An apparatus for polishing the inner surface of a curved pipe and a polishing method thereof

Abstract

The present application relates to the field of pipeline processing, and aims at the problem that complex curved pipelines or long curved pipelines are difficult to polish, and provides an inner surface polishing device for curved pipelines and a polishing method thereof, which comprises a spherical polishing head and an elastic hose, the spherical polishing head is internally provided with a rotary driving mechanism; the elastic hose extends into the curved pipeline and extends out of two ports of the curved pipeline, the middle section of the elastic hose is connected with multiple spherical polishing heads; the two ends of the elastic hose are provided with stretching mechanisms, the stretching mechanisms are used for driving the polishing heads to move in the curved pipeline; the two ends of the curved pipeline are provided with clamping units and guiding units, the clamping units are used for clamping the curved pipeline, and the guiding units are used for guiding the polishing heads to enter and exit the curved pipeline. During the polishing process, the polishing heads rotate at a constant speed and reciprocate in the curved pipeline, so that the polishing range uniformly covers the inner surface of the curved pipeline. The present application is suitable for the inner surface polishing of long curved pipelines and large-curvature curved pipelines.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of pipe processing, in particular to a curved pipe inner surface polishing device and a polishing method thereof. BACKGROUND

[0002] Curved pipes are widely used in key fields such as automobiles, aerospace, engineering machinery and medical equipment. The curved pipes in the equipment are usually used to transport various liquid or gas and other key working media. If the inner surface of the pipe is rough and has impurities, the transmission medium may be contaminated during operation, thereby affecting the operation effect of the equipment, so it is necessary to polish the curved pipe. The traditional manual polishing method is generally only suitable for the inner surface polishing of straight pipes and is difficult to polish the curved parts. Polishing by abrasive flow through pressurized fluid is a common pipe polishing method, but the polishing efficiency is low. Chemical electrolysis can achieve the polishing of the inner surface of the curved pipe, but the chemical electrolyte is harmful to the environment and the treatment cost of the waste liquid is high.

[0003] The patent 2019111521151 discloses an inner wall polishing equipment suitable for any curved pipe, which uses a polishing block covered on the surface of a flexible pipe as a polishing tool. The polishing tool is driven to rotate by a motor outside the port of the curved pipe to realize the inner wall polishing of the curved pipe. The patent 2023105588381 discloses an automatic polishing machine for air compression pipe and a using method thereof, which uses a polishing cloth connected by a flexible shaft through an elastic rod as a polishing tool. The polishing tool is driven to rotate by an external motor to realize the polishing of the air compression pipe. However, since the outer diameter of the polishing tool is greater than the inner diameter of the pipe, it is difficult for the polishing tool to enter and exit the pipe. More importantly, the above two technologies both use a flexible shaft type polishing tool. During the polishing process, the flexible shaft is stretched into and through the two ends of the curved pipe, and an external motor is used to drive the flexible shaft to rotate. However, the common defect of such technical means is that the torque of the external motor is difficult to transmit to the far end of the polishing tool, which makes it difficult for the polishing tool to rotate, or a motor with extremely large power is needed to make the flexible shaft rotate in the complex curved pipe. Therefore, it is difficult to realize the inner surface polishing of the complex curved pipe or the long curved pipe. SUMMARY

[0004] In order to overcome the defects of the prior art, the present application proposes a curved pipe inner surface polishing device and a polishing method thereof aiming at the polishing problem of complex curved pipes and long curved pipes. The device comprises a spherical polishing head and an elastic hose. The spherical polishing head is internally provided with a rotary driving mechanism. The elastic hose is stretched into the curved pipe and extends out of the two ports of the curved pipe. The middle section of the elastic hose is connected with a plurality of spherical polishing heads. The two ends of the elastic hose are provided with stretching mechanisms for driving the polishing heads to move in the curved pipe. The two ends of the curved pipe are provided with clamping units and guiding units. The clamping units are used to clamp the curved pipe, and the guiding units are used to guide the polishing heads to enter and exit the curved pipe.

[0005] Preferably, the spherical polishing head is spherical or ellipsoidal in structure and comprises an outer rotor motor and an elastic polishing layer; the stator shaft of the outer rotor motor is hollow in structure, the rotor surface of the outer rotor motor is provided with an elastic polishing layer, the outer diameter of the polishing head is greater than the inner diameter of the curved pipeline, the number of polishing heads is even, and the polishing heads are fixedly connected by the elastic hose; the elastic polishing layer is a solid elastic material structure containing polishing particles or a structure in which polishing cloth is elastically connected to the outer rotor surface of the motor.

[0006] Preferably, the elastic hose is a non-circular hose, and the hose wall is made of metal or contains a metal mesh layer to improve the torsional resistance of the elastic hose. The elastic hose comprises multiple sections, wherein the surface of the elastic hose connected to the stretching driving mechanism and the polishing head is provided with a wire inlet hole for inserting the control line of the outer rotor motor and the polishing liquid pipeline. The control line is connected to the motor controller, and the polishing liquid pipeline is connected to the polishing liquid tank. The elastic hose between two polishing heads is provided with a polishing liquid nozzle for outputting polishing liquid.

[0007] Preferably, the clamping unit comprises a lifting support, the bottom of the lifting support is provided with a sliding block for fixed installation with a base plate, and the top of the lifting support is provided with a pipeline clamp. The lifting support is lifted by hydraulic drive or motor drive to match the height of the two ends of the curved pipeline.

[0008] Preferably, the guide unit comprises guide pipes and guide holes. The two guide pipes are pipes with increasing diameters, wherein the small-diameter end is connected to the two ports of the curved pipeline through the pipeline clamp for guiding the polishing ball to enter and exit the curved pipeline. The two guide holes are holes with the same shape as the elastic hose to improve the torsional resistance of the elastic hose. The guide holes are fixedly connected to the top ends of the lifting workbenches, and the two lifting workbenches are lifted by hydraulic drive or motor drive to match the height of the two ends of the curved pipeline and are installed on the base plate by sliding blocks.

[0009] Preferably, the stretching driving mechanism comprises stretching motors, and the two stretching motors are fixedly connected to the top ends of the two lifting workbenches.

[0010] Preferably, the surface of the base plate is provided with multiple groups of installation grooves arranged in parallel, and the shape of the installation grooves is adapted to the shape of the sliding blocks at the bottom of the lifting supports and the lifting workbenches.

[0011] Preferably, the axes of the stretching motor ports, guide holes, guide pipes, and curved pipeline ports at any end of the curved pipeline are on the same horizontal straight line.

[0012] A polishing method of a curved pipeline inner surface polishing device, comprising the following steps:

[0013] S1: the guide tube is sleeved on both ends of the curved pipe, the two sleeved parts are fixed between the clamps at the top of the lifting support respectively, the axes of the stretching motor port, guide hole, guide tube and curved pipe port are adjusted to the same horizontal straight line, the left stretching motor is started, and the right stretching motor remains follow-up;

[0014] S2: the polishing head is pulled into the guide tube, when the first pair of polishing heads contact with the guide tube, the first pair of polishing heads are started, and are simultaneously rotated at the same speed in the opposite direction at a low speed, when the first pair of polishing heads enter the curved pipe, the speed is simultaneously increased; when the second pair of polishing heads contact with the guide tube, the second pair of polishing heads are started by using the same steps as the first pair of polishing heads; in this way, all the polishing heads are started and move uniformly in the curved pipe;

[0015] S3: when the first pair of polishing heads pass through the other end of the curved pipe and enter the guide tube, the speed is gradually reduced until it stops, in this way, all the polishing heads are pulled out of the curved pipe and stop rotating;

[0016] S4: when all the polishing heads pass through the guide tube at the other end, the left stretching motor stops and remains follow-up, then the right stretching motor is started, the steps of S2 and S3 are repeated, finally, the polishing head moves reciprocatingly in the curved pipe, the polishing range uniformly covers the inner surface of the curved pipe, and the uniform polishing of the inner surface of the curved pipe is realized.

[0017] Compared with the prior art, the present application has the advantages that:

[0018] 1. The polishing head used in the present application can rotate independently, which overcomes the limitation that the external motor is difficult to transmit torque to the polishing head for a long distance, and can be used for polishing long curved pipes; in addition, the polishing head has a spherical structure, which is convenient to enter the pipe with large curvature, and can realize the polishing of the inner surface of the complex curved pipe;

[0019] 2. The guide tube structure adopted in the present application can solve the problem of the polishing tool entering and leaving the curved pipe, and realize the conversion of the moving direction and the adjustment of the rotating speed outside the pipe, so as to ensure that the moving speed and rotating speed of the polishing head in the curved pipe are constant, the residence time and cutting speed of the polishing head at each point on the inner surface of the curved pipe are the same, and the uniform polishing effect is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a schematic view of the inner surface polishing device of the curved pipe in Example 1;

[0021] Figure 2 It is a schematic view of the spherical polishing head structure in Example 1;

[0022] Figure 3 It is a sleeving and mounting structure of the guide tube and the curved pipe in Example 1;

[0023] Figure 4 Figure 1 is a schematic diagram of the inner surface polishing device for the curved pipe in Example 2;

[0024] Figure 5 Figure 2 is a schematic diagram of the ellipsoidal polishing head structure in Example 2;

[0025] Figure 6 Figure 3 is a schematic diagram of the sleeve joint installation structure of the guide pipe and the curved pipe in Example 2.

[0026] In the figure: 1 spherical polishing head, 2 elastic hose, 3 curved pipe, 4 outer rotor motor stator shaft, 5 outer rotor motor rotor, 6 clamp, 7 polishing cloth, 8 spring, 9 motor control circuit, 10 polishing liquid pipe, 11 motor controller, 12 polishing liquid tank, 13 polishing liquid nozzle, 14 lifting support, 15 sliding block, 16 base plate, 17 pipe clamp, 18 horn-shaped guide pipe, 19 guide hole, 20 lifting workbench, 21 stretching motor, 22 ellipsoidal polishing head, 23 sealing ring, 24 polishing particles, 25 elastic material, 26 conical guide pipe. Embodiment

[0027] In order to make the technical features of the present application and the beneficial effects achieved by the present application more clear, the scheme of the present application is further described below in conjunction with the drawings.

[0028] Example 1, as shown in Figure 1 and Figure 2 , is an inner surface polishing device for a curved pipe, which comprises a spherical polishing head 1 and an elastic hose 2. The spherical polishing head is internally provided with a rotary driving mechanism. The elastic hose 2 extends into the curved pipe 3 and extends out of both ends of the curved pipe 3. The middle section of the elastic hose 2 is connected with a plurality of spherical polishing heads. The two ends of the elastic hose are provided with stretching mechanisms, which are used to drive the polishing head 1 to move in the curved pipe 3. The two ends of the curved pipe 3 are provided with clamping units and guide units. The clamping units are used to clamp the curved pipe 3, and the guide units are used to guide the polishing head 1 to enter and exit the curved pipe 3.

[0029] In the present embodiment, the polishing object curved pipe 3 is a relatively long curved pipe. The spherical polishing head 1 comprises an outer rotor motor and an elastic polishing layer. The stator shaft 4 of the outer rotor motor is a hollow structure. The surface of the outer rotor 5 of the motor is provided with an elastic polishing layer. The outer diameter of the spherical polishing head 1 is greater than the inner diameter of the curved pipe 3. The number of polishing heads is 6. The polishing heads are also fixedly connected with each other by using elastic hoses 2. That is, the elastic hose and the stator shaft 4 of the outer rotor motor are fixedly connected by using a clamp 6, as shown in Figure 2 . The elastic polishing layer is a structure in which the polishing cloth 7 and the surface of the motor rotor are connected by using a spring 8.

[0030] The elastic hose 2 is an oval hose made of metal material, which is used to improve the anti-torsion ability of the elastic hose 2. The elastic hose 2 comprises multiple sections, wherein the surface of the elastic hose 2 between the stretching motor and the polishing head 1 is provided with a wire inlet hole for inserting a control line 9 of an outer rotor motor and a polishing liquid pipeline 10. The control line 9 is connected with a motor controller 11, and the polishing liquid pipeline 10 is connected with a polishing liquid tank 12. The surface of the elastic hose between two polishing heads is provided with a polishing liquid nozzle 13 for outputting polishing liquid. Since the polishing cloth 7 in the elastic polishing layer in the embodiment does not contain polishing particles, the polishing liquid output by the nozzle 13 is a mixed liquid containing polishing particles. According to different polishing objects, the composition of the polishing particles is one or more of diamond, aluminum oxide, silicon oxide, zirconium oxide and silicon carbide.

[0031] The clamping unit comprises a lifting support 14, the bottom of the lifting support 14 is provided with an internal thread, the lifting support 14 is fixedly installed on a base plate 16 through a sliding block 15 with a bolt, and the top of the lifting support 14 is provided with a pipeline clamp 17. The lifting support 14 is lifted through hydraulic drive or motor-driven screw rotation to adapt to the height of the two ends of the curved pipeline 3.

[0032] The guide unit comprises two horn-shaped guide pipes 18 and guide holes 19. The horn-shaped guide pipe 18 is installed in a sleeved manner with the sleeve joint structure of the curved pipeline 3 as shown in Figure 3 Since the outer diameter of the polishing head 1 is greater than the inner diameter of the curved pipeline 3, the sleeved installation mode is conducive to the deformation of the elastic structure layer of the spherical polishing head, and facilitates the polishing head 1 to enter and exit the curved pipeline 3. The small-diameter ends of the two guide pipes 18 are sleeved to the two ports of the curved pipeline 3 through the clamp 17, which is used to guide the polishing ball 1 to enter and exit the curved pipeline 3. The two guide holes 19 are oval holes with the same shape as the elastic pipeline 2 but slightly larger than the size of the elastic pipeline, which is used to improve the anti-torsion ability of the elastic pipeline 2 and prevent the torque of the elastic hose from being transmitted to the lifting motor port. The guide hole is fixedly connected to the top end of a lifting workbench 20, the bottom of the lifting workbench 20 is provided with a mounting hole, and the lifting workbench 20 is installed on the base plate 16 through a sliding block 15 with a bolt and a nut. The lifting workbench 20 is lifted through hydraulic drive or motor-driven screw rotation.

[0033] The stretching driving mechanism comprises a stretching motor 21, which collects or releases the elastic hose 2 through main shaft rotation. Two stretching motors 21 are also fixedly connected to the top end of the lifting workbench 20. The surface of the base plate 16 is provided with multiple groups of parallel installation grooves, the shape of the installation groove is adapted to the shape of the sliding block at the bottom of the lifting support 14 and the lifting workbench 20.

[0034] In order to facilitate the stretching of the elastic hose 2, the axis of the stretching motor port, the guide hole, the guide pipe and the curved pipeline port at any end of the curved pipeline 3 are on the same horizontal straight line.

[0035] A polishing method of a polishing device for polishing the inner surface of a curved pipe, comprising the following steps:

[0036] S1: The guide pipe 18 is sleeved on both ends of the curved pipe 3, the two sleeving positions are fixed on the top end of the lifting support 14 by the clamp 17 respectively, the axis of the stretching motor 21 port, the guide hole 19, the guide pipe 18 and the curved pipe 3 port are adjusted to be the same horizontal straight line, the left stretching motor is started, and the right stretching motor remains follow-up;

[0037] S2: The polishing head 1 is pulled into the guide pipe 18, when the first pair of polishing heads contact with the guide pipe 18, the first pair of polishing heads are started, and at the same time, they are slowly rotated in the opposite direction and at the same speed to offset the torque; when the first pair of polishing heads enter the curved pipe 3, the rotation speed is increased to improve the polishing efficiency, and the polishing liquid nozzle 13 is started; then, when the second pair of polishing heads contact with the guide pipe, the second pair of polishing heads and the polishing liquid nozzle are started by using the same steps as the first pair of polishing heads; in this way, all the polishing heads are started and uniformly moved in the curved pipe;

[0038] S3: When the first pair of polishing heads pass through the other end of the curved pipe and enter the guide pipe, the rotation speed is gradually reduced until it stops, and in this way, all the polishing heads are pulled out of the curved pipe and stopped rotating;

[0039] S4: After all the polishing heads pass through the guide pipe at the other end, the left stretching motor stops and remains follow-up, then the right stretching motor is started, and the steps S2 and S3 are repeated, finally the polishing heads reciprocate in the curved pipe, so that the polishing processing range uniformly covers the inner surface of the curved pipe, and the uniform polishing of the inner surface of the curved pipe is realized.

[0040] Example two, as shown in Figure 4 and Figure 5 A polishing device for polishing the inner surface of a curved pipe, comprising an ellipsoidal polishing head 22 and a flexible hose 2, the ellipsoidal polishing head 22 is internally provided with a rotary driving mechanism; the flexible hose 2 extends into the curved pipe 3 and extends out of the two ports of the curved pipe 3, the middle section of the flexible hose 2 is connected with multiple polishing heads 22; the two ends of the flexible hose are provided with stretching mechanisms, the stretching mechanisms are used to drive the polishing heads 22 to move in the curved pipe 3; the two ends of the curved pipe 3 are provided with clamping units and guide units, the clamping units are used to clamp the curved pipe 3, and the guide units are used to guide the polishing heads 1 to enter and exit the curved pipe 3.

[0041] In this embodiment, the curved pipe 3 being polished is a high-curvature curved pipe. The ellipsoidal polishing head 22 includes an outer rotor motor and an elastic polishing layer. The stator shaft 4 of the outer rotor motor is a hollow structure. The outer diameter of the polishing head 22 is larger than the inner diameter of the curved pipe 3. There are four ellipsoidal polishing heads 22. The polishing heads are also fixedly connected by elastic hoses 2. That is, the elastic hoses 2 and the stator shaft 4 of the outer rotor motor are fixedly connected by flanges, and a sealing ring 23 is provided between the two flanges to prevent polishing fluid from seeping into the hoses 2 and the stator shaft 4. Figure 5 As shown; the outer rotor 5 of the motor is bonded with an elastic polishing layer, which is a solid structure containing polishing particles 24 and elastic material 25; depending on the polishing object, the polishing particles 24 are composed of one or more of diamond, alumina, silicon oxide, zirconium oxide and silicon carbide; the elastic material 25 is the carrier of the polishing particles 24, and the material composition of the elastic material 25 is polyurethane or rubber.

[0042] The elastic hose 2 is a polygonal hose made of rubber, and its wall contains a metal mesh layer to improve the torsional resistance of the elastic hose. The elastic hose 2 consists of multiple sections. The surface of the elastic hose between the tension drive mechanism and the polishing head 22 is provided with an inlet hole for inserting the control line 9 of the external rotor motor and the polishing fluid pipe 10. The control line 9 is connected to the motor controller 11, and the polishing fluid pipe 10 is connected to the polishing fluid tank 12. The elastic hose between the two polishing heads is provided with a polishing fluid nozzle 13 for outputting polishing fluid. Since the elastic polishing layer in this embodiment already contains polishing particles, the polishing fluid output by the nozzle 13 is water or a water-based chemical solution to improve polishing quality and efficiency.

[0043] The clamping unit includes a lifting bracket 14, which has an internal thread at the bottom. The lifting bracket 14 is fixedly installed on the base plate 16 by a slider 15 with bolts. The top of the lifting bracket 14 is provided with a pipe clamp 17. The lifting bracket 14 is lifted and lowered by hydraulic drive or motor drive to rotate the thread, so as to adapt to the height of both ends of the curved pipe 3.

[0044] In this embodiment, the guiding unit includes two tapered guiding tubes 26 and a guiding hole 19. The tapered guiding tubes 26 and the curved pipe 3 are connected in a sleeve installation structure as follows: Figure 6As shown, due to the outer diameter of the polishing head 22 being slightly larger than the inner diameter of the curved pipe 3, the shape of the guide pipe facilitates the deformation of the elastic polishing layer of the ellipsoidal polishing head, making it easy for the polishing head to enter and exit the curved pipe 3; the small-diameter ends of the two guide pipes 26 are sleeved to the two ports of the curved pipe 3 through the clamps 17, for guiding the polishing head 22 to enter and exit the curved pipe 3; the two guide holes 19 are polygonal holes with the same shape as the elastic pipe 2 but slightly larger in size than the elastic pipe, for improving the anti-torsion ability of the elastic pipe and preventing the torque of the elastic hose from being transmitted to the lifting motor port; the guide holes 19 are fixedly connected to the top end of the lifting workbench 20, the bottom of the lifting workbench 20 is provided with mounting holes, and the lifting workbench 20 is mounted on the base plate 16 through the bolted sliding block 15 and the nut; the lifting workbench 20 is lifted by rotating the screw thread driven by hydraulic pressure or motor.

[0045] The stretching driving mechanism includes stretching motors 21, which collect or release the elastic hose 2 by rotating through the main shaft; the two stretching motors 21 are also fixedly connected to the top end of the lifting workbench 20; the surface of the base plate 16 is provided with multiple groups of parallelly arranged mounting grooves, the shape of the mounting grooves being adapted to the shape of the sliding block at the bottom of the lifting bracket 14 and the lifting workbench 20.

[0046] In order to facilitate the stretching of the elastic hose 2, the axes of the stretching motor port, the guide hole 19, the guide pipe 26 and the curved pipe 3 port at either end of the curved pipe are on the same horizontal straight line.

[0047] A polishing method of a curved pipe inner surface polishing device, comprising the following steps:

[0048] S1: sleeve the two guide pipes 26 to the two ends of the curved pipe 3, fix the two sleeved parts to the top end of the lifting bracket 14 by using the clamps 17, and adjust the axes of the stretching motor port, the guide hole, the guide pipe and the curved pipe port to be on the same horizontal straight line, start the left stretching motor, and keep the right stretching motor following;

[0049] S2: pull the polishing head 22 into the guide pipe 26, when the first pair of polishing heads contact the guide pipe, start the first pair of polishing heads and simultaneously rotate at the same speed in the opposite direction to offset the torque; when the first pair of polishing heads enter the curved pipe, simultaneously rotate at a high speed and start the polishing liquid nozzle 13; when the second pair of polishing heads contact the guide pipe, start the second pair of polishing heads and the polishing liquid nozzle 13 by using the same steps as the first pair of polishing heads; in this way, all the polishing heads are started to rotate and move at a uniform speed in the curved pipe;

[0050] S3: when the first pair of polishing heads pass through the other end of the curved pipe and enter the guide pipe, gradually reduce the rotating speed until it stops; in this way, all the polishing heads are pulled out of the curved pipe.

[0051] S4: when all polishing heads pass through the guide tube of the other end, the left stretching motor stops and keeps following, then the right stretching motor is started, the steps of S2 and S3 are repeated, finally the polishing heads are reciprocated in the curved pipe, so that the polishing range uniformly covers the inner surface of the curved pipe, and the uniform polishing of the inner surface of the curved pipe is realized.

[0052] The above merely describes specific embodiments of the present application, and the technical features of the present application are not limited thereto. Any simple change or modification made by those skilled in the art within the scope of the present application is encompassed in the patent scope of the present application.

Claims

1. A device for polishing the inner surface of a curved pipe, characterized in that, The device includes a spherical polishing head and an elastic flexible tube. The spherical polishing head has a rotary drive mechanism inside. The elastic flexible tube extends into a curved pipe and out of both ends of the pipe. Multiple spherical polishing heads are connected to the middle section of the elastic flexible tube. Tensioning mechanisms are provided at both ends of the elastic flexible tube to drive the polishing heads to move within the curved pipe. Clamping units and guiding units are provided at both ends of the curved pipe; the clamping units clamp the curved pipe, and the guiding units guide the polishing heads in and out of the curved pipe. The spherical polishing head has a spherical or ellipsoidal structure, including an outer rotor motor and an elastic polishing layer. The stator shaft of the outer rotor motor is hollow, and the rotor surface of the outer rotor motor has an elastic polishing layer. The polishing layer comprises a polishing head with an outer diameter larger than the inner diameter of a curved pipe, an even number of polishing heads, and a fixed connection between the polishing heads using the elastic flexible tube. The elastic polishing layer is a solid elastic material structure containing polishing particles or a structure in which the polishing cloth is connected to the surface of the motor rotor by a spring. The elastic flexible tube is a non-circular tube with a metal wall or a metal mesh layer to improve its torsional resistance. The elastic flexible tube comprises multiple segments, and the surface of the elastic flexible tube between the tension drive mechanism and the polishing head is provided with an inlet hole for inserting the control circuit of the external rotor motor and the polishing fluid pipe. The elastic flexible tube between two polishing heads is provided with a polishing fluid nozzle for outputting polishing fluid.

2. The inner surface polishing device for a curved pipe according to claim 1, characterized in that, The clamping unit includes a lifting bracket, the bottom of which is provided with a slider for fixing the lifting bracket to the base plate, and the top of which is provided with a pipe clamp. The lifting bracket is lifted by hydraulic drive or motor drive to match the height of both ends of the curved pipe.

3. The inner surface polishing device for a curved pipe according to claim 2, characterized in that, The guiding unit includes guiding tubes and guiding holes. The two guiding tubes are pipes with increasing diameters, with the smaller diameter end connected to the two ends of the curved pipe via pipe clamps to guide the polishing head in and out of the curved pipe. The two guiding holes are holes with the same shape as the flexible hose to improve the torsional resistance of the flexible hose. The guiding holes are fixed to the top of the lifting worktable. The two lifting worktables are lifted by hydraulic drive or motor drive to match the height of the two ends of the curved pipe, and are mounted on the base plate by sliders.

4. The inner surface polishing device for a curved pipe according to claim 3, characterized in that, The two tension drive mechanisms include tension motors, which are fixed to the top of the two lifting worktables.

5. A device for polishing the inner surface of a curved pipe according to any one of claims 3-4, characterized in that, The surface of the substrate is provided with multiple sets of parallel mounting grooves, the shape of which is adapted to the shape of the lifting bracket and the slider at the bottom of the lifting worktable.

6. The inner surface polishing device for a curved pipe according to claim 4, characterized in that, The axes of the tension motor port, guide hole, guide tube, and bending pipe port at any end of the curved pipe are on the same horizontal straight line.

7. A polishing method for an inner surface polishing apparatus for a curved pipe, applied to the inner surface polishing apparatus for a curved pipe as described in any one of claims 4-6, characterized in that, Includes the following steps: S1: Connect the two guide tubes to both ends of the curved pipe, fix the two connected parts to the clamps at the top of the lifting bracket, and adjust the axis of the tension motor port, guide hole, guide tube and curved pipe port to the same horizontal straight line. Start the left tension motor and keep the right tension motor moving. S2: Pull the polishing head into the guide tube. When the first pair of polishing heads contacts the guide tube, start the first pair of polishing heads and simultaneously rotate them slowly in the opposite direction and at the same speed. When the first pair of polishing heads enters the curved pipe, increase the speed at the same time. When the second pair of polishing heads contacts the guide tube, start the second pair of polishing heads using the same steps as the first pair of polishing heads. This process continues until all polishing heads are activated and moving at a constant speed within the curved pipe. S3: When the first pair of polishing heads passes through the other end of the curved pipe and enters the guide tube, gradually reduce the rotation speed until it stops, and so on, until all polishing heads are pulled out of the curved pipe and the rotation stops. S4: After all the polishing heads have passed through the guide tube at the other end, the left stretching motor stops and remains in motion. Then the right stretching motor is started, and steps S2 and S3 are repeated. Finally, the polishing heads move back and forth inside the curved pipe, so that the polishing range evenly covers the inner surface of the curved pipe, achieving uniform polishing of the inner surface of the curved pipe.

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