A new type of modular ultra-long pipeline inner surface polishing and cleaning device

Abstract

The application provides a novel modular ultra-long pipeline inner surface polishing and cleaning device. The device realizes the hovering and advancing and retreating actions of the pipeline polishing device in the inner wall of the pipeline through a hovering traction device, collects the polishing waste through a dust collection device and discharges the polishing waste outside the pipeline, and realizes the integration of polishing, cleaning and walking. The pipeline robot with the cleaning function and strong dredging capacity realizes the cleaning function of the inner wall of the pipeline through the cleaning mechanism. Compared with the existing cleaning mechanism, the cleaning mechanism is more ingenious in structure, easy to control, small and flexible, can be combined for use, is more suitable for more types of pipelines and is more practical. Machine vision is integrated to detect the polishing quality of the pipeline, and the polishing can be repeated according to the feedback polishing effect. Compared with the existing polishing mechanism, the mechanism has better polishing effect.

Description

Technical Field

[0001] This invention relates to the field of pipe inner surface cleaning technology, and in particular to a novel modular ultra-long pipe inner surface grinding and cleaning device. Background Technology

[0002] During long-term use, impurities and other foreign objects will accumulate on the inner surface of pipes. Pipes are generally long and located in complex environments, often underground, which makes cleaning inconvenient. If impurities are not cleaned in time, they will decay and breed bacteria, polluting water sources. This is not only detrimental to human health but also has a serious impact on economic benefits.

[0003] However, in the field of pipe internal surface cleaning, there is still no grinding equipment that is structurally reliable, easy to control, intelligent, and highly integrated. Existing pipe internal surface cleaning technologies have many shortcomings: the devices are large in size, not flexible enough or difficult to control, and cannot automatically judge the quality of pipe grinding and cleaning. Summary of the Invention

[0004] The purpose of this invention is to provide a novel modular device for grinding and cleaning the inner surface of ultra-long pipes, in order to solve the problems existing in the prior art.

[0005] The technical solution adopted to achieve the purpose of this invention is as follows: a novel modular ultra-long pipe inner surface grinding and cleaning device, including a grinding unit, a cleaning unit, a hovering traction unit and a dust collection device.

[0006] The grinding unit includes a coarse grinding section and a fine grinding section. The coarse grinding section includes two grinding discs I, a support wheel frame I, two end caps I, a central shaft I, and a tensioning device I. The support wheel frame I includes a chuck and three wheel forks evenly distributed around the chuck. Rollers are provided at the tail ends of the wheel forks. The chuck is mounted on the shaft of the central shaft I. Grinding discs I and end caps I are arranged sequentially from the inside to the outside on both sides of the support wheel frame I. A tensioning device is arranged between the support wheel frame I and the grinding discs I. Multiple contour grinding wheels I are evenly distributed on the surface of the grinding discs I. The axial direction of the contour grinding wheels I is perpendicular to the axial direction of the central shaft I. The fine grinding section includes two visual monitoring devices II, two grinding discs II, a support wheel frame II, two end caps II, a central shaft II, and a tensioning device II. The support wheel frame II includes a chuck and three wheel forks evenly distributed around the chuck. Rollers are provided at the tail ends of the wheel forks. The chuck is mounted on the shaft of the central shaft II. The support wheel frame II has a grinding disc II, an end cap II, and a visual monitoring device II arranged sequentially from the inside to the outside on both sides. A tensioning device is arranged between the support wheel frame II and the grinding disc II. The grinding disc II has multiple contour grinding wheels II evenly distributed on its surface. The axial direction of the contour grinding wheels II is perpendicular to the axial direction of the central shaft II.

[0007] The cleaning unit includes two visual monitoring devices III, two grinding discs III, a support wheel frame III, two end caps III, a contour grinding wheel III, a central shaft III, and a tensioning device III. The support wheel frame III includes a chuck and three wheel forks evenly distributed around the chuck. Rollers are provided at the tail ends of the wheel forks. The chuck is mounted on the shaft of the central shaft III. The grinding discs III, end caps III, and visual monitoring devices III are arranged sequentially from the inside to the outside on both sides of the support wheel frame III. A tensioning device is arranged between the support wheel frame III and the grinding discs III. Multiple contour grinding wheels III are evenly distributed on the surface of the grinding discs III. The axial direction of the contour grinding wheels III is perpendicular to the axial direction of the central shaft III.

[0008] The beginning end of central shaft II is connected to the end of central shaft I via a floating joint. The end of central shaft II is connected to the beginning end of central shaft III via a floating joint. The profile grinding wheels I, II, and III are made of different materials.

[0009] The hovering traction unit includes a traction plate and a traction rope. The traction rope passes through the surface of the traction plate. The grinding unit and cleaning unit are arranged inside the pipe. The traction plate seals the pipe opening. The tail end of the central shaft III is connected to the traction rope via a traction connector.

[0010] The dust collection device includes a slag discharge pipe for the coarse grinding stage, a slag discharge pipe for the fine grinding stage, and a slag discharge pipe for the cleaning stage. One end of the slag discharge pipe for the coarse grinding stage passes through a traction plate and extends into the coarse grinding section. One end of the slag discharge pipe for the fine grinding stage passes through a traction plate and extends into the fine grinding section. One end of the slag discharge pipe for the cleaning stage passes through a traction plate and extends into the cleaning unit. The high-temperature gas and debris generated during grinding are adsorbed together by the slag discharge pipes for the coarse grinding stage, fine grinding stage, and cleaning stage and collected into the collector.

[0011] Furthermore, the profile grinding wheel I is a 120# coarse-grained cubic boron nitride grinding wheel. The profile grinding wheel II is a W20 fine-grained cubic boron nitride grinding wheel. The profile grinding wheel III is surrounded by a cleaning brush.

[0012] Furthermore, the coarse grinding section also includes two visual monitoring devices I. Visual monitoring devices I are located on the outside of end cap I. The fine grinding section also includes two visual monitoring devices II. Visual monitoring devices II are located on the outside of end cap II. The cleaning unit also includes two visual monitoring devices III. Visual monitoring devices III are located on the outside of end cap III. The states before and after grinding are recorded by visual monitoring devices I, II, and III, and the hovering traction unit controls the feed speed, hovering time, and retraction.

[0013] Furthermore, the contour grinding wheels I on both grinding discs I rotate counterclockwise, providing traction for the entire device. The contour grinding wheels II on both grinding discs II rotate counterclockwise and clockwise, respectively. The contour grinding wheels III on both grinding discs III rotate counterclockwise and clockwise, respectively.

[0014] Furthermore, the collector is an external vacuum dust collection device.

[0015] Furthermore, the traction plate is fixedly connected to the end face of the pipe opening by screws.

[0016] The technical effects of this invention are beyond doubt:

[0017] A. The pipe grinding device is hovered and moved forward and backward within the inner wall of the pipe by a hovering traction device, and grinding waste is collected and discharged outside the pipe by a dust collection device, thus realizing the integration of grinding, cleaning and movement.

[0018] B. It has a clever structure, is easy to control, is compact and flexible, and can be combined for use with a wider range of pipe types, making it more practical.

[0019] C. Integrates machine vision to inspect the quality of pipe grinding, and can repeat grinding based on feedback on the grinding effect, resulting in good grinding effect. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structural composition;

[0021] Figure 2 This is a schematic diagram of the structural components of the coarse grinding section device;

[0022] Figure 3 This is an exploded view of the rough grinding section structure;

[0023] Figure 4 This is a schematic diagram of the tension adjustment part of the grinding section device;

[0024] Figure 5 This is a schematic diagram of the grinding wheel overlap in the grinding section device;

[0025] Figure 6 This is a schematic diagram showing the distribution and spacing of the grinding wheels in the grinding section device;

[0026] Figure 7 A schematic diagram showing the rotation direction of each section of the contour grinding wheel;

[0027] Figure 8 Flow chart showing the segmented installation of pipelines for each section of the device;

[0028] Figure 9 This is a schematic diagram showing the distribution of dust collection devices;

[0029] Figure 10 This is a schematic diagram of the traction fixture.

[0030] In the diagram: 1. Coarse grinding section, Ⅰ101. Visual monitoring device Ⅰ102. Grinding disc Ⅰ103. Support wheel frame Ⅰ104. End cap Ⅰ104. Contouring grinding wheel Ⅰ105. Central shaft Ⅰ106. 2. Fine grinding section, 3. Cleaning unit, 4. Suspension traction unit, 5. Dust collection device, 501. Slag discharge air pipe for coarse grinding, 502. Slag discharge air pipe for fine grinding, 503. Slag discharge air pipe for cleaning, 6. Floating joint, 7. Traction joint. Detailed Implementation

[0031] The present invention will be further described below with reference to embodiments, but it should not be construed that the scope of the present invention is limited to the following embodiments. Various substitutions and modifications made based on ordinary technical knowledge and common practices in the art without departing from the above-described technical concept of the present invention should be included within the scope of protection of the present invention. Example

[0032] See Figure 1 This embodiment provides a novel modular ultra-long pipe inner surface grinding and cleaning device, including a grinding unit, a cleaning unit 3, a hovering traction unit 4, and a dust collection device 5.

[0033] The grinding unit includes a coarse grinding section 1 and a fine grinding section 2.

[0034] See Figure 2 and Figure 3 The coarse grinding section 1 includes two visual monitoring devices I101, two grinding discs I102, a support wheel frame I103, two end caps I104, a central shaft I106, and a tensioning device I. The support wheel frame I103 includes a chuck and three wheel forks evenly distributed around the chuck. Rollers are provided at the tail ends of the wheel forks. The chuck is mounted on the shaft of the central shaft I106. Grinding discs I102, end caps I104, and visual monitoring devices I101 are arranged sequentially from the inside to the outside on both sides of the support wheel frame I103. A tensioning device is arranged between the support wheel frame I103 and the grinding discs I102. The tensioning device I includes a grinding wheel clamping block, a limit adjusting screw, a tension adjusting nut, and a tension adjusting spring. Multiple contour grinding wheels I105 are evenly distributed on the surface of the grinding discs I102. The axial direction of the contour grinding wheels I105 is perpendicular to the axial direction of the central shaft I106.

[0035] The fine grinding section 2 includes two visual monitoring devices II, two grinding discs II, a support wheel frame II, two end caps II, a central shaft II, and a tensioning device II. The support wheel frame II includes a chuck and three wheel forks evenly distributed around the chuck. Rollers are provided at the tail ends of the wheel forks. The chuck is mounted on the shaft of the central shaft II. The grinding discs II, end caps II, and visual monitoring devices II are arranged sequentially from the inside to the outside on both sides of the support wheel frame II. A tensioning device is arranged between the support wheel frame II and the grinding discs II. Multiple contour grinding wheels II are evenly distributed on the surface of the grinding discs II. The axial direction of the contour grinding wheels II is perpendicular to the axial direction of the central shaft II.

[0036] The cleaning unit 3 includes two visual monitoring devices III, two grinding discs III, a support wheel frame III, two end caps III, a contour grinding wheel III, a central shaft III, and a tensioning device III. The support wheel frame III includes a chuck and three wheel forks evenly distributed around the chuck. Rollers are provided at the tail ends of the wheel forks. The chuck is mounted on the shaft of the central shaft III. Grinding discs III, end caps III, and visual monitoring devices III are arranged sequentially from the inside to the outside on both sides of the support wheel frame III. A tensioning device is arranged between the support wheel frame III and the grinding discs III. Multiple contour grinding wheels III are evenly distributed on the surface of the grinding discs III. The contour grinding wheels I105, II, and III are made of different materials. The axial direction of the contour grinding wheels III is perpendicular to the axial direction of the central shaft III.

[0037] See Figure 10 The hovering traction unit 4 includes a traction plate 401 and a traction rope 402. The traction plate 401 seals the pipe opening. The traction rope 402 passes through the surface of the traction plate 401.

[0038] The grinding unit and cleaning unit 3 are arranged inside the pipeline. See also Figure 8 The first end of central shaft II is connected to the last end of central shaft I 106 via a floating joint 6. The last end of central shaft II is connected to the first end of central shaft III via a floating joint 6. The last end of central shaft III is connected to the traction rope 402 via a traction joint 7.

[0039] See Figure 9 The dust collection device includes a slag discharge pipe 501 for the coarse grinding stage, a slag discharge pipe 502 for the fine grinding stage, a slag discharge pipe 503 for the cleaning stage, and an external vacuum dust collection device. One end of the slag discharge pipe 501 for the coarse grinding stage passes through a traction plate and extends into the coarse grinding section 1, while the other end is connected to the external vacuum dust collection device. One end of the slag discharge pipe 502 for the fine grinding stage passes through a traction plate and extends into the fine grinding section 2, while the other end is connected to the external vacuum dust collection device. One end of the slag discharge pipe 503 for the cleaning stage passes through a traction plate and extends into the cleaning unit 3, while the other end is connected to the external vacuum dust collection device.

[0040] See Figure 7In the coarse grinding stage, both sets of grinding discs with contour grinding wheels rotate counterclockwise to provide traction for the entire device. In the fine grinding and cleaning stages, the two sets of grinding discs with contour grinding wheels rotate counterclockwise and clockwise from right to left, respectively, to facilitate the easier extraction of grinding waste through the slag discharge pipe. The coarse grinding stage is used for initial grinding, while the fine grinding stage is used for secondary fine grinding. The cleaning stage is used for cleaning and discharging waste after grinding, and the hovering traction device is used to traction and control the hovering and feed speed of the pipeline grinding and cleaning device, while simultaneously guiding cables and slag discharge pipes. The high-temperature gas and debris generated during grinding are drawn together by the slag discharge pipes 501 (coarse grinding stage), 502 (fine grinding stage), and 503 (cleaning stage) into the external vacuum dust collection device.

[0041] This embodiment utilizes a hovering traction device to enable the pipe grinding device to hover and move forward and backward within the pipe's inner wall. A dust collection device collects grinding waste and discharges it outside the pipe, integrating grinding, cleaning, and movement. The movement function leverages the force generated by the grinding wheels during pipe grinding, parallel to the pipe's axis. This force provides sufficient forward traction for the grinding device. In the rough grinding stage, both sets of grinding discs rotate counter-clockwise to provide traction for the entire device. In the fine grinding and cleaning stages, the two sets of grinding discs rotate counter-clockwise and clockwise from right to left, respectively, facilitating the easier removal of grinding waste by the exhaust pipe. Example

[0042] This embodiment provides a novel modular ultra-long pipe inner surface grinding and cleaning device, including a grinding unit, a cleaning unit 3, a hovering traction unit 4, and a dust collection device 5.

[0043] The grinding unit includes a coarse grinding section 1 and a fine grinding section 2. The coarse grinding section 1 includes two grinding discs I102, a support wheel frame I103, two end caps I104, a central shaft I106, and a tensioning device I. The support wheel frame I103 includes a chuck and three wheel forks evenly distributed around the chuck. Rollers are provided at the tail ends of the wheel forks. The chuck is mounted on the shaft of the central shaft I106. The support wheel frame ensures the coaxiality of the mechanism axis and the pipe axis. Grinding discs I102 and end caps I104 are arranged sequentially from the inside to the outside on both sides of the support wheel frame I103. A tensioning device is arranged between the support wheel frame I103 and the grinding discs I102. Multiple contour grinding wheels I105 are evenly distributed on the surface of the grinding discs I102. The axial direction of the contour grinding wheels I105 is perpendicular to the axial direction of the central shaft I106. The fine grinding section 2 includes two visual monitoring devices II, two grinding discs II, a support wheel frame II, two end caps II, a central shaft II, and a tensioning device II. The support wheel frame II includes a chuck and three wheel forks evenly distributed around the chuck. Rollers are provided at the tail ends of the wheel forks. The chuck is mounted on the shaft of the central shaft II. The grinding discs II, end caps II, and visual monitoring devices II are arranged sequentially from the inside to the outside on both sides of the support wheel frame II. A tensioning device is arranged between the support wheel frame II and the grinding discs II. Multiple contour grinding wheels II are evenly distributed on the surface of the grinding discs II. The axial direction of the contour grinding wheels II is perpendicular to the axial direction of the central shaft II.

[0044] The cleaning unit 3 includes two visual monitoring devices III, two grinding discs III, a support wheel frame III, two end caps III, a contour grinding wheel III, a central shaft III, and a tensioning device III. The support wheel frame III includes a chuck and three wheel forks evenly distributed around the chuck. Rollers are provided at the tail ends of the wheel forks. The chuck is mounted on the shaft of the central shaft III. The grinding discs III, end caps III, and visual monitoring devices III are arranged sequentially from the inside to the outside on both sides of the support wheel frame III. A tensioning device is arranged between the support wheel frame III and the grinding discs III. Multiple contour grinding wheels III are evenly distributed on the surface of the grinding discs III. The axial direction of the contour grinding wheels III is perpendicular to the axial direction of the central shaft III.

[0045] The beginning of central shaft II is connected to the end of central shaft I 106 via a floating joint 6. The end of central shaft II is connected to the beginning of central shaft III via a floating joint 6. Small-amplitude attitude changes can be made between the segments to ensure that the positional errors of each segment do not affect each other and accumulate. The contour grinding wheel I 105, contour grinding wheel II, and contour grinding wheel III are made of different materials.

[0046] The hovering traction unit 4 includes a traction plate 401 and a traction rope 402. The traction rope 402 passes through the surface of the traction plate 401. The grinding unit and cleaning unit 3 are arranged inside the pipe. The traction plate 401 seals the pipe opening. The tail end of the central shaft III is connected to the traction rope 402 via a traction connector 7.

[0047] The dust collection device includes a slag discharge pipe 501 for the coarse grinding stage, a slag discharge pipe 502 for the fine grinding stage, and a slag discharge pipe 503 for the cleaning stage. One end of the slag discharge pipe 501 for the coarse grinding stage passes through a traction plate and extends into the coarse grinding section 1. One end of the slag discharge pipe 502 for the fine grinding stage passes through a traction plate and extends into the fine grinding section 2. One end of the slag discharge pipe 503 for the cleaning stage passes through a traction plate and extends into the cleaning unit 3. The high-temperature gas and debris generated during grinding are adsorbed together by the slag discharge pipes 501 for the coarse grinding stage, 502 for the fine grinding stage, and 503 for the cleaning stage and collected into the collector. This allows for simultaneous grinding and dust collection, effectively absorbing dust and achieving dust-free operation, thus avoiding secondary pollution of the grinding surface.

[0048] In this embodiment, the coarse grinding section is used for preliminary grinding, and the fine grinding section is used for secondary fine grinding. The cleaning section is used for cleaning and discharging waste after grinding, and the suspension traction device is used for traction and controlling the suspension and feed speed of the pipeline grinding and cleaning device, while simultaneously guiding out the cable and slag discharge pipe. Example

[0049] The main structure of this embodiment is the same as that of Embodiment 2, wherein the profile grinding wheel I 105 is a 120# coarse-grained cubic boron nitride grinding wheel. The profile grinding wheel II is a W20 fine-grained cubic boron nitride grinding wheel. The profile grinding wheel III is surrounded by a cleaning brush. Example

[0050] This embodiment has the same main structure as Embodiment 2, except that both ends are equipped with visual monitoring devices. A machine vision system records the state before and after grinding, automatically calculating the feed speed and hovering time. The hovering traction device 4 enables the grinding device to hover and move forward and backward within the pipe wall. A PLC controls the tubular motor, traction motor, and dust collection motor. The grinding effect is observed through machine vision, and then the PLC controls the movement of the grinding wheel and traction rope. Example

[0051] See Figure 4 The main structure of this embodiment is the same as that of embodiment 2. However, by adjusting the position of the tension adjusting nut and the preload, the clamping force of the tension adjusting spring on the grinding wheel clamping block is changed, so that the grinding wheel is always in close contact with the inner wall of the pipe during the process of travel. The position of the grinding wheel clamping block is limited by the limit adjusting screw, thereby limiting the size of the inner wall diameter to ensure that the grinding wheel does not affect the basic dimensions of the inner wall of the pipe during the grinding process. Figure 4 a and Figure 4b represents different views. By adjusting the tensioning nut, the grinding wheel clamping block is tightly compressed against the spring, allowing the profile grinding wheel to open to the position pre-adjusted by the limit adjusting screw. This ensures the grinding wheel fits snugly against the inner diameter of the pipe, guaranteeing the grinding effect of the grinding device. Furthermore, the grinding device can be placed in the pipe first, and then the tensioning nut and limit screw adjusted, allowing the device to adapt to the inner wall dimensions of the pipe, improving the grinding reliability of the device. Example

[0052] The main structure of this embodiment is the same as that of Embodiment 1. However, when performing a grinding operation, the working process of the pipe grinding and cleaning device of the present invention is as follows:

[0053] a) First, hoist the coarse grinding device into the pipe to be cleaned, and use the three wheels of the support wheel frame to contact and position it with the inner wall of the pipe. Then, tighten the adjusting nut in the pipe to make the profile grinding wheel fit tightly against the inner wall of the pipe, and install the floating joint.

[0054] b) Hoist the fine grinding stage unit to the floating joint of the coarse grinding stage. Start the initial adjustment program to drive the coarse grinding stage unit forward, bringing the fine grinding stage unit into the pipeline. Repeat step a to adjust the fine grinding stage unit until the profile grinding wheel is tightly fitted to the inner wall of the pipeline, then install the floating joint in the same way.

[0055] c) Repeat steps a and b to install the cleaning section device and traction connector, and connect them to the traction tool cable. Then fix the traction tool to the pipe opening.

[0056] d) The formal procedure is started, and the device begins to grind and clean the pipes. During the entire grinding process, if the machine vision monitoring finds any areas where the grinding effect has not been achieved, it will automatically feed back to the system to control the traction device to grind back and forth.

[0057] e) When the equipment is close to the pipeline outlet, it will slowly stop. The operator will use a hoisting device to connect to the coarse grinding unit from the outlet end, start the end exit procedure, drive the coarse grinding unit to move forward slowly, exit the pipeline in sequence, and end the grinding work.

[0058] The coarse grinding section 1, fine grinding section 2, and cleaning section 3 can be disassembled and combined. If space is limited, the grinding device can be assembled in sections, with the three grinding stages hoisted into the pipeline sequentially. Floating joints connect the grinding stages to ensure flexibility. A connector at the end of the cleaning stage connects to the traction cable, controlling the device's movement. Example

[0059] See Figure 5 and Figure 6The main structure of this embodiment is the same as that of Embodiment 1, except that the two sets of grinding discs are installed 30° apart. The coverage angle of the arc length of the contour grinding wheel in a single grinding disc is 38°, and the grinding wheels are installed 60° apart from each other. The two grinding wheels can cover all 360° of the inner wall of the pipe, with an 8° overlap area, thus efficiently grinding the inner wall of the pipe. Moreover, each contour grinding wheel is directly and individually driven by a high-speed micro tubular motor, ensuring independent operation and safety. Figure 5 a and Figure 5 b represents different views.

Claims

1. A novel modular ultra-long pipeline internal surface polishing cleaning device characterized in that, The polishing unit, the cleaning unit (3), the hovering traction unit (4) and the dust collecting device (5); The polishing unit comprises a rough grinding section (1) and a fine grinding section (2); the rough grinding section (1) comprises two grinding discs I (102), a support wheel frame I (103), two end covers I (104), a central shaft I (106) and a tensioning device I; the support wheel frame I (103) comprises a chuck and three wheel forks which are uniformly distributed around the chuck; the tail end of the wheel fork is provided with a roller; the chuck is sleeved on the shaft of the central shaft I (106); the two sides of the support wheel frame I (103) are sequentially arranged from inside to outside with the grinding disc I (102) and the end cover I (104); the tensioning device is arranged between the support wheel frame I (103) and the grinding disc I (102); the disc body of the grinding disc I (102) is uniformly and densely provided with a plurality of profiled grinding wheels I (105); the axial direction of the profiled grinding wheel I (105) is perpendicular to the axial direction of the central shaft I (106); the fine grinding section (2) comprises two visual monitoring devices II, two grinding discs II, a support wheel frame II, two end covers II, a central shaft II and a tensioning device II; the support wheel frame II comprises a chuck and three wheel forks which are uniformly distributed around the chuck; the tail end of the wheel fork is provided with a roller; the chuck is sleeved on the shaft of the central shaft II; the two sides of the support wheel frame II are sequentially arranged from inside to outside with the grinding disc II, the end cover II and the visual monitoring device II; the tensioning device is arranged between the support wheel frame II and the grinding disc II; the disc body of the grinding disc II is uniformly and densely provided with a plurality of profiled grinding wheels II; the axial direction of the profiled grinding wheel II is perpendicular to the axial direction of the central shaft II; The cleaning unit (3) comprises two visual monitoring devices III, two grinding discs III, a support wheel frame III, two end covers III, profiled grinding wheels III, a central shaft III and a tensioning device III; the support wheel frame III comprises a chuck and three wheel forks which are uniformly distributed around the chuck; the tail end of the wheel fork is provided with a roller; the chuck is sleeved on the shaft of the central shaft III; the two sides of the support wheel frame III are sequentially arranged from inside to outside with the grinding disc III, the end cover III and the visual monitoring device III; the tensioning device is arranged between the support wheel frame III and the grinding disc III; the disc body of the grinding disc III is uniformly and densely provided with a plurality of profiled grinding wheels III; the axial direction of the profiled grinding wheel III is perpendicular to the axial direction of the central shaft III; the profiled grinding wheels I (105) on the disc bodies of the two grinding discs I (102) rotate counterclockwise, thereby providing traction for the whole device; the profiled grinding wheels II on the disc bodies of the two grinding discs II rotate counterclockwise and clockwise respectively; the profiled grinding wheels III on the disc bodies of the two grinding discs III rotate counterclockwise and clockwise respectively; The head end of the central shaft II and the tail end of the central shaft I (106) are connected through a floating joint (6); the tail end of the central shaft II and the head end of the central shaft III are connected through a floating joint (6); the profiled grinding wheels I (105), the profiled grinding wheels II and the profiled grinding wheels III are made of different materials; The hovering traction unit (4) comprises a traction plate (401) and a traction rope (402); the traction rope (402) passes through the plate surface of the traction plate (401); the polishing unit and the cleaning unit (3) are arranged in the pipeline; the traction plate (401) blocks the pipe opening of the pipeline; the tail end of the central shaft III is connected with the traction rope (402) through a traction joint (7); The dust collecting device comprises a coarse grinding section residue discharge air pipe (501), a fine grinding section residue discharge air pipe (502) and a cleaning section residue discharge air pipe (503); one end of the coarse grinding section residue discharge air pipe (501) passes through the traction plate and extends into the position of the coarse grinding section (1); one end of the fine grinding section residue discharge air pipe (502) passes through the traction plate and extends into the position of the fine grinding section (2); one end of the cleaning section residue discharge air pipe (503) passes through the traction plate and extends into the position of the cleaning unit (3); the high-temperature gas and the debris generated during polishing are adsorbed into the collector by the coarse grinding section residue discharge air pipe (501), the fine grinding section residue discharge air pipe (502) and the cleaning section residue discharge air pipe (503).

2. The novel modular ultra-long pipeline internal surface polishing cleaning device according to claim 1, characterized in that: The profiled grinding wheel I (105) is a 120# coarse-grained cubic boron nitride grinding wheel; the profiled grinding wheel II is a W20 fine-grained cubic boron nitride grinding wheel; the profiled grinding wheel III is coated with a cleaning brush on the periphery.

3. The novel modular ultra-long pipeline internal surface polishing cleaning device according to claim 1, characterized in that: The coarse grinding section (1) further comprises two visual monitoring devices I (101); the visual monitoring devices I (101) are arranged outside the end cover I (104); the fine grinding section (2) further comprises two visual monitoring devices II; the visual monitoring devices II are arranged outside the end cover II; the cleaning unit (3) further comprises two visual monitoring devices III; the visual monitoring devices III are arranged outside the end cover III; the pre-polishing and post-polishing states are recorded by the visual monitoring devices I (101), the visual monitoring devices II and the visual monitoring devices III, and the hovering traction unit (4) controls the feeding speed, the hovering time and the retreat.

4. The novel modular ultra-long pipeline internal surface polishing cleaning device according to claim 1, characterized in that: The collector is an external vacuum cleaning device.

5. The novel modular ultra-long pipeline internal surface scouring cleaning device according to claim 1, characterized in that: The traction plate (401) is fixedly connected with the end surface of the pipeline opening through screws.

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