the tank from the hole on the top of the tank by a winch. However, this lowering method requires the fixed frame to hoist the winch and the robot at the same time, which puts a heavy burden on the fixed frame. If the winch is fixed on the top of the oil tank and the umbilical cable is used as a steering wheel through the pulley on the top, the pulley and the fixed frame will be subjected to a large lateral force, which is prone to rollover. Summary of the invention

[0005] The purpose of the present invention is to provide an oil tank inspection robot folding and unfolding device and a folding and unfolding method thereof to solve the problems existing in the prior art. The inspection robot can be lifted and lowered above the manhole by utilizing a support frame and a lifting mechanism, so that the height of the entrance guide frame can be set lower, making it closer to the manhole, reducing its lateral moment and rollover risk, and ensuring structural stability.

[0006] To achieve the above-mentioned purpose, the present invention provides the following scheme: The present invention provides an oil tank inspection robot folding and releasing device, comprising a support frame, an entrance guide frame and a composite cable reel, wherein the support frame is fixed at the manhole of the oil tank, and a lifting mechanism is fixed on the support frame, wherein the lifting mechanism is used to lift the inspection robot, and the lifting path of the lifting mechanism is directly opposite to the manhole; the composite cable reel is arranged on the top of the oil tank and is wound with a composite cable capable of bearing tension, and the end of the composite cable is used to connect with the inspection robot; the entrance guide frame is arranged close to the manhole in the vertical direction, and its position is lower than the maximum height lifted by the lifting mechanism; the entrance guide frame has an arc-shaped portion, the vertical tangent of the arc-shaped portion is directly opposite to the manhole, and the end of the composite cable is laid on the arc-shaped portion of the entrance guide frame.

[0007] Preferably, the oil storage tank inspection robot retracting and releasing device also includes a winch, and the winch is installed on the top of the oil storage tank through a winch mounting seat. The main shaft of the winch is connected to a driving mechanism, and the composite cable reel is fixed on the main shaft.

[0008] Preferably, an optoelectronic slip ring is coaxially connected to the end of the main shaft, and a composite cable at one end of the optoelectronic slip ring extends into the interior of the main shaft and is electrically connected to the composite cable.

[0009] Preferably, a cable arranger is further provided on the winch fixing seat, and the composite cable passes through the cable arranger and overlaps the arc-shaped portion of the inlet guide frame.

[0010] Preferably, the bottom end of the support frame is connected to the floating roof manhole flange; and the winch mounting seat is connected to the floating cabin manhole flange.

[0011] Preferably, the support frame includes a plurality of telescopic rods, and the plurality of telescopic rods are inclined inward from bottom to top, the bottom ends of the plurality of telescopic rods are evenly distributed along the circumference of the floating roof manhole and are hinged to the flange at the floating roof manhole, and the top ends of the plurality of telescopic rods are hinged; the telescopic rod includes a plurality of rod sections connected end to end by threads, and the threaded connection length of adjacent rod sections is adjustable.

[0012] Preferably, the oil storage tank inspection robot retracting and releasing device further comprises an explosion-proof protective tube extending into the manhole, one end of the protective tube is detachably fixed at the manhole, and the other end extends into the interior of the oil storage tank.

[0013] Preferably, the protective cylinder includes a connecting portion connected to the manhole and a cylinder body connected below the connecting portion, the cross-section of the cylinder body is D-shaped, and the plane of the D-shape is opposite to the steel ladder inside the manhole; the bottom of the protective cylinder is not higher than the bottom of the steel ladder.

[0014] Preferably, the entrance guide frame includes a frame body and a horizontal guide wheel group and an arc guide wheel group arranged on the frame body, a plurality of first guide wheels in the horizontal guide wheel group are arranged horizontally and opposite each other in pairs, and the composite cable is located in the wheel grooves of the plurality of first guide wheels; a plurality of second guide wheels in the arc guide wheel group are arranged along an arc track, a horizontal tangent of the arc track coincides with a symmetry line of the two first guide wheels opposite each other, and a vertical tangent of the arc track is opposite to the manhole; the composite cable is laid in the wheel groove of the second guide wheel.

[0015] The present invention also provides a method for retracting and releasing the retracting and releasing device of the oil tank inspection robot, comprising the following steps:

[0016] 1) Fix the detection robot at the bottom of the lifting mechanism, above the manhole; the end of the composite cable is overlapped on the entrance guide frame;

[0017] 2) The lifting mechanism lowers the detection robot along the manhole. When the detection robot reaches the manhole, it stops lowering, connects the end of the composite cable to the detection robot, rotates the composite cable reel in the opposite direction, and tightens the composite cable; the connection between the detection robot and the lifting mechanism is released;

[0018] 3) The composite cable reel rotates, and the composite cable is used to lower the inspection robot along the inside of the protective tube to the designated position inside the oil storage tank, and the inspection robot performs inspection operations;

[0019] 4) After the inspection work is completed, the composite cable reel is reversed to lift the inspection robot to the manhole position, connect the inspection robot to the lifting mechanism, release the connection between the inspection robot and the composite cable, and the lifting mechanism lifts the inspection robot upward to the outside of the oil storage tank.

[0020] Compared with the prior art, the present invention has achieved the following technical effects:

[0021] 1. The present invention retracts and releases the detection robot in two steps. First, the detection robot is lowered to the manhole by using the lifting mechanism on the support frame. Then, the connection between the detection robot and the lifting mechanism is released. The composite cable is connected to the detection robot, and the detection robot is lowered by using the composite cable reel. Thus, the problem of entanglement and interference between the composite cable and the lifting mechanism can be avoided. Moreover, the support frame and the lifting mechanism can be used to lift and lower the detection robot above the manhole, so that the height of the entrance guide frame can be set lower, making it closer to the manhole, reducing its lateral moment and rollover risk, and ensuring structural stability.

[0022] 2. The protective tube in the present invention is made of explosion-proof material, usually copper alloy. The detection robot moves downward inside the tube. Even if it collides or rubs against the tube made of copper alloy, no sparks will be generated. At the same time, the static electricity generated during the operation can be conducted away, and the safety factor is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0024] Figure 1 It is a schematic diagram of the overall structure of the oil tank inspection robot retracting and releasing device of the present invention;

[0025] Figure 2 for Figure 1 A top view of

[0026] Figure 3 for Figure 1 A partial enlarged view of

[0027] Figure 4 It is a schematic diagram of the structure of the protective tube;

[0028] Among them, 1. Support frame; 2. Entrance guide frame; 3. Composite cable reel; 4. Inspection robot; 5. Oil storage tank; 6. Composite cable; 7. Winch; 8. Winch mounting seat; 9. Explosion-proof servo motor; 10. Reducer; 11. Photoelectric slip ring; 12. Cable arranger; 13. Fixed frame; 14. Telescopic rod; 15. Protective tube; 16. Steel ladder; 17. Explosion-proof hand winch; 18. Frame; 19. First guide wheel; 20. Second guide wheel; 21. Support rod; 22. Cover plate; 23. Explosion-proof electrical box; 24. Floating roof manhole; 25. Floating cabin manhole. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] The purpose of the present invention is to provide an oil tank inspection robot folding and unfolding device and a folding and unfolding method thereof to solve the problems existing in the prior art. The inspection robot can be lifted and lowered above the manhole by utilizing a support frame and a lifting mechanism, so that the height of the entrance guide frame can be set lower, making it closer to the manhole, reducing its lateral moment and rollover risk, and ensuring structural stability.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Embodiment 1:

[0033] like Figure 1 to Figure 4 As shown, this embodiment provides a retracting and releasing device for an oil storage tank inspection robot, comprising a support frame 1, an entrance guide frame 2 and a composite cable reel 3. The support frame 1 is fixed at the manhole of the oil storage tank 5. A lifting mechanism is fixed on the support frame 1. The lifting mechanism is used to lift the inspection robot 4, and the lifting path of the lifting mechanism is directly opposite to the manhole; the composite cable reel 3 is arranged on the top of the oil storage tank 5, and is wound with a composite cable 6 capable of bearing tension, and the end of the composite cable 6 has a connector that can be connected to the inspection robot 4. The entrance guide frame 2 is used to guide the composite cable 6. The entrance guide frame 2 is arranged close to the manhole in the vertical direction, and the position is lower than the maximum height lifted by the lifting mechanism; the entrance guide frame 2 has an arc-shaped portion, the vertical tangent of the arc-shaped portion is directly opposite to the manhole, and the end of the composite cable 6 is draped on the arc-shaped portion of the entrance guide frame 2.

[0034] When in use, the detection robot 4 is fixed at the bottom of the lifting mechanism, located above the manhole; the end of the composite cable 6 is overlapped on the entrance guide frame 2. The lifting mechanism lowers the detection robot 4 along the manhole, and stops lowering when the detection robot 4 reaches the manhole, connects the end of the composite cable 6 to the detection robot 4, and rotates the composite cable drum 3 in the opposite direction to tighten the composite cable 6; releases the connection between the detection robot 4 and the lifting mechanism; the composite cable drum 3 rotates, and uses the composite cable 6 to lower the detection robot 4 along the inside of the protective tube 15 to the designated position inside the oil storage tank 5, and the detection robot 4 performs the detection operation; after the detection work is completed, the composite cable drum 3 reverses, lifts the detection robot 4 to the manhole position, releases the connection between the detection robot 4 and the composite cable 6, and connects the detection robot 4 to the lifting mechanism, and the lifting mechanism lifts the detection robot 4 upward to the outside of the oil storage tank 5.

[0035] It can be seen that the present embodiment retracts and releases the detection robot 4 in two steps. First, the detection robot 4 is lowered to the manhole by using the lifting mechanism on the support frame 1. Then, the connection between the detection robot 4 and the lifting mechanism is released. The composite cable 6 is connected to the detection robot 4, and the detection robot 4 is lowered by using the composite cable reel 3. Thus, the problem of entanglement and interference between the composite cable 6 and the lifting mechanism can be avoided. Moreover, in the present embodiment, the support frame 1 and the lifting mechanism can be used to lift and lower the detection robot 4 above the manhole, so that the height of the entrance guide frame 2 can be set lower, making it closer to the manhole, reducing its lateral torque and rollover risk, and ensuring structural stability. The lifting mechanism is mainly subjected to gravity in the vertical direction, and the lateral force is relatively small.

[0036] In this embodiment, the retracting and releasing device of the oil storage tank 5 detection robot 4 also includes a winch 7, which is installed on the top of the oil storage tank 5 through a winch mounting seat 8. The main shaft of the winch 7 is connected to a driving mechanism, and the driving mechanism usually selects a servo motor and a reducer 10. A composite cable reel 3 is fixed on the main shaft, and a composite cable 6 is wound on the composite cable reel 3. An optoelectronic slip ring 11 is connected to the end of the main shaft, and the composite cable 6 at one end of the optoelectronic slip ring 11 extends into the interior of the main shaft and is electrically connected to the composite cable 6. The composite cable 6 has a power supply wire for powering the detection robot 4, and a signal line connected to the detection module in the detection robot 4. A cable arranger 12 is also provided on the fixed seat of the winch 7, and the composite cable 6 passes through the cable arranger 12 and overlaps the arc portion of the inlet guide frame 2; by providing the cable arranger 12, the composite cable 6 can be arranged neatly.

[0037] The cable arrangement device 12 and the optoelectronic slip ring 11 are both commonly used devices in the art, and their structures and usages are well known to those skilled in the art, so they are not described in detail in this embodiment.

[0038] The oil storage tank 5 is usually provided with a floating roof manhole 24 and a floating cabin manhole 25. In this embodiment, the bottom end of the support frame 1 is connected to the floating roof manhole 24 flange; the winch mounting seat 8 is connected to the floating cabin manhole 25 flange, making the fixing of the support frame 1 and the winch 7 more convenient and more stable. For an oil storage tank 5 without a floating cabin manhole 25, the winch mounting seat 8 can be fixed in other ways, and the specific fixing method is not described in detail in this embodiment.

[0039] A fixed frame 13 is also provided on the hoist mounting seat 8, and the hoist 7 is located in the fixed frame 13. An explosion-proof electrical box 23 is also installed on the fixed frame 13.

[0040] Furthermore, the support frame 1 in this embodiment includes a plurality of telescopic rods 14, and the plurality of telescopic rods 14 are tilted inward from bottom to top, and the bottom ends of the plurality of telescopic rods 14 are evenly distributed along the circumference of the floating roof manhole 24, and are hinged on the flange at the floating roof manhole 24, and the top ends of the telescopic rods 14 are hinged. The telescopic form of the telescopic rods 14 can change the height of the support frame 1, which facilitates the alignment of the detection robot 4 with the floating roof manhole 24 and the transportation and storage of the support frame 1. The telescopic rod 14 can adopt any form that is convenient for telescoping. In this embodiment, the telescopic rod 14 includes a plurality of rod sections connected end to end by threads, and the ends of the rod sections are screws or screw holes. The length of the telescopic rod 14 is adjusted by adjusting the screw connection length between the screw and the screw hole.

[0041] When the detection robot 4 enters the oil storage tank 5, the area between the floating roof manhole 24 and the oil-gas interface is an oil-gas mixed medium, which is prone to explosion accidents. Therefore, the retracting device in this embodiment needs to be designed to be explosion-proof. Specifically, in this embodiment, the retracting device for the detection robot 4 of the oil storage tank 5 also includes a protective cylinder 15 extending into the manhole and having an explosion-proof function. The protective cylinder 15 includes a connecting portion connected to the manhole and a cylinder connected below the connecting portion. The cross-section of the cylinder is D-shaped, and the plane of the D-shaped shape is directly opposite to the steel ladder 16 inside the manhole, which is used to avoid the steel ladder 16; the bottom of the protective cylinder 15 is not higher than the bottom of the steel ladder 16. When the detection robot 4 collides or rubs against the inner wall of the oil storage tank 5 or the steel ladder 16 and other materials, sparks are easily generated, which poses a safety hazard. The protective tube 15 in this embodiment is made of explosion-proof material, usually copper alloy. When the detection robot 4 moves downward inside the tube, even if it collides or rubs against the copper alloy tube, no sparks will be generated. At the same time, static electricity generated during operation can be conducted away, greatly improving the safety factor. The elongation of this material is 10% to 40%, and the conductivity is 35.3% to 100% IACS.

[0042] A cover plate 22 is also provided at the bottom of the support frame 1 to cover the passage for the detection robot 4 to enter and exit the storage tank. The cover plate 22 is made of copper alloy.

[0043] At the same time, in order to further improve the safety factor and reduce the occurrence rate of explosion accidents, the servo motor in this embodiment adopts an explosion-proof servo motor 9, and the lifting mechanism adopts an explosion-proof hand chain hoist 17. With the explosion-proof hand chain hoist 17, the staff can lift the detection robot 4 with a small force. Even if the staff pulls the chain on one side of the floating roof manhole 24, the lateral force on the explosion-proof hand chain hoist 17 is very small, which is not enough to cause the support frame 1 to have a capsizing tendency.

[0044] In this embodiment, the entrance guide frame 2 includes a frame body 18 and a horizontal guide wheel group and an arc guide wheel group arranged on the frame body 18. The bottom end of the frame body 18 is hinged on the flange of the floating roof manhole 24 and can rotate along the moving direction of the composite cable 6. Under the action of the composite cable 6, a support rod 21 is arranged on the side of the frame body 18 that has a tendency to tip over. The bottom end of the support rod 21 is hinged on the flange of the floating roof manhole 24, and the top end is detachably connected to the frame body 18, which is used to support the frame body 18 and further improve the anti-overturning ability. When the connection between the support rod 21 and the frame body 18 is released, the frame body 18 can be laid down. The first guide wheels 19 in the horizontal guide wheel group are arranged horizontally and opposite to each other, and the composite cable 6 is located in the wheel grooves of the first guide wheels 19. The plurality of second guide wheels 20 in the arc-shaped guide wheel group are arranged along an arc-shaped track, the arc-shaped track is larger than a quarter of a circle, the horizontal tangent of the arc-shaped track coincides with the symmetry line of the two first guide wheels 19 arranged opposite to each other, and the vertical tangent of the arc-shaped track faces the manhole; the composite cable 6 is laid in the wheel groove of the second guide wheel 20. The horizontal guide wheel group is used to prevent the composite cable 6 from lateral displacement, and the arc-shaped guide wheel group is used to turn the composite cable 6.

[0045] Embodiment 2:

[0046] This embodiment provides a method for retracting and deploying the retracting and deploying device of the oil tank inspection robot as described above, comprising the following steps:

[0047] 1) Fix the detection robot 4 at the bottom of the explosion-proof hand chain hoist 17, and use the explosion-proof hand chain hoist 17 to lift the detection robot 4 above the floating roof manhole 24; the end of the composite cable 6 is overlapped on the entrance guide frame 2 and is not connected to the detection robot 4;

[0048] 2) Operate the explosion-proof hand chain hoist 17 to lower the detection robot 4 along the manhole. When the detection robot 4 reaches the manhole, stop lowering. At this time, the detection robot 4 is also located below the arc-shaped guide wheel group in the entrance guide frame 2; connect the end of the composite cable 6 to the detection robot 4, and rotate the winch 7 in the opposite direction to tighten the composite cable 6. The composite cable 6 completely bears the gravity of the detection robot 4; release the connection between the detection robot 4 and the lifting mechanism;

[0049] 3) The winch 7 rotates, and the inspection robot 4 is lowered along the inside of the protective tube 15 to a designated position inside the oil storage tank 5 by using the composite cable 6, and the inspection robot 4 performs the inspection operation;

[0050] 4) After the inspection work is completed, the winch 7 is reversed to lift the inspection robot 4 to the manhole position, connect the inspection robot 4 to the explosion-proof hand winch 17, and lift the explosion-proof pull winch appropriately to fully bear the gravity of the inspection robot 4; release the connection between the inspection robot 4 and the composite cable 6, operate the explosion-proof hand winch 17 to lift the inspection robot 4 upward to the outside of the oil storage tank 5.

[0051] Adaptive changes made according to actual needs are all within the protection scope of the present invention.

[0052] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any reference numerals in the claims should not be regarded as limiting the claims involved.

Claims

1. A retractable device for an oil tank inspection robot, characterized in that: It comprises a support frame, an entrance guide frame and a composite cable reel, wherein the support frame is fixed at the manhole of the oil storage tank, a lifting mechanism is fixed on the support frame, the lifting mechanism is used to lift the detection robot, and the lifting path of the lifting mechanism is directly opposite to the manhole; the composite cable reel is arranged on the top of the oil storage tank and is wound with a composite cable capable of bearing tension, and the end of the composite cable is used to connect with the detection robot; the entrance guide frame is arranged close to the manhole in the vertical direction, and the position is lower than the maximum height lifted by the lifting mechanism; the entrance guide frame has an arc-shaped portion, the vertical tangent of the arc-shaped portion is directly opposite to the manhole, and the end of the composite cable is draped on the arc-shaped portion of the entrance guide frame; The oil tank inspection robot retracting and releasing device further comprises a winch, which is mounted on the top of the oil tank through a winch mounting seat, the main shaft of the winch is connected to a driving mechanism, and the composite cable reel is fixed on the main shaft; The retracting and releasing method of the retracting and releasing device of the oil storage tank detection robot comprises the following steps: 1) Fix the detection robot at the bottom of the lifting mechanism, above the manhole; the end of the composite cable is overlapped on the entrance guide frame; 2) The lifting mechanism lowers the detection robot along the manhole. When the detection robot reaches the manhole, it stops lowering, connects the end of the composite cable to the detection robot, rotates the composite cable reel in the opposite direction, and tightens the composite cable; the connection between the detection robot and the lifting mechanism is released; 3) The composite cable reel rotates, and the composite cable is used to lower the inspection robot along the inside of the protective tube to the designated position inside the oil storage tank, and the inspection robot performs inspection operations; 4) After the inspection work is completed, the composite cable reel is reversed to lift the inspection robot to the manhole position, connect the inspection robot to the lifting mechanism, release the connection between the inspection robot and the composite cable, and the lifting mechanism lifts the inspection robot upward to the outside of the oil storage tank.

2. The oil tank inspection robot retracting and releasing device according to claim 1 is characterized in that: The end of the main shaft is coaxially connected with a photoelectric slip ring, and a composite cable at one end of the photoelectric slip ring extends into the interior of the main shaft and is electrically connected to the composite cable.

3. The oil tank inspection robot retracting and releasing device according to claim 2 is characterized in that: The hoist mounting seat is also provided with a cable arranging device, and the composite cable passes through the cable arranging device and overlaps the arc-shaped portion of the inlet guide frame.

4. The oil tank inspection robot retracting and releasing device according to claim 1, characterized in that: The bottom end of the support frame is connected to the floating roof manhole flange; the winch mounting seat is connected to the floating cabin manhole flange.

5. The oil tank inspection robot retracting and releasing device according to claim 4 is characterized in that: The support frame includes a plurality of telescopic rods, and the plurality of telescopic rods are arranged to be inclined inward from bottom to top. The bottom ends of the plurality of telescopic rods are evenly distributed along the circumference of the floating roof manhole and are hinged to the flange at the floating roof manhole, and the top ends of the plurality of telescopic rods are hinged. The telescopic rod includes a plurality of rod sections connected end to end by threads, and the threaded connection length of adjacent rod sections is adjustable.

6. The oil tank inspection robot retracting and releasing device according to any one of claims 1 to 5, characterized in that: The oil storage tank inspection robot retracting and releasing device also includes an explosion-proof protective tube extending into the manhole, one end of the protective tube is detachably fixed to the manhole, and the other end extends into the interior of the oil storage tank.

7. The oil tank inspection robot retracting and releasing device according to claim 6, characterized in that: The protective tube includes a connecting portion connected to the manhole and a cylinder body connected below the connecting portion. The cross-section of the cylinder body is D-shaped, and the plane of the D-shape is opposite to the steel ladder inside the manhole; the bottom of the protective tube is not higher than the bottom of the steel ladder.

8. The oil tank inspection robot retracting and releasing device according to claim 1, characterized in that: The entrance guide frame includes a frame body and a horizontal guide wheel group and an arc guide wheel group arranged on the frame body, a plurality of first guide wheels in the horizontal guide wheel group are arranged horizontally and opposite each other in pairs, and the composite cable is located in the wheel grooves of the plurality of first guide wheels; a plurality of second guide wheels in the arc guide wheel group are arranged along an arc track, a horizontal tangent of the arc track coincides with a symmetry line of the two first guide wheels opposite each other, and a vertical tangent of the arc track is opposite to the manhole; the composite cable is laid in the wheel grooves of the second guide wheels.

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