Abstract: This paper presents the development of a cleaning and retrieval tooling for internal residues in stainless steel storage tanks that adopts, double-sided permanent magnetic adsorption wall-climbing technology, enabling the robot carrier platform to stably adhere to the stainless steel tank wall and move omnidirectionally. On this basis, an integrated multifunctional end-effector is developed and is connected through the robot carrier platform to achieve high-pressure water cleaning of internal wall residues, crushing of bottom residues, and efficient retrieval. Through the design and integration optimization of the entire tooling, non-intrusive and remote cleaning and retrieval of tank internal residues are realized. Systematic experimental verification is conducted to evaluate the adhesion stability and mobility of the double-sided permanent magnetic adsorption wall-climbing robot on the inner wall of a stainless steel tank, and to investigate the cleaning effect of different high-pressure water cleaning pressures and spray angles on wall residues, as well as the crushing and retrieval effect of different movement speeds and blade rotation speeds on bottom residues. The experimental results show that the wall-climbing robot achieves a maximum vertical load of 23 kg, with an adjustable movement speed in the range of 0-10 m/min. Under a cleaning pressure of 30 MPa and a spray angle of 40°, the cleaning efficiency is 3.792 kg/min with a residue rate of 5.2%. With the robot′s bottom movement speed at 3 m/min and a blade rotation speed of 350 r/min, the crushing and retrieval efficiency is 1.842 kg/min with a residue rate of 7.9%.

Key words: stainless steel storage tank, residue, double-sided magnetic adsorption, cleaning and retrieval