According to the demand and the characteristic of oilcan cleaning, 3-D magnetic absorbing traveling method was used and the key component of the oilcan cleaning device-robot was designed.

• 根据油罐清洗的要求和油罐壁面的特点，采用磁吸附三维移动方式，设计了油罐清洗装置的关键部件-移动机构。