Large spherical tank cleaning and detecting equipment based on multi-degree-of-freedom positioning mechanism

Abstract

A large spherical tank cleaning and detecting device based on a multi-degree-of-freedom positioning mechanism is a device which is simple in structure, reliable in work and capable of semi-automatically cleaning the inner wall of a spherical tank, avoids the trouble of building a scaffold and climbing up and down, and greatly reduces the workload of carrying, building and dismantling the scaffold. According to the structure, a main rod (4), supporting rods, a top rod and a supporting rod (15) which are installed in a spherical tank (2) are all of multiple sections and are detachably and fixedly connected, the middle section of the main rod is connected with two supporting rods (5) in a hinged mode, the end sections (7) of the supporting rods can be provided with an inner workbench (8) or a cleaning trolley so that cleaning or inspection can be facilitated, an electric lifting machine (19) is installed in an outer workbench (18) and can climb upwards along an outer steel wire rope (17), and the outer workbench (18) can climb upwards along the outer steel wire rope (17). The outer workbench (18), the inner workbench (8) and the cleaning trolley (23) rotate along with the main rod (4).

Description

Technical Field

[0001] The present invention relates to the technical field of maintenance and repair of chemical containers, and particularly to a large spherical tank cleaning and detection device based on a multi-degree-of-freedom positioning mechanism. Background Art

[0002] A spherical container (spherical tank) is a steel container device. It is used in the petroleum refining industry and petrochemical industry to store liquid or gaseous materials. Its operating temperature is generally from -50 to 50 °C, and its operating pressure is generally below 3 MPa. Compared with a cylindrical container, a spherical tank uses less steel, occupies less land, and has a simpler foundation project. However, the manufacturing, welding, and assembly of spherical tanks have strict requirements, a large amount of inspection work, and high manufacturing costs are its disadvantages.

[0003] To ensure production safety and prevent accidents, spherical tanks must be compulsorily inspected every 3 to 5 years. Before the inspection, generally, the user of the spherical tank cleans the inner wall of the spherical tank to remove dirt and rust. Since the diameter of the spherical tank is very large (the inner diameter of a 4000 m3 spherical tank is nearly 20 meters, equivalent to the height of a six-story building), and the inside is a smooth arc surface without any handholds or handrails, it is necessary to erect a scaffolding to carry out the cleaning. The usual method is to put thousands of short steel pipes with a length of 2 to 2.5 meters into the manhole at the lower part of the spherical tank (the manhole at the lower part is about 2 meters from the ground, and longer ones cannot be put in), and use special scaffolding clips to form a three-dimensional grid with a side length of 1 meter to fill the entire spherical tank. After the internal scaffolding is completed, workers will then carry out the cleaning: removing dirt and rust. This working environment is extremely harsh: the residual chemical gases are generally harmful to the human body. Coupled with the inevitable generation of dust during the cleaning work and poor ventilation, this often causes double (chemical and dust) permanent damage to the lungs of workers. After the cleaning work is completed, inspectors from the inspection department will drill into the spherical tank with instruments for four detections: wall thickness measurement, internal layer ultrasonic flaw detection, surface crack magnetic particle flaw detection, and spectral analysis of the spherical tank material composition. After all four detections meet the standards, the user will then remove the internal scaffolding and erect it outside the spherical tank so that the inspectors can detect the welds of the spherical tank and the support legs. After all detections are qualified, finally, all the external scaffolding will be removed before it can be used normally. Summary of the Invention

[0004] The present invention discloses a large spherical tank cleaning and detection device based on a multi-degree-of-freedom positioning mechanism, and the purpose is: to let the machine complete the cleaning work of the inner wall of the spherical tank with a harsh environment to protect the physical health of workers; to eliminate the trouble of staff erecting and climbing up and down the scaffolding, shorten the cleaning and detection time of the spherical tank, prevent the falling accidents that occur when the staff climbs up and down, and greatly reduce the workload of transporting, constructing, and demolishing the scaffolding.

[0005] The object of the present invention is achieved as follows: A temporary hanging bracket is installed inside the upper part of the manhole on the outside of the spherical tank. The components of the present invention are disassembled into parts that can enter through the manhole and are gradually placed into the spherical tank from the lower manhole and hoisted onto the platform above the spherical tank in sequence, and then assembled inside and above. The present invention mainly consists of an upper support frame (the only component transported from outside the spherical tank), a main rod, a support rod, a top rod, a strut, an inner workbench, an outer workbench, a lower support frame, a driving part, an electrical control part, etc. There is an inner cylinder in the middle of the upper support frame as a bushing, and the upper end of the main rod is inserted into the inner cylinder. Both the main rod and the support rod are multi-section and made of steel pipes, and are fixedly connected together by means of flange plates or other quick-installation methods. The main rod is vertically installed on the center line of the spherical tank. A fixed pulley is fixedly connected to the side of the upper section of the main rod. A steel wire rope passes through the fixed pulley. One end of the steel wire rope is fixedly connected to the top of the inner workbench, and the other end of the steel wire rope extends downward after passing through the fixed pulley and is finally fixedly connected to a winch driven by a low-speed variable-frequency motor through a worm and worm gear. Starting the low-speed variable-frequency motor can control the lifting of the inner workbench, and the lifting of the inner workbench is driven by the traction of the steel wire rope.

[0006] A lug is welded to the central section of the main rod and is hinged to the assembled support rod. The inner workbench is a rectangular basket-shaped part, and the rear beam on the inner side is hinged to the support rod. The inner workbench is also assembled from multiple blocks inside the spherical tank and is the platform for workers to stand on. A tapered roller bearing is installed at the lower end of the main rod, and a low-speed servo motor with gear reduction is installed on the lower side of the main rod. A small gear is installed at the end of the output shaft, and the small gear meshes with a large gear disk fixed to the upper part of the lower support frame. When the motor rotates, it will drive the overall rotation of the main rod, drive the support rod to rotate with the main rod, and make the workbench rotate at a certain distance from the inner surface of the spherical tank, facilitating the operation of workers. A top rod is installed outside the spherical tank at the top of the main rod. A support rod is hinged to the top rod, and the outer ends of the support rod are fixedly connected to the ends of two steel wire ropes. The other end of the upper steel wire rope passes through the fixed pulley at the top of the top rod and is fixedly connected to bear the weight of the outer workbench on the side of the top rod. The other end of the lower steel wire rope passes through a hoist installed inside the outer workbench, which can lift and lower the outer workbench.

[0007] The cleaning trolley is a trolley equipped with four motors and four polishing wire wheels. It relies on an air cylinder to press against the inner wall of the spherical tank to make up for the error of the spherical diameter and relies on elastic wheels to achieve positioning with the spherical tank wall. The trolley moves vertically (most of the welds of the spherical tank are vertical). The upward movement of the trolley is driven by the pulling of the steel wire rope, and the downward movement is by gravity and the relaxation of the steel wire rope. The horizontal movement is by the rotation of the main rod after the cleaning trolley retracts. The vertical movement stroke is controlled by a proximity switch through a PLC, and the horizontal movement stroke is controlled by internal programming of the PLC (the motor controlling the rotation of the main rod is a brushless servo motor).

[0008] The outer workbench is integral. It is lifted by a hoist installed at the lower part of the outer workbench and a steel wire rope fixed to the end of the support rod, and rotates horizontally around the spherical tank by the rotation of the main rod.

[0009] The technical features claimed in the present invention are as follows: the main rod, the support rod, the top rod, and the support rod are all multi-section, and the multi-sections are detachably and fixedly connected. The main rod and the top rod are installed on the vertical center line of the spherical tank. The middle section of the main rod and the root sections of the two support rods are detachably hinged by a pin shaft. The root section of the support rod and the middle section of the support rod are detachably and fixedly connected. The middle section of the support rod and the end section of the support rod are detachably and fixedly connected. The end section of the support rod and the rear beam of the inner workbench are detachably hinged by a pin shaft. The upper section of the main rod is detachably and movably connected to the inner cylinder. The top section of the main rod is detachably and movably connected to the upper stabilizing frame. The top section of the main rod and the support rod are detachably hinged by a pin shaft. The middle section of the main rod is installed at the center of the spherical tank. One end of the lifting wire rope is detachably and fixedly connected to the hanging nose above the rear beam of the inner workbench, and the other end of the lifting wire rope is fixedly connected to the winch. The rear beam of the inner workbench and the inner workbench are detachably and fixedly connected by a bolt-nut pair. The cleaning trolley positioning arm and the rear beam of the inner workbench are detachably hinged by a pin shaft. The cleaning trolley positioning arm and the vertical stabilizing rod are detachably hinged by a pin shaft. A polishing motor is detachably and fixedly connected to the cleaning trolley. A wire polishing wheel is fixedly connected to the polishing motor shaft. Longitudinal wheels are installed under the cleaning trolley. An electric hoist is installed on the outer workbench. The electric hoist is movably connected to the lower end of the outer wire rope. The upper end of the outer wire rope is fixedly connected to the outer end of the support rod. Above the outer end of the support rod, a top wire rope is fixedly connected. The other end of the top wire rope is fixedly connected to the steel bar nose of the fixed rope arc plate. The top of the top section of the top rod is movably installed with a top pulley.

[0010] The beneficial effects of the present invention are as follows: it eliminates the trouble of workers building and climbing scaffolds, greatly reduces the labor intensity of workers, directly jumps from climbing scaffolds to taking an elevator, shortens the time for cleaning and detecting the spherical tank, hands over the most complicated physical labor to the machine, and protects the physical health of workers. It prevents accidents of personnel and instruments falling when workers climb up and down, ensures the safety of work, reduces the workload of handling, constructing, and demolishing these thousands of scaffolds by 93%. The workload that originally took a week can now be completed in half a day, greatly shortening the maintenance period. Description of the Drawings

[0011] Figure 1 It is a schematic diagram of the installation position and composition of the present invention inside and outside the spherical tank.

[0012] Figure 2 It is a schematic diagram of the semi-automatic cleaning work of the present invention.

[0013] Figure 3 It is a three-dimensional view of the upper support frame of the present invention.

[0014] Figure 4 It is a schematic diagram of the topmost structure of the main rod of the present invention.

[0015] Figure 5 It is a schematic diagram of the structure of the rope pusher assembly of the present invention.

[0016] Figure 6 It is a longitudinal sectional view of the outer workbench of the present invention.

[0017] Figure 7 It is a perspective view of the outer workbench of the present invention.

[0018] Figure 8 It is a schematic diagram of the structure of the root section of the main rod of the present invention.

[0019] Figure 9 It is a schematic diagram of the structure of the lower support frame of the present invention.

[0020] Figure 10 It is a schematic diagram of the structure of the inner workbench of the present invention.

[0021] Figure 11 It is a schematic diagram of the structure of the canvas pocket in the inner workbench of the present invention.

[0022] Figure 12 It is a schematic diagram of the structure of the upper section of the main rod of the present invention.

[0023] Figure 13 It is a schematic diagram of the structure of the middle section of the main rod of the present invention.

[0024] Figure 14 It is a perspective structure schematic diagram of the cleaning cart positioning arm of the present invention.

[0025] Figure 15 It is a perspective structure schematic diagram of the cleaning cart frame of the present invention.

[0026] Figure 16 It is the front view (seen from the side) of the cleaning cart of the present invention.

[0027] Figure 17 It is the top view of the cleaning cart with the upper support frame removed of the present invention.

[0028] Figure 18 It is the front view of the whole of the present invention.

[0029] Figure 19 It is the top view of the whole of the present invention.

[0030] Figure 20 It is a schematic diagram of the movement process of the present invention.

[0031] Figure 21 It is the front view of the hanging basket assembly in the present invention.

[0032] Figure 22It is the top view of the hanging basket assembly in the present invention.

[0033] In the figure: 1. Lower manhole, 2. Spherical tank, 3. Spherical tank support leg, 4. Main rod, 5. Root section of the support rod, 6. Middle section of the support rod, 7. End section of the support rod, 8. Inner workbench, 9. Lifting wire rope, 10. Lifting fixed pulley, 11. Upper support frame, 12. Upper stabilizing frame, 13. Top section of the main rod, 14. Top section of the top rod, 15. Bracing rod, 16. Rope pusher assembly, 17. Outer wire rope, 18. Outer workbench, 19. Electric hoist, 20. Root section of the main rod, 21. Lower support seat, 22. Rear beam of the inner workbench, 23. Cleaning trolley, 24. Positioning arm of the cleaning trolley, 25. Inner cylinder, 26. Fixed plate of the inner cylinder, 27. Support plate of the inner cylinder, 28. Ball bearing, 29. Fixed rope arc plate, 30. Top support ear, 31. Top pulley, 32. Top guard plate, 33. Top wire rope, 34. Short leg of the stabilizing frame, 35. Connecting pipe, 36. Rope pusher support ear, 37. Rope pusher pneumatic cylinder, 38. Pneumatic cylinder push rod of the rope pusher, 39. Outer swing arm, 40. Wheel ear of the outer swing arm, 41. Fixed pulley of the outer swing arm, 42. Rope guard plate of the fixed pulley of the outer swing arm, 43. Fixed pulley on the outer workbench, 44. Upper window frame, 45. Rear fixed pulley of the outer workbench, 46. Door lock, 47. Side door, 48. Skin, 49. Bottom frame of the outer workbench, 50. Bottom plate of the outer workbench, 51. Floor of the outer workbench, 52. Middle rubber block, 53. Support of the middle rubber block, 54. Left fixed bent arm, 55. Side rubber block, 56. Fixed clip of the left bent arm, 57. Door hinge, 58. Front frame of the outer workbench, 59. Right movable arm, 60. Axis of the movable arm, 61. Force increasing rod, 62. Pinion, 63. Reducer box, 64. Main rod rotating motor, 65. Motor fixing frame rod, 66. Winch frame seat plate, 67. Winch frame, 68. Winch shaft, 69. Winch, 70. Worm wheel shaft, 71. Worm and worm wheel box, 72. Winch lifting motor, 73. Welding plate, 74. Tapered roller bearing, 75. Connecting leg, 76. Welding leg, 77. Large gear disc, 78. Outer ring of the tapered roller bearing, 79. Rear beam lower support ear, 80. Bottom frame, 81. Front vertical beam, 82. Side handrail, 83. Front handrail, 84. Rear vertical beam, 85. Diagonal beam, 86. Suspension nose, 87. Rear beam upper support ear, 88. Middle support ear of the rear beam, 89. Workbench plate ear, 90. Canvas bag, 91. Frame rod plate ear, 92. Frame rod, 93. Upper section of the main rod, 94. Middle section of the main rod, 95. Middle section support plate ear, 96. Penetrating support cylinder, 97. Stabilizing pin, 98. Telescopic rod, 99. Limit support ear, 100. Pneumatic push rod front support ear, 101. Pneumatic cylinder push rod, 102. Pneumatic cylinder, 103. Pneumatic cylinder rear support ear, 104. Rear support cylinder, 105. Trolley frame, 106. Upper support frame of the trolley, 107. Upper support frame plate ear, 108. Reinforcing plate of the upper support frame plate ear, 109. Spring seat, 110. Wheel, 111. Wheel frame, 112. Wheel positioning plate, 113. Wire polishing wheel, 114. Polishing motor. Detailed Embodiments

[0034] The following will describe in detail the specific embodiments of the present invention. To avoid excessive unnecessary details, well-known structures or functions will not be described in detail in the following embodiments. Approximating language used in the following embodiments may be used for quantitative expressions, indicating that certain variations in quantity are permissible without changing the basic function. Unless otherwise defined, the technical and scientific terms used in the following embodiments have the same meaning as commonly understood by those skilled in the art to which the present invention pertains.

[0035] The present invention includes a lower manhole 1, a spherical tank 2, spherical tank legs 3, a main rod 4, a root section of the support rod 5, a middle section of the support rod 6, an end section of the support rod 7, an inner workbench 8, a hoisting steel wire rope 9, a hoisting fixed pulley 10, an upper support frame 11, an upper stabilizing frame 12, a top section of the main rod 13, a top section of the top rod 14, a support rod 15, a rope pusher assembly 16, an outer steel wire rope 17, an outer workbench 18, an electric hoister 19, a root section of the main rod 20, a lower support seat 21, a rear beam of the inner workbench 22, a cleaning cart 23, a positioning arm of the cleaning cart 24, an inner cylinder 25, an inner cylinder fixing plate 26, an inner cylinder support plate 27, a ball bearing 28, a fixed rope arc plate 29, a top support ear 30, a top pulley 31, a top guard plate 32, a top steel wire rope 33, a short leg of the stabilizing frame 34, a connecting pipe 35, a rope pusher support ear 36, a rope pusher pneumatic cylinder 37, a push rod of the rope pusher pneumatic cylinder 38, an outer swing arm 39, a wheel ear of the outer swing arm 40, a fixed pulley of the outer swing arm 41, a rope protection plate of the fixed pulley of the outer swing arm 42, an upper fixed pulley of the outer workbench 43, an upper window frame 44, a rear fixed pulley of the outer workbench 45, a door lock 46, a side door 47, a skin 48, a bottom frame of the outer workbench 49, a bottom plate of the outer workbench 50, a floor of the outer workbench 51, a middle rubber block 52, a support of the middle rubber block 53, a left fixed bent arm 54, a side rubber block 55, a fixing clip of the left bent arm 56, a door hinge 57, a front frame of the outer workbench 58, a right movable arm 59, a movable arm shaft 60, a force increasing rod 61, a pinion 62, a reduction box 63, a main rod rotating motor 64, a motor fixing frame rod 65, a winch frame seat plate 66, a winch frame 67, a winch shaft 68, a winch 69, a worm shaft 70, a worm and worm gear box 71, a winch hoisting motor 72, a welding plate 73, a tapered roller bearing 74, a connecting leg 75, a welding leg 76, a large gear disc 77, an outer ring of the tapered roller bearing 78, a rear beam lower support ear 79, a bottom frame 80, a front vertical beam 81, a side handrail 82, a front handrail 83, a rear vertical beam 84, an inclined beam 85, a hanging nose 86, a rear beam upper support ear 87, a rear beam middle support ear 88, a workbench plate ear 89, a canvas bag 90, a frame rod plate ear 91, a frame rod 92, an upper section of the main rod 93, a middle section of the main rod 94, a middle section support plate ear 95, a through support cylinder 96, a stabilizing pin 97, a telescopic rod 98, a limit support ear 99, a pneumatic push rod front support ear 100, a pneumatic cylinder push rod 101, a pneumatic cylinder 102, a pneumatic cylinder rear support ear 103, a rear support cylinder 104, a cart skeleton 105, an upper support of the cart 106, an upper support plate ear 107, a reinforcing plate of the upper support plate ear 108, a spring seat 109, a wheel 110, a wheel frame 111, a wheel positioning plate 112, a wire polishing wheel 113, a polishing motor 114.

[0036] The installation positions and components of the present invention inside and outside the spherical tank 2 are shown in Figure 1: On the ground, the spherical tank 2 is supported by the spherical tank support legs 3. Since the inner diameter of the lower manhole 1 of the spherical tank 2 is only 0.5 m, and the lower edge of the lower manhole 1 is only 2 m away from the ground, any component with a length greater than 2 m, or a width or diameter greater than 0.5 m cannot enter the spherical tank 2 through the lower manhole 1. In the present invention, components with a length greater than 2 m or a width greater than 0.5 m must be disassembled into components smaller than this size before they can be placed into the spherical tank 2 and then assembled for use. The components vertically installed inside the spherical tank 2 in the present invention are: the main rod 4 approximately equivalent to the diameter length of the spherical tank 2 at the vertical center line, and the other two support rods approximately equivalent to the radius length of the spherical tank 2, as well as the inner workbench 8 and the lower support seat 16. For the cleaning work, the inner workbench 8 can be temporarily not used, and only the rear beam 22 of the inner workbench, the two vertical stabilizing rods, the cleaning trolley 23, the cleaning trolley positioning arm 24 and other components are used, and all of them are detachable. For the parts on the upper part of the spherical tank 2, except for the upper support frame 11, all the assemblies are disassembled into parts and hoisted to the top of the spherical tank 2 by using a winch through the upper and lower manholes and the fixed pulleys of the temporary tripod installed on the top of the spherical tank 2.

[0037] The main rod 4 is made of metal pipes, and flange plates are fixedly connected to both ends of each section. The detachable fixed connection is carried out by relying on these flange plates. The main rod 4 is composed of 5 specifications: the top section 13 of the main rod, the upper section 93 of the main rod, the middle section 94 of the main rod, the root section 73 of the main rod, and ordinary rod sections (that is, the remaining multiple sections except for the top section 13 of the main rod, the upper section 93 of the main rod, the middle section 94 of the main rod, and the root section 73 of the main rod). Among them, the structure of the ordinary rod section is the simplest, that is, a metal pipe with a flange plate welded to each end is completed. The length of the middle section 94 of the main rod is the same as that of the ordinary rod section, but 4 middle section support plate ears 95 are welded at both ends of the middle section 94 of the main rod (see Figure 13 ), and the middle section support plate ears 95 are made of metal plates, which are strip-shaped straight plates with arc-shaped ends at both ends, and round through holes are made at both ends.

[0038] The structure of the upper support frame 11 is shown in Figure 3 , which is mainly welded by an inner cylinder 25 and 12 steel plates. Among them, 6 strip-shaped steel plates with round through holes are the inner cylinder fixing plates 26, and 6 vertical steel plates in the shape of a truncated rectangle are the inner cylinder support plates 27. The welding direction of the inner cylinder support plates 27 is parallel to the axis. The 6 inner cylinder support plates 27 are evenly distributed at 60° and welded on the outer wall of the inner cylinder 25. The inner cylinder fixing plates 26 and the inner cylinder support plates 27 are perpendicularly welded to increase strength and stiffness. The inner cylinder 25 is a steel cylindrical part, and the inner hole is in sliding fit with the outer wall of the upper section 93 of the main rod. When in use, the round through hole at the outer end of the inner cylinder fixing plate 26 is fixedly connected to the flange plate of the upper manhole of the spherical tank 2. The upper support frame 11 is the only part that must be taken from the outside of the spherical tank 2 to the top of the spherical tank 2, and all other parts are hoisted up by using a winch through the lower manhole 1 and the upper manhole.

[0039] The structure of the top section 13 of the main rod is shown in Figure 4 , a flange plate and a top support ear 30 are welded to the top of the top section 13 of the main rod. The top support ear 30 is made of two identical steel plates. One end is arc-shaped with two concentric circular through-holes, and the other end is rectangular and welded to both sides of the top section 13 of the main rod. The circular through-holes of the top support ear 30 are hinged to the root section of the support rod 15 through a pin shaft. The structure of the support rod 15 is basically the same as that of the above-mentioned support rods 5, 6, and 7. The difference is that at the end of the outermost section, a top steel wire rope 33 is fixedly connected to the upper part. The top steel wire rope 33 is a thick steel wire rope. One end is fixedly connected to the end of the outermost section of the support rod 15, and the other end is fixedly connected to the steel bar nose welded on the fixed rope arc plate 29 through the top pulley 31 at the top of the top section 14 of the top rod. The top of the top pulley 31 is detachably fixedly connected with a top guard plate 32, which is provided to prevent the top steel wire rope from slipping. The fixed rope arc plate 29 is a tile-shaped (referring to Chinese small tiles) steel plate, the inner radian of which is the same as the outer diameter of the top section 13 of the main rod. A circular through-hole is opened in the middle, and steel bar noses are welded at both ends. The upper steel bar nose is fixedly connected to the top steel wire rope 33, and the lower steel bar nose is temporarily connected to the end hook of the thin steel wire rope of the hand-operated winch (used during assembly). When the circular through-hole in the middle of the fixed rope arc plate 29 is aligned with the two radial circular through-holes on the top section 13 of the main rod and bolts and nuts are inserted, the end hook of the thin steel wire rope of the hand-operated winch can be disengaged from the lower steel bar nose of the fixed rope arc plate 29. At the lower end of the outermost section of the support rod 15, the upper end of the outer steel wire rope 17 is fixedly connected. The outer steel wire rope 17 is the working steel wire rope of the electric hoist 19. The other end of the outer steel wire rope 17 is a free end and is not connected to any device. During use, the free end of the outer steel wire rope 17 is inserted into the electric hoist 19, and the electric hoist 19 is powered on and started. The electric hoist 19 will continuously lift along the outer steel wire rope 17. In the middle of the top section 13 of the main rod, an upper stabilizer 12 is also installed. The upper stabilizer 12 is a leaky bowl-shaped steel disc with a large circular hole in the middle. A ball bearing 28 is installed inside. Three stabilizer short legs 34 are welded at the outer lower part according to a 120° distribution. The stabilizer short legs 34 are made of angle steel and have 3 circular through-holes. Through bolts and nuts, 3 connecting legs (not numbered) are detachably fixedly connected. The bottom of the connecting legs is welded with a steel plate with a circular through-hole. Through the circular through-hole on this steel plate and bolts and nuts, detachable fixed connection with the manhole flange plate on the upper part of the spherical tank 2 can be realized.

[0040] Two protruding tenons are opened at the bottom of the top section 13 of the main rod. Inside the lower part of the top section 13 of the main rod, a connecting pipe 35 with an outer diameter similar to the inner diameter of the top section 13 of the main rod is welded. The connecting pipe 35 is a thin pipe with the same wall thickness as the top section 13 of the main rod and is inserted into the upper section 93 of the main rod during use. The structure of the upper section 93 of the main rod is shown in Figure 12 , two concave grooves are opened at the upper end, a flange plate is welded at the lower end, two radial circular through-holes are opened at the top, and a pulley frame of the lifting fixed pulley 10 is welded on the upper side. The lifting steel wire rope 9 passes through the lifting fixed pulley 10. The right end of the lifting steel wire rope 9 extends downward and is fixedly connected to the lifting nose 86 of the inner workbench (atFigure 10 ), the left end of the hoisting wire rope 9 extends downward and is fixedly connected to the winch 69 (at Figure 8 ).

[0041] Between the two middle-section support plate ears 95 at each end of the middle section 94 of the main rod, a support rod root section 5 is hinged through a pin shaft. For stability, a transverse pipe equal in length to the diameter of the main rod is welded to the end of the support rod root section 5. At the other end of the support rod root section 5, a support rod middle section 6 is fixedly connected through a flange and a bolt-nut pair. The structure of the support rod middle section 6 is exactly the same as that of the main rod 4, only with a smaller size. At the outermost end of the multi-section support rod middle section 6, a support rod end section 7 is fixedly connected through a flange and a bolt-nut pair. The structure of the support rod end section 7 is that one end is fixedly connected with a flange, and the other end is fixedly connected with a hinge joint. The hinge joint is a short cylindrical shape made of metal, with one end fixedly connected to the support rod end section 7 and the other end having a radial round hole. The upper support rod end section 7 is hinge-connected to the upper support ear 87 on the rear beam through a pin shaft, and the lower support rod end section 7 is hinge-connected to the lower support ear 79 on the rear beam through a pin shaft. On both sides outside the support rod end section 7, two vertical stabilizing rods are also hinge-connected. The vertical stabilizing rods are made of square metal pipes, with a pair of through round through holes in the center and a pair of identical round through holes symmetrically opened at both ends in the same direction. The vertical stabilizing rods are specifically designed for installing the cleaning trolley and are of no use when installing the inner workbench 8.

[0042] The structure of the rope pusher assembly 16 is shown in Figure 5 , the rope pusher assembly 16 is designed to prevent the outer workbench 18 from colliding with the spherical tank legs 3 and other motion interferences when rotating horizontally around the spherical tank 2. The structure is: at the outermost lower end of the support rod 15, two pairs of rope pusher support ears 36 are welded. Each pair of rope pusher support ears 36 is made of two identical steel plates, with one end being arc-shaped and having two concentric round through holes, and the other end being rectangular and welded to both sides below the support rod 15. The rear ( Figure 5 upper is right) side rope pusher support ear 36 is hinge-connected to the fixed end of the rope pusher air cylinder 37 through a pin shaft. The rope pusher air cylinder 37 is a commercially available product. The push rod of the rope pusher air cylinder 37, that is, the rope pusher air cylinder push rod 38, is hinge-connected to the support ear welded to the middle of the outer swing arm 39 through a pin shaft. The outer swing arm 39 is a steel pipe, with the upper end hinge-connected to the support ear welded to the lower side of the front ( Figure 5 upper is left) end of the support rod 15, and the lower end fixedly connected with an outer swing arm wheel ear 40. The outer swing arm wheel ear 40 is formed by folding a steel plate and has an outer swing arm fixed pulley 41 in the middle. The outer swing arm fixed pulley 41 is a commercially available product. An outer steel wire rope 17 is in the pulley groove of the outer swing arm fixed pulley 41. To prevent the outer steel wire rope 17 from slipping out of the pulley groove of the outer swing arm fixed pulley 41, an outer swing arm fixed pulley rope guard plate 42 made of steel plate is also installed.

[0043] The structure of the outer workbench 18 is shown in Figure 6 , Figure 6It is a cross-sectional view of the outer workbench 18 along the center line. The right half of the outer workbench 18 has been sectioned. The outer workbench 18 is a one-meter square and two-meter high iron box, welded by iron square tubes, and is integral. The lower half has a skin 48 made of iron sheet. There is a side door 47 that can be opened on the left. The side door 47 is hinged to the front frame 58 of the outer workbench by a door hinge 57. A door lock 46 is installed at the rear of the side door 47. The door lock 46 can use the door lock of a popular electric tricycle on the market. The bottom plate of the outer workbench 18 has three layers. One is the bottom frame 49 of the outer workbench at the bottom, which is a grate welded by steel square tubes. The second is the bottom plate 50 of the outer workbench, which is welded by iron sheet. The third is the floor 51 of the outer workbench, which is made of multi-layer wood board. A power hoist 19 is fixedly connected to the lower rear of the outer workbench 18. The power hoist 19 is a commercially available finished product. At the corresponding position of the bottom plate of the outer workbench 18, there are holes for the downward movement of the outer wire rope 17. The outer wire rope 17 is the load-bearing rope for hoisting the outer workbench 18 and must be suspended at a position near the center of gravity of the outer workbench 18. For this purpose, an upper fixed pulley 43 of the outer workbench is installed between the two beams at the top of the outer workbench 18. In order to prevent the outer wire rope 17 near the center of the outer workbench 18 from interfering with the operation too much after entering the workbench, a rear fixed pulley 45 of the outer workbench is installed on the rear wall of the outer workbench 18. In this way, after the outer wire rope 17 enters the workbench and turns backward, it does not get in the way too much.

[0044] To make the suspended outer workbench 18 more stable during operation, the outer workbench 18 is temporarily fixed to the spherical tank support leg 3 when cleaning welds and other work. The fixing mechanism is shown in Figure 7, in the front lower part of the outer workbench 18, two middle rubber blocks 52 are fixedly connected through a middle rubber block support 53 fixedly connected to the center line of the outer workbench 18 skeleton. The middle rubber block support 53 is a short round steel pipe, with a square steel plate with an arc surface welded in the front and welded to the center line of the outer workbench 18 skeleton at the back. Both the middle rubber block 52 and the side rubber block 55 are rubber blocks with cord fabric and can be made from waste truck tires. The left side rubber block 55 is fixedly connected to the end of the left fixed bent arm 54 through an arc-shaped square steel plate welded to the end. The left fixed bent arm 54 is made by bending a steel pipe, with one end being arc-shaped, the other end vertically bent by 90 degrees, and the middle being straight. It is fixedly connected to the lower horizontal center line of the outer workbench 18 through three left bent arm fixing clips 56. The right side rubber block 55 is fixedly connected to the end of the right movable arm 59 in the same way as above. The right movable arm 59 is an arc-shaped steel pipe, and the other end is fixedly connected to the lower end of the movable arm shaft 60. The movable arm shaft 60 is a straight steel pipe and is connected to the front end of the front wall or the right wall of the outer workbench 18 through a clip (the clip is large and has a gap), but the outer workbench 18 can rotate horizontally. At the upper end of the movable arm shaft 60, a force applying rod 61 is fixedly connected. The force applying rod 61 is a straight steel pipe, with the front head fixedly connected to the upper end of the movable arm shaft 60, and a plastic handle is sleeved at the rear end. A groove plate is hinged to the lower part of the front middle part. The groove plate is made by punching a steel plate. A knob is installed in the groove of the groove plate. The knob is pressed from black bakelite, and the threaded part of the bolt is exposed in the center. The knob can fasten the groove plate through a nut fixedly connected to the side wall of the outer workbench 18 to prevent it from sliding. When it is necessary to fix the position of the outer workbench 18, the staff only needs to push the force applying rod 61 outwards, and the middle rubber block 52 and the side rubber block 55 will hold the spherical tank leg 3 tightly towards the center at 120 degrees. At this time, as long as the knob is tightened, the outer workbench 18 will be fixed and immovable.

[0045] The upper window frame 44 is not a necessary part. If the front, back, left, and right sides of the upper part of the outer workbench 18 are all hollowed out, the upper window frame 44 can be completely omitted. However, considering that it is an outdoor operation at high altitude, once there is no shelter from wind and rain, glass should be installed (the front window can be lifted upwards and propped up), so the upper window frame 44 becomes essential. Considering that the glass is fragile, it can also be replaced with a transparent PC (polycarbonate) plate, or a slightly thicker transparent polyester film can also be used.

[0046] The structure of the main rod root section 20 is shown in Figure 8, a flange is welded to the top end of the main rod root section 20, and a tapered roller bearing 74 is installed at the bottom end of the main rod root section 20. The tapered roller bearing 74 is a commercially available product. At a suitable position slightly above the bottom end of the main rod root section 20, two fixed support rods 65 are welded. The fixed support rods 65 are made of steel plates or sections. At the outer ends of the fixed support rods 65, a main rod rotating motor 64 is detachably and fixedly connected. The main rod rotating motor 64 is a servo motor controlled by a PLC. The output shaft of the main rod rotating motor 64 is connected to a reduction box 63, and the output shaft of the reduction box 63 is fixedly connected to a small gear 62. The module and tooth width of the small gear 62 are exactly the same as those of the large gear disk 77.

[0047] At a more suitable position slightly above the bottom end of the main rod root section 20, a welding plate 73 is welded. The welding plate 73 is made of a steel plate and has a round through-hole drilled in it. Through a bolt-nut pair, a detachable and fixed connection with the winch frame seat plate 66 is achieved. The winch frame seat plate 66 is composed of two semi-circular or rectangular metal plates, and a winch frame 67 is detachably and fixedly connected to the upper part. The winch frame 67, the winch shaft 68, and the winch 69 are all commercially available products. The worm in the worm and worm gear box 71 is driven by the winch hoisting motor 72, and the worm drives the meshing worm gear. The shaft of the worm gear, i.e., the worm gear shaft 70, drives the winch 69, and a steel wire rope 9 is wound around the winch 69.

[0048] The structure of the lower support seat 21 is shown in Figure 9 , the lower support seat panel is a large cylindrical gear, i.e., the large gear disk 77. A through-hole is drilled in the center of the large gear disk 77, and a step is made in the hole. The outer ring 78 of a tapered roller bearing is press-fitted into the upper part with interference fit. The tapered roller bearing 74 and the outer ring 78 of the tapered roller bearing are two parts of a tapered roller bearing; three welding legs 76 are welded to the lower part of the large gear disk 77 at 120° evenly distributed. The welding legs 76 are made of a section of angle steel. At the lower part of the welding legs 76, a connecting leg 75 is detachably and fixedly connected. The connecting leg 75 is also made of a section of angle steel and can also be made of a round metal pipe.

[0049] The structure of the inner workbench is shown in Figure 10, at the front end of the end section 7 of the support rod, a workbench 8 is hinged. The workbench 8 is a detachable frame structure with a length of 1.2 m, a width of 0.8 m, and a height of 1.65 m, assembled from metal round tubes and metal square tubes. It mainly consists of a front vertical beam 81, side handrails 82, front handrails 83, rear vertical beam 84, inner workbench rear beam 22, diagonal beams 85, and a bottom frame 80. Among them, except for the side handrails 82 and front handrails 83 made of round metal tubes, the rest are made of square metal tubes; their connections, except for the 6 diagonal beams 85, are all achieved by a self-made quick-installation joint. The quick-installation joint is a small tube that is thinner than each section of the tube and can be inserted into each section of the tube. According to the requirements of the joint, it is pre-welded together. During use, it is inserted into the tube that needs to be connected, and then bolts and nuts are installed in the pre-drilled holes to fix the connection. The connection between the diagonal beam 85 and other beams is that at both ends of the diagonal beam 85, a strip-shaped metal plate with a round through-hole is welded, and bolts and nuts are installed through this round hole and the pre-drilled holes on other beams to fix the connection. The bottom frame 80 is different from other beams. Other beams are single beams, while the bottom frame 80 is a grate-shaped double frame (the width of the workbench is 0.8 m, and the width of the bottom frame 80 is also 0.8 m. If it is a whole, it will not be able to enter the spherical tank, so it has to be divided into two with a width of 0.4 m, put in and then assembled). It is all welded by square metal tubes. After welding, finally, a layer of wooden plywood is laid on it and fixed with blind rivets with small-hole flat washers. The inner workbench rear beam 22 is two metal square tubes with relatively thick wall thickness and large dimensions. A lifting lug 86 is welded on the top steel plate of the inner workbench rear beam 22. The lifting lug 86 is bent from a steel bar and fixedly connected to the outer end of the hoisting steel wire rope 9; at the upper, middle, and lower ends of the inner workbench rear beam 22, upper rear beam support lugs 87, middle rear beam support lugs 88, and lower rear beam support lugs 79 are fixedly connected. The three pairs of support lugs are made by bending metal plates with round holes. Whole steel plates are welded behind the upper rear beam support lug 87 and the lower rear beam support lug 79, and the steel plate welded behind the middle rear beam support lug 88 is two steel plates that are disconnected in the middle. All steel plates are welded to the inner workbench rear beam 22, and round through-holes are drilled on all steel plates. They are detachably fixedly connected to other beams through bolts and nuts. The upper rear beam support lug 87 is hinged to the upper end section 7 of the support rod through a pin shaft, the middle rear beam support lug 88 is hinged to the through support cylinder 96 through a pin shaft (only used during cleaning operations), and the lower rear beam support lug 79 is hinged to the lower end section 7 of the support rod through a pin shaft. All hinge connections are detachable.

[0050] Below the front handrail 83 and the middle horizontal beam at the back, a workbench plate ear 89 is welded. The workbench plate ear 89 is a metal plate with a round through-hole, with a rectangular upper end and a semi-circular lower end. Through the workbench plate ear 89, a canvas bag 90 is detachably fixedly connected. The canvas bag 90 (see Figure 11) is a long cubic trough made of canvas with an open top. A support rod 92 is sewn into each of the two sides at the top. The support rod 92 is a metal pipe welded with three support rod plate ears 91. By using the detachable fixed connection between the support rod plate ears 91 on the support rod 92 and the workbench plate ears 89, the canvas bag 90 can be fixed in the workbench 8. The advantages of using the canvas bag 90 compared to using railings are: it is lightweight and can be easily folded into a cylinder with a diameter of 0.3 m to enter the spherical tank. It is safe. It is not easy for workers to stretch their feet outside the railing and get stuck. Shoes, tools, and instruments are not likely to fall from a height and break, eliminating the trouble of going down to pick them up.

[0051] The structure of the cleaning trolley positioning arm 24 is shown in Figure 14 , the cleaning trolley positioning arm 24 is made of a thick steel pipe. A rear support cylinder 104 is vertically welded at the rear. The rear support cylinder 104 is also made of a steel pipe and is hinge-connected to the middle circular through holes of two vertical stabilizing rods (not numbered, Figure 1 , Figure 2 this part is shown in this figure and not in the other figures) on both sides of the end section of the support rod through a pin shaft. A through support cylinder 96 is welded in the middle. The through support cylinder 96 is hinge-connected to the rear beam middle support ear 88 in the middle of the rear beam of the inner workbench 22 through a pin shaft. The front end of the cleaning trolley positioning arm 24 is sleeved with a telescopic rod 98 made of a steel pipe. The telescopic rod 98 can slide back and forth inside the cleaning trolley positioning arm 24. A stabilizing pin 97 is fixedly connected to the upper outer part of the telescopic rod 98. The stabilizing pin 97 is a circular steel sleeve and is fixedly connected to the outer surface of the telescopic rod 98 by bolts. The stabilizing pin 97 can slide in the longitudinal long groove opened on the upper side of the cleaning trolley positioning arm 24 to prevent the telescopic rod 98 from rotating inside the cleaning trolley positioning arm 24. At the front end of the telescopic rod 98, a limiting support ear 99 is welded. The limiting support ear 99 is a bucket-shaped structure made of a steel plate with concentric circular through holes on both sides and is hinge-connected to the upper support frame plate ear 107 on the upper part of the cleaning trolley 23 through a pin shaft. At the upper front part of the telescopic rod 98, a pneumatic push rod front support ear 100 is also welded. At the rear middle part of the cleaning trolley positioning arm 24, a pneumatic cylinder rear support ear 103 is welded. The pneumatic push rod front support ear 100 and the pneumatic cylinder rear support ear 103 are both made of two identical steel plates. One end is arc-shaped with two concentric circular through holes, and the other end is rectangular (the welded end). The pneumatic push rod front support ear 100 is hinge-connected to the tail end of the pneumatic cylinder 102 through a pin shaft, and the pneumatic cylinder rear support ear 103 is hinge-connected to the pneumatic cylinder push rod 101 through a pin shaft. The pneumatic cylinder 102 is a commercially available product.

[0052] The external shape of the complete skeleton of the cleaning trolley 23 is shown in Figure 15, at the bottom is the trolley frame 105, which is welded by square steel tubes. A wide gantry is welded on the left side, and a narrow gantry is welded on the right side. The small folded plates welded at both ends of the two gantries and the upper support frame 106 of the trolley are detachably fixedly connected. The upper support frame 106 of the trolley is made of square steel tubes, and the two ends are connected by welded small folded plates, and the middle is connected by welding the upper support frame plate ear reinforcement plate 108. The upper support frame plate ear reinforcement plate 108 is a bent rectangular steel plate, welded to the upper support frame 106 at the lower part, and the upper support frame plate ear 107 is welded at the center of the upper part. The upper support frame plate ear 107 is made of steel plate, semi-circular at the upper part, with a round through hole, and inverted "V" shaped at the lower part, and is welded on the upper support frame plate ear reinforcement plate 108.

[0053] At the four corners of the trolley frame 105 (strictly speaking, three corners, because one corner is missing to leave a position for the rightmost wire polishing wheel 113), spring seats 109 with vertically adjustable positions are vertically installed. The spring seat 109 is a cylinder, containing a circular spring wound by round wire. The upper end of the spring abuts against the upper wall of the spring seat 109, and the lower end of the spring abuts against the wheel frame 111. The wheel frame 111 is made by bending a steel plate, and a wheel 110 is installed in the middle. The wheel 110 is a commercially available product. On the inner side of the wheel frame 111, a wheel positioning plate 112 is fixedly connected. The wheel positioning plate 112 is made of steel plate, with a round through hole at one end, and is hinged to the trolley frame 105 through a pin shaft. The purpose of installing the wheel positioning plate 112 is to keep the traveling direction of the wheel 110 unchanged.

[0054] The complete cleaning trolley 23 installed with a motor and a wire polishing wheel is shown in Figure 16 and Figure 17 , Figure 16 is a side view of the cleaning trolley 23, Figure 17 is a top view with the upper support frame 106 of the trolley removed. The four polishing motors 114 are arranged in pairs and opposite to each other with opposite rotation directions, so that the vibration is minimized. The four commercially available wire polishing wheels 113 can clean a weld seam equivalent to the width of four wire polishing wheels 113 at one time, which is much more efficient than manual cleaning.

[0055] In use, first install a frame with a fixed pulley on the upper manhole at the top of the spherical tank 2. Then, sequentially carry other components except the upper support frame 11 into the spherical tank 2. The light components can be passed in, and the heavy components can be lifted in. All components above the spherical tank 2 need to be lifted up. After all the components are carried and lifted, this frame with a pulley can be used to lift the upper section 93 of the main rod (thread the steel wire rope through the radial circular through-hole of the upper section 93 of the main rod and then tie it up), and assemble it section by section. When assembling to the middle section 94 of the main rod, install the root sections 5 of the upper and lower two strut rods, and then sequentially install other main rods and strut rods. Then assemble the lower support seat 21 and place it at the center of the spherical tank 2, that is, directly above the lower manhole 1. After installing the root section 20 of the main rod, it can be lifted and placed into the center of the lower support seat 21. At this time, the frame with a fixed pulley at the top of the spherical tank 2 is no longer needed and can be removed and placed on the working platform at the top of the spherical tank 2 for standby (it will still be used after the work is completed and removed). The personnel at the top of the spherical tank 2 can put the inner cylinder 25 of the upper support frame 11 on the upper section 93 of the main rod, and put the assembled upper stabilizing frame 12 outside the top section 13 of the main rod. Then, insert the connecting pipe 35 below the top section 13 of the main rod into the upper section 93 of the main rod, connect the upper push rods section by section from top to bottom, and finally install the push rods and the top section 13 of the main rod together. Then, connect the strut 15 section by section from outside to inside, and finally insert the pin shaft between the root section of the strut 15 and the top section of the main rod. Use a hand-operated winch to pull the strut 15 into a horizontal state, fasten the fixed rope arc plate 29 and the top section 13 of the main rod together with bolt and nut pairs, and fix the holes on the legs of the upper stabilizing frame 12 and the holes on the inner cylinder fixing plate 26 together with bolt and nut pairs to the flange of the upper manhole. The installation work on the upper part of the spherical tank is completed.

[0056] The cleaning trolley 23 can be installed inside the spherical tank 2. Insert the pin shaft between the rear beam 22 of the inner workbench and the top section 7 of the strut rod, insert the pin shafts between the two vertical stabilizing rods and the upper and lower end sections 7 of the strut rods, and then insert the positioning arm 24 of the cleaning trolley between the rear beam 22 of the inner workbench and the two vertical stabilizing rods. Insert the upper support plate ear 107 at the top of the cleaning trolley 23 into the limit support ear 99 and insert the pin shaft. Then connect the air pipe and the electric wire to complete the installation. The air pipes at ports A and B of the air cylinder 102 are connected to a two-position four-way solenoid valve, and this two-position four-way solenoid valve is controlled by a PLC. Another place that uses compressed air is the push rope air cylinder 37. This air cylinder is connected to port A with an air pipe, and port B can be directly vented to the atmosphere. Its control can use a two-position three-way solenoid valve, and the circuit is manually controlled. Because the air consumption is very small, a small air compressor can be used as the air source.

[0057] Before installation and use, a positioning setting should be carried out first. First, manually control the main rod to rotate counterclockwise until it reaches the limit position (there is a vertical pipe from top to bottom in the spherical tank 2, which interferes with the movement of the supporting rod, so the main rod cannot rotate 360°, but can only rotate 350 - 355°). Let the PLC remember this position as the starting point. Then, manually control the main rod to rotate clockwise until it reaches another limit position, and then let the PLC remember this position as the end position. In this way, the PLC controls the main rod to only operate within this interval, and the accident of the supporting rod hitting the vertical pipe will not occur. After such setting, manually control the main rod to rotate again to align the cleaning trolley 23 with a weld seam. Pull up the lifting wire rope 9 to align the cleaning trolley 23 with the starting point of this weld seam. Adjust the upper limit of the proximity switch, lower the lifting wire rope 9 to align the cleaning trolley 23 with the end point of this weld seam, and adjust the proximity switch to the lower limit. Then count how many spherical shell plates the spherical tank 2 is made of and input it into the PLC. Then it can run automatically, and the equipment can automatically clean all longitudinal weld seams completely. If you want to clean the transverse weld seams, you need to reset the PLC and the proximity switches for the upper and lower limits to clean them section by section. If there are dead corners, finally remove the cleaning trolley 23 and the cleaning trolley positioning arm 24 together, replace them with two lengthened pin shafts, and install the cleaning trolley positioning arm 24 on the side of the supporting rod to solve the problem, and complete it by manually controlling the equipment.

[0058] After the cleaning work is completed, the cleaning trolley 23 and the cleaning trolley positioning arm 24 can be removed, and the inner workbench 8 and the canvas bag 90 can be replaced. The operator can enter the canvas bag 90 of the workbench 8. If the winch lifting motor 72 is started, the winch 69 will start to rotate, wind the lifting wire rope 9 onto the winch 69, and the workbench 8 will rise slowly; if the rotation direction of the winch lifting motor 72 is changed, the winch 69 will rotate in the reverse direction, release the lifting wire rope 9, and the workbench 8 will slowly descend; if the main rod rotation motor 64 is started, under the deceleration of the speed reducer 63, the main rod 4 will rotate very slowly, and the workbench 8 will also move horizontally accordingly. In this way, the workbench 8 can be moved or stopped at any position on the inner surface of the spherical tank 2 for inspection and testing operations.

[0059] When working outside the spherical tank, the outer workbench 18 can be moved under the outer wire rope 17. After passing the outer wire rope 17 through the fixed pulley 43 on the outer workbench and the rear fixed pulley 45 of the outer workbench, it is led to and inserted into the wire rope inlet of the electric hoist 19. After connecting the power supply and starting the electric hoist 19, the outer wire rope 17 is sucked in, and the outer workbench 18 starts to rise steadily. The staff enters the outer workbench 18 and can be lifted to any position. After arriving, push the force - increasing rod 61, and the outer workbench 18 will hold on the spherical tank support leg 3, so that the outer workbench 18 is very stable when working. When it is necessary to move up and down, loosen the knob, retract the force - increasing rod 61, and start the electric hoist 19. If horizontal rotation is desired, in addition to the above actions, the power supply of the two - position three - way solenoid valve of the rope - pushing device assembly 16 needs to be turned on, so that the rope - pushing cylinder push rod 38 of the rope - pushing cylinder 37 of the rope - pushing device protrudes, which can avoid movement interference.

[0060] The above has described the embodiments of the present invention in detail, but the content described is only the preferred embodiments of the present invention and is not used to limit the present invention. Any modifications, equivalent replacements, and improvements made within the scope of the application of the present invention shall be included within the protection scope of the present invention.

Claims

1. A large-scale spherical tank cleaning and testing equipment based on a multi-degree-of-freedom positioning mechanism, comprising a main rod (4), a supporting rod, a top rod, a support rod (15), an inner working table (8), an outer working table (18), an upper support frame (11), and a lower support seat (21), characterized in that: The main rod (4), the support rod, the top rod and the support rod (15) are all multi-sectioned, and the multi-sections are detachably fixedly connected. The main rod (4) and the top rod are installed on the center line of the vertical direction of the spherical tank (2). The main rod middle section (94) is connected to the two support rod root sections (5) by a detachable hinge pin, the support rod root section (5) is detachably fixedly connected to the support rod middle section (6), the support rod middle section (6) is detachably fixedly connected to the support rod end section (7), and the support rod end section (7) is detachably fixedly connected to the inner workbench rear beam (22) by a detachable hinge pin. The main rod upper section (93) is detachably connected to the inner tube (25), the main rod top section (13) is detachably connected to the upper stabilizing frame (12), the main rod top section (13) is detachably connected to the support rod (15) through a pin shaft, the main rod middle section (94) is installed at the center of the spherical tank (2), one end of the lifting wire rope (9) is detachably fixedly connected to the lifting nose (86) above the rear beam (22) of the inner workbench, and the other end of the lifting wire rope (9) is fixedly connected to the winch (69). The workbench rear beam (22) is detachably fixedly connected to the inner workbench (8) by means of a bolt and nut pair, the cleaning trolley positioning arm (24) is detachably hingedly connected to the inner workbench rear beam (22) by means of a pin shaft, the cleaning trolley positioning arm (24) is detachably hingedly connected to the vertical stabilizing rod by means of a pin shaft, the cleaning trolley (23) is detachably fixedly connected to a polishing motor (114), the shaft of the polishing motor (114) is fixedly connected to a wire polishing wheel (113), and a longitudinal polishing wheel (114) is installed below the cleaning trolley (23). The outer working table (18) is provided with an electric hoist (19), the electric hoist (19) is movably connected to the lower end of the outer steel wire rope (17), the upper end of the outer steel wire rope (17) is fixedly connected to the outer end of the support rod (15), a top steel wire rope (33) is fixedly connected above the outer end of the support rod (15), the other end of the top steel wire rope (33) is fixedly connected to the steel nose of the fixed rope arc plate (29), and a top pulley (31) is movably installed on the top of the top section (14) of the top rod.

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