Auxiliary moving device and method for storage tank cleaning robot

Abstract

The invention discloses an auxiliary moving device and method for a storage tank cleaning robot, the device is arranged at the front end of a robot body and used for removing obstacles at the bottom of a tank, the device comprises a rotating unit, the main body of the rotating unit is of a solid roller structure and is provided with a first fan-shaped area and a second fan-shaped area, the first fan-shaped area is composed of a strong magnetic anti-explosion medium, and the second fan-shaped area is composed of a strong magnetic anti-explosion medium; the second fan-shaped area is composed of a non-magnetic anti-explosion medium and used for being selectively attracted to the metal face in the rotating process to serve as a robot escape fixing point. And the hydraulic oil cylinder assembly is used for providing rotating power for the rotating unit when the robot is trapped or after the robot gets out of the trapped state, and the robot gets out of the trapped state by providing thrust after the robot has an out-of-trapped fixing point. According to the device and method disclosed by the invention, robot escape in different modes can be realized by utilizing switching contact between the magnetic attraction medium and the non-magnetic attraction medium and the tank bottom.

Description

Technical Field

[0001] The present invention relates to the field of petrochemical industry, and in particular to a cleaning robot auxiliary movement device and method used in a storage tank. Background Art

[0002] In the petrochemical industry, as service life increases, large amounts of sludge gradually accumulate in oil storage tanks. This not only seriously affects the quality of the oil, but also reduces the effective volume of the tank, accelerates corrosion, and shortens the service life of the tank. Regular cleaning and inspection of storage tanks are important for the long-term safe and stable operation of the tanks.

[0003] To reduce operational risks and labor intensity, minimize environmental pollution, lower costs, and improve work efficiency, autonomous and intelligent cleaning operations are an inevitable trend. Intelligent tank cleaning robots have emerged as the times require. These robots face numerous challenges, including difficulty moving within oil, mud, and water environments and determining the relative position of the robot and the tank. The complex structure of the tank floor, which contains not only a large amount of flammable gas but also tank bottom equipment such as heating coil legs, sacrificial anode blocks, and floating support plates, also poses certain safety risks. The introduction of traditional electrical components also creates certain limitations for the application of electrical components to assist robots in moving within the tank floor.

[0004] Chinese patent CN205008347U discloses a robot and visual system for cleaning refined oil storage tanks. The system comprises a vehicle body, a power mechanism, a transmission mechanism, a motion mechanism, a cleaning mechanism, and a visual system. The power mechanism utilizes pneumatic components, ensuring safety during the tank cleaning process. The transmission and motion mechanisms utilize crawler-type walking mechanisms, which feature a large support area and low ground contact pressure, making them suitable for operation in soft or muddy areas. The cleaning mechanism performs both cleaning and suction functions, and the cleaning nozzle can swing up and down, adjusting the nozzle's spray angle (within a range of -15° to 75°) to enable the robot to clean the tank bottom and walls at different angles. The cleaning mechanism also incorporates a backwash system for the suction line. If flow monitoring indicates a decrease in flow from the robot's built-in suction pump, the suction line is backwashed via an external pneumatic control system. A visual monitoring system is installed at the manhole of the tank being cleaned, enabling real-time visual monitoring of the robot's motion status and position.

[0005] Although the tank robot in the above-mentioned existing technical solution can walk on the bottom of the tank through the motion mechanism and transmission mechanism, and has functions such as cleaning and sewage suction, when facing obstacles such as heating coil legs, sacrificial anode blocks, floating plate supports and other tank bottom equipment, it is often difficult to effectively escape.

[0006] Therefore, there is an urgent need for an auxiliary moving device and method for a tank cleaning robot, which can achieve different ways of escape in different situations when encountering obstacles such as heating coil legs, sacrificial anode blocks, floating plate pillars, etc. set at the bottom of the tank.

[0007] The information disclosed in this background technology section is only intended to enhance understanding of the overall background of the invention and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the Invention

[0008] The purpose of the present invention is to provide an auxiliary movement device and method for a tank cleaning robot, which can utilize the switching contact between magnetic and non-magnetic media and the tank bottom to achieve different modes of robot escape.

[0009] To achieve the above-mentioned purpose, according to the first aspect of the present invention, the present invention provides an auxiliary moving device for a tank cleaning robot, which is arranged at the front end of the robot body and is used to escape obstacles at the bottom of the tank, including: a rotating unit, whose main body is a solid drum structure and is provided with a first sector area and a second sector area, the first sector area is composed of a strong magnetic explosion-proof medium, and the second sector area is composed of a non-magnetic explosion-proof medium, which is used to selectively adsorb on a metal surface as a fixed point for the robot to escape during rotation; a hydraulic cylinder assembly, which is used to provide rotational power to the rotating unit when the robot is trapped or after it is escaped, and to complete the robot's escape by providing thrust after having a fixed point for escape.

[0010] Furthermore, in the above technical solution, the hydraulic cylinder assembly may include: a first hydraulic cylinder, which is connected to the rotating arm of the rotating unit through a first hinge, and is used to provide counterclockwise and clockwise rotational power to the rotating unit; a second hydraulic cylinder, one end of which is attached to the robot body, which provides thrust and completes the robot's escape under the reaction force of the thrust.

[0011] Furthermore, in the above technical solution, the auxiliary moving device may also include a backplate assembly, which further includes: a first backplate, which is horizontally arranged above the rotating unit, and the upper end of the first hydraulic cylinder is connected to the first backplate through a second hinge; a second backplate, which is vertically arranged on the side of the rotating unit close to the second hydraulic cylinder, and the second hydraulic cylinder provides thrust for the second backplate.

[0012] Furthermore, in the above technical solution, the backplate assembly may also include: a third backplate, which is fixedly connected to the robot body, and one end of the second hydraulic cylinder is connected to the third backplate, and the other end is connected to the second backplate.

[0013] Furthermore, in the above technical solution, the backplane assembly may further include: a fourth backplane, which is arranged parallel to the second backplane and is located on the other side of the rotating unit.

[0014] Furthermore, in the above technical solution, a third hydraulic cylinder may be provided between the first back plate and the rotating unit for lifting or lowering the rotating unit.

[0015] Furthermore, in the above technical solution, a first telescopic support rod for use in conjunction with the second hydraulic cylinder may be provided between the second back plate and the third back plate.

[0016] Furthermore, in the above technical solution, a second telescopic support rod for use in conjunction with the third hydraulic cylinder may be provided between the first back plate and the rotating unit.

[0017] Furthermore, in the above technical solution, the strong magnetic explosion-proof medium can be a permanent magnet, and the non-magnetic explosion-proof medium can be copper, stainless steel or nickel alloy, etc.; the first sector area can account for 20% to 40%, and the second sector area can account for 60% to 80%.

[0018] Furthermore, in the above technical solution, the tank bottom obstacles may be oil sludge, heating coil legs, sacrificial anode blocks and / or floating plate supports, etc.

[0019] According to the second aspect of the present invention, the present invention provides an assisted movement method for a tank cleaning robot, which uses any of the aforementioned devices to escape from obstacles at the bottom of the tank, including an escape mode using a strong magnetic explosion-proof medium: when the robot body is trapped during movement at the bottom of the tank, the first hydraulic cylinder is started and extended, so that the rotating unit rotates counterclockwise until the strong magnetic explosion-proof medium is adsorbed on the metal surface of the bottom of the tank to form an escape fixed point; the second hydraulic cylinder is started and extended, and the robot body can be pushed away from the trapped area under the reaction force; after escape, the first hydraulic cylinder is started and contracted, so that the rotating unit rotates clockwise until the non-magnetic explosion-proof medium contacts the metal surface of the bottom of the tank.

[0020] The method may also include a mode of escaping using a non-magnetic explosion-proof medium, which is suitable for when there is a lot of oil sludge at the bottom of the tank and there is no condition for strong magnetic explosion-proof medium to be adsorbed on the metal surface of the tank bottom: when the robot body is trapped by a sacrificial anode block during movement at the bottom of the tank, the contact point between the non-magnetic explosion-proof medium part of the rotating unit and the upper edge of the sacrificial anode block is used as a fixed point for escaping, the second hydraulic cylinder is started and extended, and the robot body is pushed away from the trapped area under the reaction force; or, when the robot body is trapped by a sacrificial anode block during movement at the bottom of the tank, the third hydraulic cylinder is started and retracted, so that the rotating unit is lifted up and higher than the sacrificial anode block, and then the second hydraulic cylinder is retracted to complete the escape.

[0021] In addition, when the robot body is trapped by the tank wall, heating coil legs or floating plate pillars during its movement at the bottom of the tank, the fourth back plate at the front end can be used as a fixed point for escape, and the second hydraulic cylinder can be started and extended to push the robot body away from the trapped area under the reaction force.

[0022] Furthermore, in the above technical solution, during the escape process, the position and posture of the robot body can be determined in real time by extending and contracting the second hydraulic cylinder.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1) Through the coordination of the rotating unit and the hydraulic cylinder assembly, the present invention can rotate the rotating unit to rotate the first sector composed of the strong magnetic explosion-proof medium to the bottom of the rotating unit when there is less oil sludge at the bottom of the tank, so that it is adsorbed on the metal surface such as the bottom of the tank and serves as a fixed point for escape (similar to the function of a robot gripper). After the gripper is provided, the first hydraulic cylinder of the hydraulic cylinder assembly can provide thrust to help the robot escape; the second hydraulic cylinder can provide a reverse rotational force to the rotating unit after escape, so that the first sector composed of the strong magnetic explosion-proof medium is away from the metal surface such as the bottom of the tank, so that the robot can escape and continue walking, and the escape is faster and more effective.

[0025] 2) The present invention can raise or lower the rotating unit by setting up the third hydraulic cylinder. With this setting, when encountering obstacles such as sacrificial anode blocks, the rotating unit can be lifted up to escape;

[0026] 3) The present invention utilizes a strong magnetic explosion-proof medium escape mode and three escape methods when strong magnetic explosion-proof media cannot be used. This allows the robot body to escape from the complex environment at the bottom of the tank in different ways, making it more adaptable to escape.

[0027] 4) While the present invention enables the robot body to escape from trouble, it can also determine the posture of the robot body in real time through the extension and contraction of the second hydraulic cylinder (that is, the change of the arm span of the auxiliary moving device).

[0028] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and to implement it according to the contents of the specification, and to make the above and other purposes, technical features and advantages of the present invention easier to understand, one or more preferred embodiments are listed below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the tank cleaning robot auxiliary movement device of the present invention.

[0030] Figure 2 It is a structural schematic diagram of the rotating unit in the auxiliary movement device of the present invention.

[0031] Figure 3This is a top view of the tank cleaning robot of the present invention in the tank bottom plate (obstacles such as the heating coil legs and sacrificial anode blocks are shown).

[0032] Figure 4 It is a schematic diagram of the three-dimensional structure of the tank cleaning robot of the present invention in the tank bottom plate (obstacles such as the heating coil legs and sacrificial anode blocks are shown).

[0033] Figure 5 This is a schematic diagram of the tank cleaning robot of the present invention encountering a sacrificial anode block obstacle.

[0034] Description of main reference numerals:

[0035] 1- auxiliary movement device, 11- rotation unit, 111- strong magnetic explosion-proof medium, 112- non-magnetic explosion-proof medium, 113- rotating shaft, 114- rotating arm, 115- first hinge, 12- first hydraulic cylinder, 13- second hydraulic cylinder, 131- first telescopic support rod, 14- third hydraulic cylinder, 141- second telescopic support rod, 15- first back plate, 16- second back plate, 17- third back plate, 18- fourth back plate;

[0036] 100-storage tank, 101-robot body, 102-storage tank bottom plate, 103-heating coil support legs, 104-sacrificial anode block. DETAILED DESCRIPTION

[0037] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.

[0038] Unless expressly stated otherwise, throughout the specification and claims, the term “comprise” or variations such as “include” or “comprising” will be understood to include the stated elements or components but not to exclude other elements or components.

[0039] In this document, for ease of description, spatially relative terms such as "below," "beneath," "down," "above," "above," and the like may be used to describe the relationship of one element or feature to another element or feature in the accompanying drawings. It should be understood that the spatially relative terms are intended to encompass different orientations of an object in use or operation in addition to the orientation depicted in the drawings. For example, if the object in the drawings is turned over, an element described as being "below" or "below" another element or feature will be oriented "above" the element or feature. Therefore, the exemplary term "below" can encompass both below and above. Objects may also have other orientations (rotated 90 degrees or other orientations) and the spatially relative terms used herein should be interpreted accordingly.

[0040] In this document, the terms "first", "second", etc. are used to distinguish two different elements or parts, and are not used to limit specific positions or relative relationships. In other words, in some embodiments, the terms "first", "second", etc. can also be interchangeable with each other.

[0041] Example 1

[0042] like Figure 1 、 2 As shown, this embodiment provides a tank cleaning robot auxiliary movement device 1, which is arranged on the robot body 101 (refer to Figure 3 、 4 ) front end and is mainly used for getting out of obstacles at the bottom of the tank (such as oil sludge, heating coil legs, sacrificial anode blocks and / or floating plate pillars, etc.), and at least includes a rotating unit 11 and a hydraulic cylinder assembly. Among them, the main body of the rotating unit 11 is a solid drum structure and is provided with a first sector area and a second sector area. The first sector area is composed of a strong magnetic explosion-proof medium 111. The strong magnetic explosion-proof medium is preferably a permanent magnet. The proportion of the first sector area can be 20% to 40%, preferably 30%. The second sector area is composed of a non-magnetic explosion-proof medium 112. The non-magnetic explosion-proof medium 112 is preferably a low mechanical spark material such as copper, stainless steel or nickel alloy. The proportion of the second sector area can be 60% to 80%, preferably 70%. The materials of the two sector areas are preferably combined together in an integrated molding manner. By setting the rotating unit to a combination of two different materials, it can be used to selectively adsorb the rotating unit on a metal surface (such as the metal surface of the tank bottom) during the rotation process as a fixed point for the robot to get out of trouble. The hydraulic cylinder assembly is used to provide rotational power to the rotating unit 11 when the robot is trapped or after it is freed, and to provide thrust to help the robot escape after it has a fixed point for escape.

[0043] This embodiment, through the coordination of the rotating unit 11 and the hydraulic cylinder assembly, can, when there is less oil sludge at the bottom of the tank, rotate the rotating unit to cause the first sector-shaped area composed of the ferromagnetic explosion-proof medium to rotate to the bottom of the rotating unit, causing it to adsorb onto a metal surface such as the tank bottom, serving as a fixed point for escape (similar to the function of a robot gripper). With the gripper, one of the cylinders of the hydraulic cylinder assembly can provide thrust to help the robot escape; after escape, the other cylinder of the hydraulic cylinder assembly can provide a reverse rotational force to the rotating unit 11, so that the first sector-shaped area composed of the ferromagnetic explosion-proof medium is away from the metal surface such as the tank bottom, thereby allowing the robot to escape and continue walking.

[0044] Further Figure 1 、 2As shown, a rotating shaft 113 is provided at the center of the rotating unit 11, an integrally formed rotating arm 114 is provided on the side wall, and a first hinge 115 is provided at the free end of the rotating arm 114. The hydraulic cylinder assembly may further include a first hydraulic cylinder 12 and a second hydraulic cylinder 13. The first hydraulic cylinder 12 is connected to the rotating arm 114 of the rotating unit 11 through the first hinge 115, and is used to provide counterclockwise and clockwise rotation power for the rotating unit 11. One end of the second hydraulic cylinder 13 is attached to the robot body 101, and the robot is rescued by providing thrust and under the reaction force of the thrust. In the present invention, the first hydraulic cylinder 12 can complete the rotation of the rotating unit 11 through the cooperation of the first hydraulic cylinder 12 and the second hydraulic cylinder 13. Figure 1 The second hydraulic cylinder 13 can provide thrust to push the robot body out of the trapped area.

[0045] Further Figure 1 As shown, the auxiliary mobile device 1 may also include a backplate assembly, which may further include a first backplate 15 and a second backplate 16, and may also include a third backplate 17 and a fourth backplate 18. Among them, the first backplate 15 is horizontally arranged above the rotating unit 11, and the upper end of the first hydraulic cylinder 12 can be connected to the first backplate 15 through a second hinge (not shown in the figure). The second backplate 16 is vertically arranged on the side of the rotating unit 11 close to the second hydraulic cylinder 13, and the second hydraulic cylinder 13 provides thrust for the second backplate 16. The third backplate 17 is fixedly connected to the robot body 101, and one end of the second hydraulic cylinder 13 is connected to the third backplate 17, and the other end is connected to the second backplate 16. The thrust of the second hydraulic cylinder 13 forms a reaction force on the second backplate 16, so that the robot body can be pushed back away from the trapped area. The fourth backplate 18 is arranged parallel to the second backplate 16 and is located on the other side of the rotating unit. The position of the fourth backplate serves as the head position of the robot. As shown Figure 1 As shown, the first back plate 15 , the second back plate 16 and the fourth back plate 18 form a rectangular frame structure, which is entirely located above the rotating unit 11 .

[0046] Further Figure 1 As shown, a third hydraulic cylinder 14 is provided between the first back plate 15 and the rotating unit 11 for lifting or lowering the rotating unit 11. Correspondingly, a second telescopic support rod 141 used in conjunction with the third hydraulic cylinder 14 is also provided between the first back plate 15 and the rotating unit 11. The two second telescopic support rods 141 are symmetrically arranged at both ends of the rotating unit 11. The lower end of the second telescopic support rod 141 is sleeved on the rotating shaft 113, and the other end is fixed to the lower surface of the first back plate 15. The extension and contraction of the third hydraulic cylinder 14 drives the extension and contraction of the second telescopic support rod 141, thereby lifting or lowering the rotating unit 11. With such a setting, when encountering obstacles such as sacrificial anode blocks (refer to Figure 5 ), the rotating unit 11 can be lifted up to escape from the predicament.

[0047] Further Figure 1 As shown, a first telescopic support rod 131 is provided between the second back plate 16 and the third back plate 17 for use with the second hydraulic cylinder 13. The extension and contraction of the second hydraulic cylinder 13 drives the extension and contraction of the first telescopic support rod 131, thereby changing the distance between the second back plate 16 and the third back plate 17. The increase in distance means that the robot body 101 is pushed away, thereby achieving the escape of the robot body 101.

[0048] Example 2

[0049] This embodiment provides a method for assisting the movement of a tank cleaning robot, utilizing the apparatus of Example 1, for removing obstacles from the tank bottom. This method, utilizing the apparatus of Example 1, can achieve different removal methods, including one utilizing a strong magnetic explosion-proof medium and one utilizing a non-magnetic explosion-proof medium.

[0050] Escape mode using strong magnetic explosion-proof media (suitable for applications with less oil sludge at the bottom of the tank):

[0051] like Figures 1 to 4 As shown, when the robot body 101 becomes trapped while moving on the tank bottom 102, the first hydraulic cylinder 12 is activated and extended, causing the rotating unit 11 to rotate counterclockwise until the strong magnetic explosion-proof medium adheres to the metal surface of the tank bottom 102, forming a fixed point for escape. The second hydraulic cylinder 13 is activated and extended, and the reaction force pushes the robot body 101 away from the trapped area. After escape, the first hydraulic cylinder 12 is activated and retracted, causing the rotating unit 11 to rotate clockwise until the non-magnetic explosion-proof medium 111 contacts the metal surface of the tank bottom 102. By adopting this method, the extension of the first hydraulic cylinder 12 causes the rotating unit 11 to rotate counterclockwise, and the second telescopic support rod 141 is also extended. When the strong magnetic explosion-proof medium of the rotating unit 11 contacts the metal surface such as the tank bottom, the rotating unit 11 acts as a robot gripper. If the gripper is already fixed to the metal surface such as the tank bottom, controlling the extension and retraction of the second hydraulic cylinder 13 can effectively act as a robot auxiliary arm, freeing the robot. At this time, if the robot body has been freed by the auxiliary arm, the first hydraulic cylinder 12 is controlled to contract, the rotating unit 11 rotates clockwise, the second telescopic support rod 141 is shortened, and the non-magnetic explosion-proof medium contacts the tank bottom plate (that is, it is in a non-adsorption state). At this time, the rotating unit plays a role of letting go, and the robot body 101 can continue to clean the tank bottom plate with less oil sludge.

[0052] The escape mode using non-magnetic explosion-proof media (applicable when there is a lot of oil sludge at the bottom of the tank and there is no strong magnetic explosion-proof media adsorption condition between the metal surface of the tank bottom, which can achieve three escape modes):

[0053] 1) When the robot body 101 is trapped by the sacrificial anode block 104 during its movement at the bottom of the tank, the contact point between the non-magnetic explosion-proof medium 112 of the rotating unit 11 and the upper edge of the sacrificial anode block 104 can be used as a fixed point for escape (refer to Figure 5 ). At this time, the second hydraulic cylinder 13 is activated and extended, and the robot body 101 can be pushed out of the trapped area under the reaction force, and then the second hydraulic cylinder 13 is retracted to turn and continue walking;

[0054] 2) When the robot body 101 is trapped by the sacrificial anode block 104 during its movement at the bottom of the tank, the robot body 101 can also start and retract the third hydraulic cylinder 14, so that the rotation unit 11 lifts and raises the sacrificial anode block 104, and then retract the second hydraulic cylinder 13 to complete the escape;

[0055] 3) When the robot body 101 is trapped by the tank wall, heating coil legs 103 or floating plate pillars during its movement at the bottom of the tank (that is, the fourth back plate 18 at the front end has touched the corresponding obstacles and is trapped), the fourth back plate 18 at the front end can be used as a fixed point for escape, and the second hydraulic cylinder 13 can be started and extended to push the robot body 101 away from the trapped area under the reaction force.

[0056] This embodiment uses the above-mentioned escape mode using strong magnetic explosion-proof media and the three ways of escape when strong magnetic explosion-proof media cannot be used, so that the robot body can escape in different ways in the complex environment at the bottom of the tank, and has stronger adaptability to escape. In addition, during the escape process, the posture of the robot body can also be judged in real time by the extension and contraction of the second hydraulic cylinder 13. Specifically, the overall extension and contraction of the auxiliary moving device of the present invention can serve as a moving ruler. Since the robot is in the storage tank, the tank cleaning operator can only perceive the specific position of the robot through the explosion-proof camera in the manhole. The picture transmitted to the display by the camera is a two-dimensional image, and the robot body 101 itself is a symmetrical image similar to a rectangular parallelepiped (reference Figure 3 、 4 Without the auxiliary movement device of the present invention, it would be difficult for the operator to determine the specific position and posture of the robot body 101. By installing the auxiliary movement device and knowing the actual arm span, the actual arm span can be compared with the pixel relationship between the position and posture of the heating coil, sacrificial anode block, and other equipment on the display screen during image recognition and distance determination, effectively determining the robot's position in the actual tank (i.e., determining the specific position and posture of the robot body head).

[0057] The foregoing descriptions of specific exemplary embodiments of the present invention are for purposes of illustration and description. These descriptions are not intended to limit the invention to the precise form disclosed, and it is apparent that many changes and variations are possible in light of the foregoing teachings. The exemplary embodiments are selected and described for the purpose of explaining the specific principles of the invention and their practical application, thereby enabling those skilled in the art to realize and utilize a variety of exemplary embodiments of the invention and various options and variations. Any simple modifications, equivalent variations, and modifications made to the exemplary embodiments described above are intended to fall within the scope of protection of the present invention.

Claims

1. A tank cleaning robot auxiliary moving device, characterized in that: It is located at the front end of the robot body and is used to escape obstacles at the bottom of the tank, including: The rotating unit has a solid drum structure and is provided with a first sector and a second sector. The first sector is composed of a strong magnetic explosion-proof medium, and the second sector is composed of a non-magnetic explosion-proof medium. It is used to selectively adsorb on the metal surface during rotation as a fixed point for the robot to escape. The hydraulic cylinder assembly is used to provide rotational power to the rotating unit when the robot is trapped or after it is freed, and to provide thrust to help the robot escape after having a fixed point for escape.

2. The tank cleaning robot auxiliary movement device according to claim 1, characterized in that: The hydraulic cylinder assembly comprises: a first hydraulic cylinder connected to the rotating arm of the rotating unit through a first hinge, and configured to provide counterclockwise and clockwise rotational power to the rotating unit; The second hydraulic cylinder, one end of which is attached to the robot body, provides thrust and helps the robot escape under the reaction force of the thrust.

3. The tank cleaning robot auxiliary movement device according to claim 2, characterized in that: The auxiliary mobility device further includes a backboard assembly, which further includes: a first back plate, which is horizontally arranged above the rotating unit, and the upper end of the first hydraulic cylinder is connected to the first back plate through a second hinge; The second back plate is vertically arranged on one side of the rotating unit close to the second hydraulic cylinder, and the second hydraulic cylinder provides thrust for the second back plate.

4. The tank cleaning robot auxiliary movement device according to claim 3, characterized in that: The backplane assembly further comprises: The third back plate is fixedly connected to the robot body. One end of the second hydraulic cylinder is connected to the third back plate, and the other end is connected to the second back plate.

5. The tank cleaning robot auxiliary movement device according to claim 4, characterized in that: The backplane assembly further comprises: The fourth back plate is arranged parallel to the second back plate and is located on the other side of the rotating unit.

6. The tank cleaning robot auxiliary movement device according to claim 5, characterized in that: A third hydraulic cylinder is provided between the first back plate and the rotating unit for lifting or lowering the rotating unit.

7. The tank cleaning robot auxiliary movement device according to claim 4, characterized in that: A first telescopic support rod used in conjunction with the second hydraulic cylinder is provided between the second back plate and the third back plate.

8. The tank cleaning robot auxiliary movement device according to claim 6, characterized in that: A second telescopic support rod is provided between the first back plate and the rotating unit and is used in conjunction with the third hydraulic cylinder.

9. The tank cleaning robot-assisted movement device according to claim 1, characterized in that: The strong magnetic explosion-proof medium is a permanent magnet, and the non-magnetic explosion-proof medium is copper, stainless steel or nickel alloy; the first sector area accounts for 20% to 40%, and the second sector area accounts for 60% to 80%.

10. The tank cleaning robot-assisted movement device according to claim 1, characterized in that: The tank bottom obstacles are oil sludge, heating coil legs, sacrificial anode blocks and / or floating plate supports.

11. A tank cleaning robot assisted movement method, characterized in that: The device according to any one of claims 1 to 10 is used to remove obstacles at the bottom of a tank, including a mode of removing obstacles using a strong magnetic explosion-proof medium: When the robot body is trapped while moving at the bottom of the tank, the first hydraulic cylinder is activated and extended, causing the rotating unit to rotate counterclockwise until the strong magnetic explosion-proof medium is adsorbed onto the metal surface of the tank bottom, forming a fixed point for escape; activating and extending the second hydraulic cylinder to push the robot body out of the trapped area under the reaction force; After being freed, the first hydraulic cylinder is started and retracted, so that the rotating unit rotates clockwise until the non-magnetic explosion-proof medium contacts the metal surface of the tank bottom.

12. The tank cleaning robot assisted movement method according to claim 11, characterized in that: It also includes a mode of escaping using non-magnetic explosion-proof media, which is suitable for when there is a lot of oil sludge at the bottom of the tank and there is no strong magnetic explosion-proof media adsorbing the metal surface of the tank bottom: When the robot body is trapped by a sacrificial anode block during its movement at the bottom of the tank, the contact point between the non-magnetic explosion-proof medium part of the rotating unit and the upper edge of the sacrificial anode block is used as a fixed point for escape, and the second hydraulic cylinder is activated and extended to push the robot body out of the trapped area under the reaction force; or When the robot body is trapped by a sacrificial anode block during its movement at the bottom of the tank, the third hydraulic cylinder is activated and retracted to lift the rotating unit up and above the sacrificial anode block, and then the second hydraulic cylinder is retracted to complete the escape.

13. The tank cleaning robot assisted movement method according to claim 12, characterized in that: When the robot body is trapped by the tank wall, heating coil legs or floating plate pillars during its movement at the bottom of the tank, the fourth back plate at the front end is used as a fixed point for escape, and the second hydraulic cylinder is started and extended to push the robot body out of the trapped area under the reaction force.

14. The tank cleaning robot-assisted movement method according to any one of claims 11 to 13, characterized in that: During the escape process, the position and posture of the robot body are determined in real time through the extension and contraction of the second hydraulic cylinder.

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