Auxiliary cleaning device for storage tank

Abstract

The invention relates to the technical field of storage tank cleaning, and particularly discloses a storage tank auxiliary cleaning device which comprises a vertical lifting mechanism and a horizontal cleaning execution arm, the horizontal cleaning execution arm is connected to the vertical lifting mechanism through a horizontal rotating mechanism, and a rectangular frame composed of rod pieces is arranged in the middle of the horizontal cleaning execution arm. The horizontal cleaning execution arm comprises a first telescopic rod and a second telescopic rod which are correspondingly connected with the two opposite sides in the length direction of the rectangular frame respectively, a cleaning executor is installed on the first telescopic rod, and the two opposite sides in the width direction of the rectangular frame are a third telescopic rod and a fourth telescopic rod respectively. Locking mechanisms are arranged between the telescopic ends of the third telescopic rod and the fourth telescopic rod and the rectangular frame. The technical problems that manual cleaning is high in safety risk, and existing automatic equipment is discontinuous in cleaning and has dead angles are solved, and the automatic cleaning device is particularly suitable for efficient, safe and full-coverage cleaning of paper pulp or building material pulp storage tanks internally provided with dense stand columns.

Description

Technical Field

[0001] This invention relates to the field of storage tank cleaning technology, and more particularly to an auxiliary cleaning device for storage tanks. Background Technology

[0002] Large vertical storage tanks are indispensable key infrastructure in industrial production such as energy, chemicals, building materials, and food. They are mainly used to store crude oil, refined oil, chemical raw materials, liquid food, and dry powder building materials such as cement and fly ash. In the storage and production of building material raw materials such as pulp and fiber cement board slurry, the stored slurry has high viscosity and is prone to caking on the tank walls and internal structure, requiring regular and thorough cleaning to ensure product quality.

[0003] Currently, cleaning primarily relies on manual entry into the tanks for high-pressure water gun cleaning, which suffers from high labor intensity, high safety risks, low cleaning efficiency, and inconsistent quality. Furthermore, to prevent tank deformation, a vertical column is typically welded inside the tank, or multiple vertical columns are welded around it. While some automated cleaning equipment has emerged, such as fixed nozzles or simple swing arm devices, their fixed movement trajectories cannot effectively handle dense column obstacles. When encountering columns, these devices often need to stop operating or undergo complex path replanning, resulting in a discontinuous cleaning process, numerous blind spots, and low automation.

[0004] Therefore, in order to solve such problems, we propose a storage tank auxiliary cleaning device. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing an auxiliary cleaning device for storage tanks.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A storage tank auxiliary cleaning device includes a vertical lifting mechanism and a horizontal cleaning execution arm. The horizontal cleaning execution arm is connected to the vertical lifting mechanism through a horizontal rotation mechanism. A rectangular frame composed of rods is provided in the middle of the horizontal cleaning execution arm. The horizontal cleaning actuator arm includes a first telescopic rod and a second telescopic rod that are respectively connected to two opposite sides along the length of the rectangular frame. A cleaning actuator is installed on the first telescopic rod, and the second telescopic rod is driven to be connected to the horizontal rotation mechanism. The rectangular frame has two opposite sides along its width direction, namely the third telescopic rod and the fourth telescopic rod, and the telescopic ends of the third telescopic rod and the fourth telescopic rod are provided with locking mechanisms between them and the rectangular frame.

[0007] Preferably, the cleaning actuator is a high-pressure rotary nozzle, a scraper, or a rotary brush.

[0008] Preferably, the vertical lifting mechanism includes a lifting support rod and a rotating disk. The end face of the lifting support rod is rectangular and slides through the rotating disk. A support disk is coaxially mounted on the edge of the rotating disk. A ring rack is coaxially mounted on the edge of the rotating disk. A rotating motor is fixed on the support disk. A drive gear is coaxially fixed on the rotating motor. The drive gear meshes with the ring rack. A plurality of positioning holes are equidistantly provided on the lifting support rod. A first electric push rod is provided on the rotating disk. The telescopic end of the first electric push rod can be inserted into the positioning holes.

[0009] Preferably, multiple lifting support rods can be provided, and two lifting support rods can be detachably fixedly connected end to end.

[0010] Preferably, the horizontal rotation mechanism includes a rotating seat rotatably connected to the end of the lifting support rod of the vertical lifting mechanism. A drive motor for driving the rotating seat to rotate is fixed on the side of the lifting support rod. A third electric push rod is fixed on the side of the lifting support rod opposite to the drive motor. The cross-section of the telescopic end of the third electric push rod is polygonal, and the telescopic end of the third electric push rod slides through the shaft of the lifting support rod and the rotating seat.

[0011] Preferably, the rectangular frame includes two side plates, the rear end of the first telescopic rod and the second telescopic rod are respectively located on opposite sides of the two side plates, and the rear end of the first telescopic rod and the telescopic end of the second telescopic rod are respectively fixedly connected to the middle of the two side plates.

[0012] Preferably, the third and fourth telescopic rods are both fixedly connected to the side plate near the second telescopic rod, and the telescopic ends of the third and fourth telescopic rods pass through the side plate and abut against the other side plate. The locking mechanism includes two positioning grooves provided on the side plate near the first telescopic rod. The telescopic ends of the third and fourth telescopic rods can be inserted into the two positioning grooves respectively. Two second electric push rods are fixed on the side plate. The telescopic ends of the two second electric push rods can be inserted into the positioning grooves at both ends respectively, and can be inserted into the telescopic ends of the third and fourth telescopic rods respectively. The telescopic ends of the third and fourth telescopic rods are provided with slots corresponding to the telescopic ends of the second electric push rods.

[0013] Preferably, the telescopic ends of the third and fourth telescopic rods are both fixed with connectors, and both connectors are sealed and plugged into mating seats. Both mating seats are fixedly connected to the first telescopic rod, and the connectors and mating seats can achieve electrical connection or water flow connection.

[0014] Preferably, the system also includes a control system and a sensor for detecting the internal columns of the storage tank. The control system is configured to: when the horizontal slewing mechanism drives the rectangular frame to rotate and encounters the internal columns, control the third and fourth telescopic rods to sequentially retract and extend, so that the internal columns of the storage tank can sequentially pass through both sides of the rectangular frame in the width direction.

[0015] A cleaning method using the above-mentioned auxiliary cleaning device includes the following steps: Step 1: First, align the rectangular frame and retract the third or fourth telescopic rod near the column to form a gap. After the column enters the rectangular frame, reset and extend the telescopic end of the third or fourth telescopic rod. Step 2: When the column moves to the other side of the rectangular frame, control the third or fourth telescopic rod on the side closest to the column to retract to form an exit. After the column leaves, the rectangular frame is restored.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1: The present invention, through the setting of the rectangular frame 3, which is equipped with controllable third and fourth telescopic rods, enables the device to actively allow the obstacle to pass through the frame by means of local frame deformation when it encounters the fixed column 24 obstacle, without stopping rotation or performing complex global path replanning. This achieves effective continuous operation and greatly improves cleaning efficiency.

[0017] 2. This invention combines vertical lifting and lowering layer sweeping, horizontal rotational circumferential sweeping, and radial adjustment of the first and second telescopic rods. The degree of freedom of movement effectively covers the entire vertical curved surface from the tank center to the tank wall. In particular, by deforming the frame to pass through the column 24, the cleaning actuator can clean areas behind the column 24 that are inaccessible to traditional rigid arms. Simultaneously, the entire cleaning process is fully automated, eliminating the need for operators to enter the enclosed tank environment, which may contain harmful gases or pose a slip risk. This fundamentally prevents related safety accidents and greatly improves operational safety.

[0018] 3. This invention can adapt to various tank types with different diameters, and different numbers and layouts of 24 uprights. The mechanical locking mechanism on the side of the frame ensures the overall rigidity and stability of the frame during cleaning operations. The modular design enhances the equipment's versatility and maintainability. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is the first isometric view of the present invention; Figure 2 This is the second isometric view of the present invention; Figure 3 for Figure 2 A magnified view of a section at point A in the middle; Figure 4 This is a schematic diagram of the vertical lifting mechanism of the present invention installed on the top of the storage tank; Figure 5 This is a schematic diagram of the internal structure of the storage tank in the horizontal cleaning actuator of the present invention.

[0021] In the diagram: 1. Vertical lifting mechanism; 2. Horizontal cleaning actuator arm; 3. Rectangular frame; 4. First telescopic rod; 5. Second telescopic rod; 6. Third telescopic rod; 7. Fourth telescopic rod; 8. Lifting support rod; 9. Rotary disc; 10. Support disc; 11. Ring rack; 12. Rotary motor; 13. Drive gear; 14. Positioning hole; 15. First electric push rod; 16. Rotating seat; 17. Drive motor; 18. Third electric push rod; 19. Side plate; 20. Second electric push rod; 21. Connecting joint; 22. Docking seat; 23. Storage tank; 24. Column. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0023] Reference Figure 1 - Figure 5 A storage tank auxiliary cleaning device includes a vertical lifting mechanism 1 and a horizontal cleaning execution arm 2. The horizontal cleaning execution arm 2 is connected to the vertical lifting mechanism 1 through a horizontal rotation mechanism. A rectangular frame 3 composed of rods is provided in the middle of the horizontal cleaning execution arm 2. The horizontal cleaning actuator 2 includes a first telescopic rod 4 and a second telescopic rod 5 connected to opposite sides along the length of the rectangular frame 3. A cleaning actuator is mounted on the first telescopic rod 4. The telescopic movement of the first telescopic rod 4 and the second telescopic rod 5 drives the cleaning actuator to move along the length of the rectangular frame 3 to adjust its cleaning radius. The first telescopic rod 4 and the second telescopic rod 5 can be electrically driven push rods, with their internal motors electrically connected to the output of the control system to receive telescopic commands. The storage tank 23 is a pulp storage tank 23 or a building material slurry storage tank 23. The second telescopic rod 5 is driven by a horizontal rotary mechanism. The rectangular frame 3 has two opposite sides along its width that are the third telescopic rod 6 and the fourth telescopic rod 7, respectively. The third telescopic rod 6 and the fourth telescopic rod 7 are also electrically driven push rods. A locking mechanism is provided between the telescopic ends of the third telescopic rod 6 and the fourth telescopic rod 7 and the rectangular frame 3.

[0024] The device also includes a control system and sensors for detecting the internal columns 24 of the storage tank 23. The control system can be a PLC, a microcontroller, or an industrial computer. The control system is electrically connected to the vertical lifting mechanism 1, the horizontal rotation mechanism, the first telescopic rod 4, the second telescopic rod 5, the third telescopic rod 6, the fourth telescopic rod 7, and the signal output terminals of the sensors. The control system is configured to: when the horizontal rotation mechanism drives the rectangular frame 3 to rotate and encounters the internal column 24, control the third telescopic rod 6 and the fourth telescopic rod 7 to sequentially retract and extend, so that the internal columns 24 of the storage tank 23 can sequentially pass through both sides of the rectangular frame 3 in the width direction. The sensors are contact sensors, ultrasonic sensors, laser rangefinders, or vision sensors. The sensors are preferably mounted on the front side plate 19 of the rectangular frame 3, with their detection direction facing the rotational direction of the horizontal cleaning arm 2, for real-time measurement of the distance to obstacles in front and feedback of the signal to the control system. The control system is further configured to: first, control the retraction of either the third telescopic rod 6 or the fourth telescopic rod 7 near the column 24 to form an entry gap; after the column 24 enters the rectangular frame 3, control the rod to extend; subsequently, when the column 24 moves to a position close to the other side of the rectangular frame 3, control the retraction of the other telescopic rod to form an exit. The control logic includes: the control system receives sensor signals, and when a distance less than a set threshold is detected, it determines that the column 24 has been encountered; based on the rotation direction and the azimuth angle of the column 24, it determines which side of the frame to approach first, thereby deciding whether to control the third telescopic rod 6 or the fourth telescopic rod 7 to move first.

[0025] In a specific embodiment, the storage tank 23 is a vertical cylindrical tank with an inner diameter of 3 meters and a height of 5 meters, and four vertical columns 24 with a diameter of 150 mm are evenly distributed inside. (See details below.) Figure 5 As shown.

[0026] As a technical optimization of the present invention, the cleaning actuator is a high-pressure rotary nozzle, a scraper, or a rotary brush. The cleaning actuator is installed at the end of the first telescopic rod 4 via an existing quick-change interface, or it can be installed at the end of the first telescopic rod 4 by bolts. The high-pressure rotary nozzle is connected to an external pumping system via a high-pressure hose, and its rotary motor is electrically connected to the output end of the control system.

[0027] As an optimized technical solution of the present invention, the vertical lifting mechanism 1 includes a lifting support rod 8 and a rotating disk 9. The end face of the lifting support rod 8 is rectangular and slides through the rotating disk 9. A support disk 10 is coaxially mounted on the edge of the rotating disk 9. A ring rack 11 is coaxially mounted on the edge of the rotating disk 9. A rotating motor 12 is fixed on the support disk 10. A drive gear 13 is coaxially fixed on the rotating motor 12. The drive gear 13 meshes with the ring rack 11. The rotating motor 12 drives the drive gear 13 to rotate, thereby driving the meshing ring rack 11 and the rotating disk 9 to rotate relative to the support disk 10. A plurality of positioning holes 14 are equidistantly provided on the lifting support rod 8. A first electric push rod 15 is provided on the rotating disk 9. The telescopic end of the first electric push rod 15 can be inserted into the positioning holes 14. When the telescopic end of the first electric push rod 15 is inserted into the positioning hole 14, the lifting support rod 8 and the rotating disk 9 are relatively fixed; when retracted, the lifting support rod 8 can be freely raised and lowered. Multiple lifting support rods 8 can be installed, and two lifting support rods 8 can be detachably fixed end to end, for example, by flange and bolt connection. The uppermost lifting support rod 8 can be lifted by an existing crane for easy installation on the top of the storage tank 23, which has an inlet at the top.

[0028] As an optimized technical solution of the present invention, the horizontal rotation mechanism includes a rotating seat 16 rotatably connected to the end of the lifting support rod 8 of the vertical lifting mechanism 1. A drive motor 17 for driving the rotating seat 16 to rotate is fixed on the side of the lifting support rod 8. The drive motor 17 can be connected to the rotating shaft of the rotating seat 16 through a worm gear or a gear pair. A third electric push rod 18 is fixed on the side of the lifting support rod 8 opposite to the drive motor 17. The telescopic end of the third electric push rod 18 has a polygonal cross-section and slides through the rotating shaft of the lifting support rod 8 and the rotating seat 16. When the third electric push rod 18 extends so that its polygonal telescopic end is inserted into the polygonal hole corresponding to the rotating shaft of the rotating seat 16, the rotating seat 16 and the lifting support rod 8 are locked and cannot rotate relative to each other. When the third electric push rod 18 retracts, the rotating seat 16 can be driven to rotate freely by the drive motor 17.

[0029] As a technical optimization of the present invention, the rectangular frame 3 includes two side plates 19, the rear end of the first telescopic rod 4 and the second telescopic rod 5 are respectively located on opposite sides of the two side plates 19, and the rear end of the first telescopic rod 4 and the telescopic end of the second telescopic rod 5 are respectively fixedly connected to the middle of the two side plates 19, for example by bolts or welding.

[0030] As an optimized technical solution of the present invention, the third telescopic rod 6 and the fourth telescopic rod 7 are both fixedly connected to the side plate 19 near the second telescopic rod 5, and their main bodies are fixed to the side plate 19 by a bracket. The telescopic ends of the third telescopic rod 6 and the fourth telescopic rod 7 both pass through the side plate 19 and abut against the other side plate 19. The locking mechanism includes two positioning grooves provided on the side plate 19 near the first telescopic rod 4. The telescopic ends of the third telescopic rod 6 and the fourth telescopic rod 7 can be inserted into the two positioning grooves respectively. Two second electric push rods 20 are fixed on the side plate 19. The telescopic ends of the two second electric push rods 20 can be inserted into the positioning grooves at both ends respectively, and can be inserted into the telescopic ends of the third telescopic rod 6 and the fourth telescopic rod 7 respectively. The telescopic ends of the third telescopic rod 6 and the fourth telescopic rod 7 are provided with slots corresponding to the telescopic ends of the second electric push rods 20. When the telescopic end is inserted into the positioning groove, and the telescopic end of the second electric push rod 20 is further inserted into its slot, double mechanical locking is achieved to prevent the telescopic end from coming out of the positioning groove when subjected to force.

[0031] As a technical optimization of the present invention, the telescopic ends of the third telescopic rod 6 and the fourth telescopic rod 7 are both fixed with connectors 21. Each connector 21 is sealed and plugged into a mating seat 22, and both mating seats 22 are fixedly connected to the first telescopic rod 4, for example, fixed to the shell wall of the first telescopic rod 4. The connectors 21 and mating seats 22 can achieve electrical connection or water flow connection. In one specific embodiment, the connector 21 may be provided with electrical contacts or a water-electricity hybrid quick-connect connector, and the mating seat 22 may be provided with a corresponding interface. When the connector 21 is inserted into the mating seat 22, it can complete the connection to supply power to the cleaning actuator or deliver high-pressure water flow, as well as supply power to the first telescopic rod 4, thereby reducing the number of movable pipelines penetrating the frame and improving reliability.

[0032] A cleaning method using the above-mentioned auxiliary cleaning device includes the following steps: Step 1: First, control the rectangular frame 3 to align and retract the third telescopic rod 6 or the fourth telescopic rod 7 on the side close to the column 24 to form a notch. After the column 24 enters the rectangular frame 3, reset and extend the telescopic end of the third telescopic rod 6 or the fourth telescopic rod 7. Step 2: When the column 24 moves to the other side of the rectangular frame 3, control the third telescopic rod 6 or the fourth telescopic rod 7 on the side closest to the column 24 to retract to form an outlet. After the column 24 leaves, the rectangular frame 3 returns to its original position.

[0033] Throughout the obstacle avoidance process in steps 1 and 2, the rotational movement of the horizontal cleaning arm 2 and the cleaning operation of the cleaning actuator can be maintained continuously, with only minor speed adjustments as needed.

[0034] In use, the horizontal cleaning arm 2 is lowered to a specified height inside the tank and rotated to a horizontal position. The vertical lifting mechanism 1 drives the horizontal cleaning arm 2 to rotate, which in turn drives the rectangular frame 3 to rotate and starts the cleaning actuator. The presence of an internal column 24 in front of the rotating part is detected in real time. The sensor works continuously and sends signals to the control system. If an internal column 24 is detected, the third telescopic rod 6 and the fourth telescopic rod 7 are controlled to retract and extend in sequence. According to the preset logic, the control system first unlocks the corresponding second electric push rod 20, then controls the corresponding telescopic rod to retract, and then performs a reverse action to lock it, so that the internal column 24 can pass through both sides of its width direction in sequence while the rectangular frame 3 is rotating and cleaning. After completing one cycle of cleaning, the height is adjusted and the above steps are repeated. The vertical lifting mechanism 1 can control the height of the horizontal cleaning arm 2, rotate the device back to the initial angle for lifting, and then adjust the lifting support rod 8 to the new height level, and start rotating and cleaning again.

[0035] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A storage tank auxiliary cleaning device, characterized in that, It includes a vertical lifting mechanism (1) and a horizontal cleaning execution arm (2). The horizontal cleaning execution arm (2) is connected to the vertical lifting mechanism (1) through a horizontal rotation mechanism. A rectangular frame (3) composed of rods is provided in the middle of the horizontal cleaning execution arm (2). The horizontal cleaning actuator (2) includes a first telescopic rod (4) and a second telescopic rod (5) connected to two opposite sides along the length of the rectangular frame (3). A cleaning actuator is installed on the first telescopic rod (4), and the second telescopic rod (5) is driven and connected to the horizontal rotary mechanism. The rectangular frame (3) has two opposite sides along its width direction, namely the third telescopic rod (6) and the fourth telescopic rod (7), and the telescopic ends of the third telescopic rod (6) and the fourth telescopic rod (7) are provided with locking mechanisms between them and the rectangular frame (3).

2. The storage tank auxiliary cleaning device according to claim 1, characterized in that, The cleaning actuator is a high-pressure rotary nozzle, scraper, or rotary brush.

3. The storage tank auxiliary cleaning device according to claim 1, characterized in that, The vertical lifting mechanism (1) includes a lifting support rod (8) and a rotating disk (9). The end face of the lifting support rod (8) is rectangular and slides through the rotating disk (9). The edge of the rotating disk (9) is coaxially fitted with a support disk (10). The edge of the rotating disk (9) is coaxially fitted with a ring rack (11). A rotating motor (12) is fixed on the support disk (10). The rotating motor (12) is coaxially fixed with a drive gear (13). The drive gear (13) meshes with the ring rack (11). The lifting support rod (8) is provided with several positioning holes (14) at equal intervals. The rotating disk (9) is provided with a first electric push rod (15). The telescopic end of the first electric push rod (15) can be inserted into the positioning holes (14).

4. The storage tank auxiliary cleaning device according to claim 3, characterized in that, Multiple lifting support rods (8) can be provided, and two lifting support rods (8) can be detachably fixedly connected end to end.

5. The storage tank auxiliary cleaning device according to claim 4, characterized in that, The horizontal rotation mechanism includes a rotating seat (16) rotatably connected to the end of the lifting support rod (8) of the vertical lifting mechanism (1). A drive motor (17) for driving the rotating seat (16) to rotate is fixed on the side of the lifting support rod (8). A third electric push rod (18) is fixed on the side opposite to the drive motor (17). The cross-section of the telescopic end of the third electric push rod (18) is polygonal. The telescopic end of the third electric push rod (18) slides through the shaft of the lifting support rod (8) and the rotating seat (16).

6. The storage tank auxiliary cleaning device according to claim 1, characterized in that, The rectangular frame (3) includes two side plates (19), the rear end of the first telescopic rod (4) and the second telescopic rod (5) are located on opposite sides of the two side plates (19), and the rear end of the first telescopic rod (4) and the telescopic end of the second telescopic rod (5) are fixedly connected to the middle of the two side plates (19).

7. The storage tank auxiliary cleaning device according to claim 6, characterized in that, The third telescopic rod (6) and the fourth telescopic rod (7) are both fixedly connected to the side plate (19) near the second telescopic rod (5), and the telescopic ends of the third telescopic rod (6) and the fourth telescopic rod (7) pass through the side plate (19) and abut against the other side plate (19). The locking mechanism includes two positioning grooves on the side plate (19) near the first telescopic rod (4). The telescopic ends of the third telescopic rod (6) and the fourth telescopic rod (7) can be inserted into the two positioning grooves respectively. Two second electric push rods (20) are fixed on the side plate (19). The telescopic ends of the two second electric push rods (20) can be inserted into the positioning grooves at both ends respectively, and can be inserted into the telescopic ends of the third telescopic rod (6) and the fourth telescopic rod (7) respectively. The telescopic ends of the third telescopic rod (6) and the fourth telescopic rod (7) are provided with slots corresponding to the telescopic ends of the second electric push rods (20).

8. The storage tank auxiliary cleaning device according to claim 7, characterized in that, The telescopic ends of the third telescopic rod (6) and the fourth telescopic rod (7) are both fixed with a connector (21). Both connectors (21) are sealed and plugged into a mating seat (22). Both mating seats (22) are fixedly connected to the first telescopic rod (4). The connectors (21) and the mating seats (22) can achieve electrical connection or water flow connection.

9. The storage tank auxiliary cleaning device according to claim 1, characterized in that, It also includes a control system and a sensor for detecting the internal column (24) of the storage tank (23). The control system is configured to control the third telescopic rod (6) and the fourth telescopic rod (7) to retract and extend sequentially when the horizontal slewing mechanism drives the rectangular frame (3) to rotate and encounter the internal column (24), so that the internal column (24) of the storage tank (23) can pass through both sides of the rectangular frame (3) in the width direction in sequence.

10. A cleaning method using any one of the auxiliary cleaning devices described in claims 1-9, characterized in that, Includes the following steps: Step 1: First, control the rectangular frame (3) to align with the third telescopic rod (6) or the fourth telescopic rod (7) on the side close to the column (24) to retract and form a notch. After the column (24) enters the rectangular frame (3), make the telescopic end of the third telescopic rod (6) or the fourth telescopic rod (7) return to its original position and extend. Step 2: When the column (24) moves to the other side of the rectangular frame (3), control the third telescopic rod (6) or the fourth telescopic rod (7) on the side closest to the column (24) to retract to form an outlet. After the column (24) leaves, the rectangular frame (3) is restored.

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