Self-control winding and unwinding system of spherical tank inner wall rust removal robot

The utility model relates to the technical field of spherical tank rust removal, in particular to a self-control winding and unwinding system of a spherical tank inner wall rust removal robot, a flexible combination line is rotatably connected with the rust removal robot through a stepless rotating device, a gravity orientation device is arranged on the periphery of the flexible combination line, a pitch angle sensor is arranged on the gravity orientation device, and the pitch angle sensor is arranged on the pitch angle sensor. The gravity orientation device is used for enabling the pitching angle sensor to be located below the flexible combination line. The winding and unwinding device is connected with the flexible combined wire and used for controlling the length of the flexible combined wire, and the winding and unwinding device and the pitching angle sensor are both in signal connection with the controller. According to the self-control winding and unwinding system of the spherical tank inner wall rust r