Municipal pipe network repair inner wall polishing device and method

Abstract

This application provides an internal wall grinding device and method for municipal pipeline network repair. The device includes a main body, a grinding assembly, and two sets of positioning assemblies. The main body has a roller assembly. The grinding assembly is mounted on the main body and is used to eliminate protrusions on the inner wall of the pipeline. The two sets of positioning assemblies are respectively located on both sides of the main body. Each set of positioning assemblies has a clamping component and a winding component between itself and the main body. The winding component includes winding tapes with both ends connected to the main body and the positioning assemblies, respectively. In actual use, by simultaneously tightening the two winding tapes located on the front and rear sides of the main body, the movement of the main body relative to the pipeline can be restricted, thereby improving the stability of the pipeline inner wall grinding. The internal wall grinding device and method for municipal pipeline network repair provided in this application can apply tension to the front and rear sides of the device to ensure the stability of the device during grinding and to ensure the overall flatness of the repaired surface during subsequent repairs.

Description

Technical Field

[0001] This application belongs to the field of pipeline maintenance technology, specifically relating to an inner wall grinding device and method for municipal pipeline repair. Background Technology

[0002] Municipal pipeline network refers to the general term for pipelines and their ancillary facilities used within a city for transporting water supply, drainage, gas, electricity, and communications. Pipelines that have been in service for a long time often suffer structural damage to their inner walls due to corrosion, cracks, or misaligned joints, requiring partial or complete repair and processing to restore their function and safety.

[0003] In existing technologies, pipeline repair typically involves setting up working wells and receiving wells at both ends of the construction area, placing a repair robot inside the pipeline, driving it to move along the pipeline to the damaged location, and performing repair operations such as targeted spraying, curing, or lining.

[0004] In the aforementioned operating methods, protruding scale, welding slag, or corrosion residue on the inner wall of the pipe can form irregular protrusions, resulting in an uneven substrate on the repair surface and affecting the adhesion of subsequent coatings and the density of the inner lining. Conventional grinding methods in the prior art rely on a grinding wheel on the robot's own body to perform circumferential sweeping as the robot moves. When the grinding resistance is uneven or the travel speed fluctuates, the grinding wheel is prone to deviating from the predetermined axis, causing uneven circumferential grinding overlap or axial scratches, affecting the overall flatness of the repair surface. Summary of the Invention

[0005] This application provides an inner wall grinding device and method for municipal pipeline repair, which aims to apply tension to both sides of the device along the pipeline axis to ensure the stability of the device during grinding and to ensure the overall flatness of the repair surface during subsequent repair.

[0006] To achieve the above objectives, the technical solution adopted in this application is as follows: A device for grinding the inner wall of municipal pipeline network is provided, comprising: The main body of the device is equipped with a roller assembly for contacting the inner wall of the pipe. A grinding component, mounted on the main body of the device, is used to reciprocate and rub against the protrusions on the inner wall of the pipe to eliminate the protrusions; Two sets of positioning components are respectively disposed on both sides of the main body of the device and are used to fix them to the inner wall of the working well and the inner wall of the receiving well, respectively; each set of positioning components has a clamping component and a winding component between itself and the main body of the device; the clamping component is used to restrict the movement of the positioning component relative to the main body of the device; the winding component includes a winding tape with both ends connected to the main body of the device and the positioning component, respectively. By simultaneously tightening the two take-up belts located on both sides of the device body, the movement of the device body relative to the pipeline can be restricted.

[0007] In one possible implementation, the device body has a spindle extending in its front-rear direction; the grinding assembly includes: Two splicing plates are symmetrically arranged on both sides of the main shaft with respect to the center line of the main shaft; the length directions of the two splicing plates are parallel, and the length direction of each splicing plate is perpendicular to the main shaft, and the two splicing plates are detachably connected; and Two grinding components are respectively disposed at both ends of the splicing plate, and each grinding component is slidably connected to at least one splicing plate along the length direction of the splicing plate; there is an adjustable distance structure between the two grinding components; The device body has a rotary drive component connected to the two splicing plates. The rotary drive component is used to drive the two splicing plates to rotate around the main shaft, so that the two grinding parts contact the protrusion one after the other, and the contact between the grinding parts and the protrusion is intermittent.

[0008] In one possible implementation, each of the two splicing plates has an arc-shaped groove on its adjacent sides, and each arc-shaped groove extends through both sides of the splicing plate in the front-back direction; when the two splicing plates are connected, the two arc-shaped grooves combine to form a circular hole for the main shaft to pass through; the rotation drive component includes: Two half-gears are respectively disposed on adjacent sides of the two splicing plates; each half-gear is fitted around the outer periphery of the arc-shaped groove, and when the two splicing plates are connected, the two half-gears combine to form an annular gear body coaxially disposed around the outer periphery of the circular hole; and The first rotating motor is fixedly mounted on the main body of the device, and a drive gear that meshes with the annular gear body is coaxially connected to its power output shaft.

[0009] In one possible implementation, each of the splicing plates has receiving grooves on both ends along its length, and each receiving groove penetrates the inner side of the splicing plate, so that when two splicing plates are connected, the corresponding two receiving grooves communicate and form a receiving cavity; the two grinding parts are respectively slidably inserted into the two receiving cavities, and the adjustment structure includes: A two-way cylinder is fixedly mounted on the splicing plate, with its power output axis parallel to the length direction of the splicing plate; the two-way cylinder has two power output shafts, and the two power output shafts are oriented in opposite directions; and Two slides are connected to the two grinding parts respectively, and the two slides are connected to the two power output shafts of the bidirectional cylinder respectively, so as to drive the two grinding parts to move towards each other or away from each other.

[0010] In one possible implementation, the grinding element includes: The transmission arm is slidably inserted into the corresponding receiving cavity and connected to one of the power output shafts of the bidirectional cylinder; a slot is provided on the outer end face of the transmission arm; and A grinding disc is disposed on the outside of the transmission arm. A guide shaft is fixedly connected to the grinding disc and slidably inserted into the slot. A first elastic element is provided between the insertion end of the guide shaft and the bottom of the slot. The first elastic element is used to push the grinding disc outward so that the grinding disc contacts the protrusion on the inner wall of the pipe.

[0011] In one possible implementation, the positioning component includes: A positioning disk is disposed on the front or rear side of the main body of the device, with its axis parallel to the front-rear direction; multiple guide arms are fixedly connected to the outer peripheral wall of the positioning disk, arranged circumferentially thereon, each guide arm extending radially along the positioning disk, and each guide arm is slidably connected to an alignment arm, the end of the alignment arm facing away from the central axis of the positioning disk being used to abut against the inner wall of the pipe and / or the outer end face of the pipe; and An adjustment disc is located on the side of the positioning disc facing away from the main body of the device and is coaxially arranged with the positioning disc; multiple swing arms are hinged to the outer peripheral wall of the adjustment disc and arranged circumferentially thereon, and the swing ends of the multiple swing arms are hinged to multiple alignment arms one by one. The positioning disk is coaxially rotatably connected to a drive screw, and the adjusting disk is coaxially fixedly connected to a transmission nut that is threadedly connected to the drive screw. As the drive screw rotates, the adjusting disc moves toward or away from the positioning disc, so that each of the alignment arms moves toward or away from the central axis of the positioning disc.

[0012] In one possible implementation, the winding member further includes: A take-up roller is rotatably mounted outside the positioning plate; one end of the take-up belt is connected to the main body of the device, and the other end is wound around the take-up roller; a transmission gear is coaxially connected to the take-up roller; and A lifting platform is slidably disposed on the outer side of the positioning plate in the vertical direction; a second rotating motor is fixedly disposed on the lifting platform, the power output shaft of the second rotating motor is parallel to the axial direction of the winding roller, and the power output end is connected to a drive gear for meshing with the transmission gear. The lifting platform has a protrusion extending toward the positioning plate; a rodless cylinder is fixedly installed on the outer side of the positioning plate, the power output axis of the rodless cylinder is parallel to the vertical direction, and the power output component has a groove suitable for the protrusion to be inserted into, the groove being filled with an elastic gasket. When the outer ends of the transmission gear and the drive gear are connected but not meshed, the elastic pad undergoes elastic deformation.

[0013] In one possible implementation, the clamping member includes: A clamping plate, hinged vertically to the front or rear end of the device body, and the swing end of the clamping plate having a locking portion bent along its thickness direction; and A limiting plate is slidably connected to the clamping plate along the thickness direction, and is arranged parallel to the side of the snap-fit ​​part, and the distance between the limiting plate and the side of the snap-fit ​​part is equal to the thickness of the positioning plate; The positioning disk has a through hole extending along its thickness direction; the snap-fit ​​part has a first mating hole; and the limiting plate has a second mating hole. When the clamping plate swings to the point where the locking part abuts against the side of the positioning plate, the first docking hole and the through hole are coaxially connected; and the limiting plate can slide to the point where the second docking hole and the first docking hole are coaxially connected. The snap-fit ​​part is also provided with a mating bolt that is inserted into the first mating hole. The mating bolt is threaded with a mating nut, which is used to abut against the side of the limiting plate facing away from the snap-fit ​​part.

[0014] In one possible implementation, the roller assembly includes: Two translational rods are arranged side-by-side horizontally on the main body of the device, and both are slidably connected to the main body of the device in the left-right direction; each translational rod has guide wheels rotatably connected to its ends on the upper and lower sides of the main body of the device; and The second elastic element is disposed on the main body of the device and connected to the two translation rods. It is used to drive the two translation rods to move in opposite directions so that the guide wheel abuts against the inner wall of the pipe. At least one of the guide wheels is connected to a drive motor.

[0015] The beneficial effects of the internal wall grinding device for municipal pipeline repair provided in this application are as follows: By fixing two sets of positioning components to the inner walls of the working well and the receiving well respectively, and connecting the positioning components to the main body of the device using a winding belt, the main body of the device is stretched in both directions when the two winding belts on the front and rear sides of the main body are tightened simultaneously, thereby restricting its axial movement relative to the pipeline. In this state, the roller set only serves as support and guide. The grinding component reciprocates and rubs the protrusions on the inner wall of the pipeline while the main body of the device remains stable, avoiding the movement or tilting of the main body of the device caused by uneven grinding resistance or fluctuations in travel speed.

[0016] The core of the above design lies in using the working well and receiving well as remote anchor points. A pre-tensioning force of opposite direction and controllable magnitude is applied to the main body of the device via a winding belt, ensuring that the main body remains in a stable, axially locked posture throughout the grinding process. In traditional methods, the grinding wheel is prone to deviating from the axis due to changes in resistance as the robot moves. This solution decouples the grinding action from the traveling action; the main body of the device does not move during grinding, relying solely on the reciprocating motion of the grinding components to eliminate protrusions. This completely eliminates radial offset and axial scratches caused by fluctuations in traveling speed or uneven grinding resistance, ensuring the repeatability and uniformity of the grinding trajectory, and providing a smooth base for subsequent spraying or lining.

[0017] Compared with the prior art, the inner wall grinding device for municipal pipeline repair provided in this application realizes bidirectional axial locking and posture stability of the main body of the device during the grinding process, thereby systematically solving the problems of uneven circumferential overlap and axial scratches caused by the grinding wheel deviating from the predetermined axis in the traditional following grinding method, and significantly improving the overall flatness of the inner wall repair surface of the pipeline and the adhesion of the subsequent repair layer.

[0018] The technical solution adopted in this application also provides a method for grinding the inner wall of municipal pipeline network for repair, based on the inner wall grinding device for municipal pipeline network repair proposed in any of the foregoing claims, including the following steps: S1. The operator places the main body of the device inside the pipe in the starting well, so that the roller assembly is in contact with the inner wall of the pipe; S2. Adjust the clamping member corresponding to the positioning component on the rear side of the device body to separate the positioning component from the device body; then, adjust the positioning component to make it contact the inner wall of the working well; and adjust the winding member corresponding to the positioning component to release the winding tape. S3. Drive the main body of the device forward along the pipeline axis until it reaches the receiving well; S4. Adjust the clamping member corresponding to the positioning component on the front side of the device body to separate the positioning component from the device body; then, adjust the positioning component to make it contact the inner wall of the receiving well; and adjust the winding member corresponding to the positioning component to release the winding tape. S5. Drive the main body of the device to move backward along the pipe axis until it is in the position of the protrusion to be polished; S6. Adjust the two sets of winding components so that the two winding belts are simultaneously taut; S7. Start the polishing assembly.

[0019] The beneficial effects of the inner wall grinding method for municipal pipeline repair provided in this application are as follows: The operator first places the main body of the device inside the pipe, ensuring the roller assembly contacts the pipe wall. Then, the clamping components are separated at the rear end, the rear positioning assembly is fixed to the inner wall of the working well, and the winding belt is released, driving the main body of the device forward to the receiving well. At the receiving well, the front clamping components are separated, the front positioning assembly is fixed to the inner wall of the receiving well, and the winding belt is released. The main body of the device is then driven backward back to the position of the protrusion to be ground. At this point, by simultaneously adjusting the two sets of winding components, both the front and rear winding belts are taut, and the main body of the device is bidirectionally tensioned and fixed in the predetermined grinding position inside the pipe. The grinding assembly is then activated for targeted grinding.

[0020] The core of the above method lies in using the working well and receiving well as remote anchor points. Through a process of "first moving, then pulling back, and then locking," the main body of the device is axially locked by the front and rear winding belts before grinding. In traditional methods, the main body of the device moves while grinding, which is prone to deviation from the axis due to resistance fluctuations. However, this method separates the moving positioning from the grinding action: the moving phase is only used to deploy the front and rear positioning components to the well walls at both ends. After pulling back to the target position, the bidirectional winding belts tighten simultaneously, and the main body of the device does not move during the grinding process. The grinding components only need to complete the reciprocating friction. This sequence of "moving-positioning-locking-grinding" ensures the absolute stability of the grinding posture and avoids uneven grinding or scratches caused by axial movement or tilting, thus providing a flat base for the subsequent repair layer.

[0021] Compared with the prior art, the inner wall grinding method for municipal pipeline repair provided in this application realizes bidirectional axial locking and posture stability of the main body of the device before grinding operation, thereby systematically solving the problems of uneven circumferential overlap and axial scratches caused by the grinding wheel deviating from the predetermined axis in the traditional following grinding method, and significantly improving the overall flatness of the inner wall repair surface of the pipeline and the adhesion of the subsequent repair layer. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is one of the three-dimensional structural schematic diagrams of the inner wall grinding device provided in the embodiments of this application; Figure 2 A second three-dimensional structural schematic diagram of the inner wall grinding device provided in the embodiments of this application; Figure 3 This is a three-dimensional structural diagram of the main body of the device used in the embodiments of this application; Figure 4This is a three-dimensional structural diagram of the grinding assembly and rotary drive component used in the embodiments of this application in a combined state; Figure 5 This is one of the exploded schematic diagrams of the splicing plate and half gear used in the embodiments of this application; Figure 6 This is the second exploded view of the splicing plate and half gear used in the embodiments of this application; Figure 7 This is a three-dimensional structural diagram of the polishing component used in the embodiments of this application; Figure 8 This is a cross-sectional view of the polishing assembly used in the embodiments of this application; Figure 9 This is a three-dimensional structural diagram of the transmission arm used in the embodiments of this application; Figure 10 This is an exploded structural diagram of the grinding disc and the first elastic element used in the embodiments of this application; Figure 11 This is a partially enlarged schematic diagram of the clamping member used in the embodiments of this application under an explosive state; Figure 12 This is one of the three-dimensional structural diagrams of the positioning component and winding component used in the embodiments of this application in a combined state; Figure 13 This is a second three-dimensional structural diagram of the positioning component and winding component used in the embodiments of this application in a combined state; Figure 14 This is an exploded view of the adjusting disc and transmission nut used in the embodiments of this application; Figure 15 This is a three-dimensional structural diagram of the positioning disk and winding component used in the embodiments of this application in an assembled state; Figure 16 This is a cross-sectional view of the positioning disk and winding component used in the embodiments of this application in an assembled state; Figure 17 This is an exploded view of the winding component and rodless cylinder used in the embodiments of this application; Figure 18 This is an exploded view of the lifting platform and the second rotating motor used in the embodiments of this application. Figure 19 This is an exploded view of the rodless cylinder and elastic gasket used in the embodiments of this application; Figure 20 This is a three-dimensional structural diagram of the roller assembly used in the embodiments of this application; Figure 21 for Figure 20 A magnified view of a portion of the middle circle A; Figure 22This is a partially enlarged schematic diagram of the second elastic element used in the embodiments of this application on the main body of the device; Figure 23 This is a partially enlarged schematic diagram of the main body of the device and the winding tape used in the embodiments of this application under an explosive state; Figure 24 A flowchart of the inner wall grinding method provided in the embodiments of this application; Explanation of reference numerals in the attached drawings: 1. Main body of the device; 11. Main shaft; 2. Grinding assembly; 21. Splicing plate; 211. Arc groove; 212. Receiving groove; 22. Grinding component; 221. Transmission arm; 2211. Slot; 222. Grinding disc; 2221. Guide shaft; 2222. First elastic element; 3. Positioning assembly; 31. Positioning disc; 311. Guide arm; 312. Alignment arm; 313. Drive screw; 314. Through hole; 32. Adjusting disc; 321. Swing arm; 322. Transmission nut; 4. Clamping component; 41. Clamping plate; 411. Snap-fit ​​part; 4111. First mating hole; 4112. Butt bolt ; 4113, Connecting nut; 42, Limiting plate; 421, Second connecting hole; 5, Rewinding component; 51, Rewinding belt; 52, Rewinding roller; 521, Transmission gear; 53, Lifting platform; 531, Second rotating motor; 5311, Drive gear; 532, Protrusion; 6, Adjusting structure; 61, Two-way cylinder; 62, Slide table; 7, Rotary drive component; 71, Half-body gear; 72, First rotating motor; 721, Drive gear; 8, Rodless cylinder; 81, Groove; 82, Elastic washer; 9, Roller assembly; 91, Translation rod; 911, Guide wheel; 9111, Drive motor; 92, Second elastic element. Detailed Implementation

[0024] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0025] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0026] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0028] Please refer to the following: Figures 1 to 23 The present application describes the inner wall grinding device for municipal pipeline repair. The inner wall grinding device for municipal pipeline repair proposed in this application includes a main body 1, a grinding component 2, and two sets of positioning components 3.

[0029] The main body of the device 1 adopts a plate structure, specifically: as follows: Figure 3 As shown, the main body 1 of the device includes two main body plates arranged front and rear, and a connecting shaft disposed between the two main body plates.

[0030] The main body 1 of the device is equipped with a roller assembly 9. After the main body 1 of the device is placed into the pipeline, the roller assembly 9 can be adjusted to make the roller assembly 9 contact the inner wall of the pipeline, so as to ensure that the central axis of the main body 1 of the device and the pipeline are in the pre-designed relative position.

[0031] The grinding component 2 is mounted on the main body 1 of the device. When the main body 1 of the device moves to the target grinding area, the grinding component 2 can reciprocate against the protrusions on the inner wall of the pipe to gradually eliminate the protrusions through friction and ensure the flatness of the processed surface.

[0032] Two sets of positioning components 3 are respectively set on the front and rear sides of the main body 1 of the device, and are used to fix them on the inner wall of the working well and the inner wall of the receiving well. Specifically, the fixing position is the docking area where the end of the pipe connects with the inner wall of the working well, and the docking area where the end of the pipe connects with the inner wall of the receiving well.

[0033] Each positioning component 3 has a clamping component 4 and a winding component 5 between it and the main body 1 of the device.

[0034] The clamping member 4 is used to restrict the movement of the positioning component 3 relative to the device body 1 so that the device body 1 can carry the positioning component 3 to move in the pipeline, so as to realize the sequential arrangement of the two sets of positioning components 3 in the pipeline.

[0035] The winding component 5 includes a winding tape 51, the two ends of which are respectively connected to the device body 1 and the corresponding positioning component 3. Figure 23 As shown, the take-up tape 51 and the device body 1 are combined in a detachable connection manner. Specifically, the take-up tape 51 has an insert plate at its end, and a positioning frame suitable for the lateral insertion of the insert plate is provided on the end face of the device body 1. Based on this, the insert plate has a screw extending toward one side of the take-up tape 51, and the positioning frame has a notch for the screw to be inserted. When the screw is inserted into the notch, by tightening the nut on the screw, the nut can abut against the outer wall of the positioning frame, and the friction force can be used to restrict the insert plate from exiting the positioning frame, thereby achieving the technical purpose of connecting the take-up tape 51 and the device body 1.

[0036] In actual use, when the two sets of positioning components 3 are in place and the main body 1 of the device is moved to the target processing area, the movement of the main body 1 of the device relative to the pipeline can be restricted by simultaneously tightening the two take-up belts 51 located on both sides of the main body 1 of the device.

[0037] The beneficial effects of the internal wall grinding device for municipal pipeline repair provided in this application are as follows: By fixing two sets of positioning components 3 to the inner walls of the working well and the receiving well respectively, and connecting the positioning components 3 to the device body 1 using the winding belt 51, when the two winding belts 51 on the front and rear sides of the device body 1 are tightened simultaneously, the device body 1 is stretched in both directions, thereby restricting its axial movement relative to the pipeline. In this state, the roller group 9 only plays a supporting and guiding role. The grinding component 2 reciprocates and rubs the protrusions on the inner wall of the pipeline while the device body 1 remains stable, avoiding the device body 1 from shifting or tilting due to uneven grinding resistance or fluctuations in travel speed.

[0038] The core of the above design is to use the working well and receiving well as the remote anchor point, and apply a pre-tightening force with opposite direction and controllable magnitude to the main body 1 of the device through the winding belt 51, so that the main body 1 of the device is always in a stable axially locked posture during the grinding process.

[0039] In traditional methods, the grinding wheel is prone to deviating from the axis due to changes in resistance as the robot moves. However, this solution decouples the grinding action from the movement action. The main body 1 of the device does not move during grinding, and the protrusions are eliminated only by the reciprocating motion of the grinding component 2. This completely eliminates radial offset and axial scratches caused by fluctuations in movement speed or uneven grinding resistance, ensuring the repeatability and uniformity of the grinding trajectory, and providing a flat base for subsequent spraying or lining.

[0040] Compared with the prior art, the inner wall grinding device for municipal pipeline repair provided in this application realizes bidirectional axial locking and posture stability of the main body 1 of the device during the grinding process, thereby systematically solving the problems of uneven circumferential overlap and axial scratches caused by the grinding wheel deviating from the predetermined axis in the traditional following grinding method, and significantly improving the overall flatness of the inner wall repair surface of the pipeline and the adhesion of the subsequent repair layer.

[0041] In some embodiments, such as Figure 1 , Figure 3 and Figure 4 As shown, the main body 1 of the device has a main shaft 11 extending in the front-rear direction, which is the aforementioned connecting shaft.

[0042] Based on this, the polishing assembly 2 includes two splicing plates 21 and two polishing parts 22.

[0043] Two splicing plates 21 are symmetrically arranged on both sides of the main shaft 11 with respect to the center line of the main shaft 11. The length directions of the two splicing plates 21 are parallel to each other and both are perpendicular to the central axis of the main shaft 11. Furthermore, the two splicing plates 21 are detachably connected to each other to facilitate their disassembly relative to the main shaft 11. In this embodiment, both splicing plates 21 are provided with alignment holes (not shown in the figure). When both splicing plates 21 are mounted on the main shaft 11, the corresponding two alignment holes are coaxially connected. At this time, the two splicing plates 21 can be prevented from separating by inserting bolts into the two alignment holes and fixing the bolts with nuts.

[0044] Two grinding elements 22 are respectively disposed at both ends of the splicing plate 21, and each grinding element 22 is slidably connected to at least one splicing plate 21 along the length of the splicing plate 21; wherein, there is an adjusting structure 6 between the two grinding elements 22. In actual use, by adjusting this adjusting structure 6, the two grinding elements 22 can be moved towards each other or away from each other, so that the grinding elements 22 extend to the outside of the splicing plate 21 and abut against the inner wall of the pipe. When the main shaft 11 of the device body 1 is coaxially arranged with the central axis of the pipe, the timing of the two grinding elements 22 contacting the inner wall of the pipe is synchronized.

[0045] The main body 1 of the device has a rotary drive component 7 connected to two splicing plates 21. The rotary drive component 7 is used to drive the two splicing plates 21 to rotate around the main shaft 11 so that the two grinding parts 22 contact the protrusion one after the other, and the contact between the grinding parts 22 and the protrusion is intermittent.

[0046] By adopting the above technical solution, the combined structure of two splicing plates 21 driven by rotation can realize that the two grinding parts 22 can act alternately on the protrusions on the inner wall of the pipe, thereby avoiding overheating and uneven wear caused by continuous friction of a single grinding part 22, and improving grinding efficiency.

[0047] In some embodiments, such as Figures 4 to 7 As shown, an arc-shaped groove 211 is provided at the center of the adjacent sides of the two splicing plates 21, and each arc-shaped groove 211 extends through both sides of the splicing plate 21 in the front-back direction; when the two splicing plates 21 are connected, the two arc-shaped grooves 211 combine to form a circular hole for the main shaft 11 to pass through.

[0048] Based on this, the rotary drive component 7 includes two half-gears 71 and a first rotary motor 72.

[0049] Two half-gears 71 are respectively disposed on the adjacent sides of the two splicing plates 21; each half-gear 71 is fitted around the outer periphery of the arc-shaped groove 211 and is detachably connected to the side of the splicing plate 21. When the two splicing plates 21 are connected, the two half-gears 71 combine to form a complete annular gear body that is coaxially disposed around the aforementioned circular hole.

[0050] The first rotating motor 72 is fixedly mounted on the main body 1 of the device, and its power output shaft is coaxially connected to the drive gear 721 that meshes with the annular gear body.

[0051] By adopting the above technical solution, the combined gear structure is easy to match the disassembly and assembly structure of the splicing plate 21, and can provide uniform torque transmission during rotation, ensuring the synchronous rotation of the two grinding parts 22.

[0052] In some embodiments, such as Figures 7 to 10 As shown, each splicing plate 21 has a receiving groove 212 on both ends along its own length direction. Each receiving groove 212 penetrates the inner side of the splicing plate 21 so that when two splicing plates 21 are connected, the corresponding two receiving grooves 212 are connected and form a receiving cavity.

[0053] Two grinding parts 22 are slidably inserted into two receiving cavities, respectively. Based on this, the adjusting structure 6 includes a two-way cylinder 61 and two slides 62.

[0054] The bidirectional cylinder 61 is fixedly mounted on the splicing plate 21, and its power output axis is parallel to the length direction of the splicing plate 21; the bidirectional cylinder 61 has two power output shafts, and the two power output shafts move in opposite directions.

[0055] Two slides 62 are connected to two grinding parts 22 respectively, and the two slides 62 are connected to the two power output shafts of the bidirectional cylinder 61 respectively, so as to drive the two grinding parts 22 to move towards each other or away from each other.

[0056] In actual use, the aforementioned adjustable structure 6 can automatically adjust the extension length of the two grinding parts 22 according to the pipe diameter, ensuring that the grinding disc 222 always fits the pipe wall. At the same time, the symmetrical drive of the bidirectional cylinder 61 ensures the synchronous adjustment of the two grinding parts 22, avoiding uneven wear.

[0057] In some embodiments, such as Figures 8 to 10 As shown, the grinding component 22 includes a transmission arm 221 and a grinding disc 222.

[0058] The transmission arm 221 is slidably inserted into the corresponding receiving cavity and connected to one of the power output shafts of the aforementioned bidirectional cylinder 61; and a slot 2211 is provided on the outer end face of the transmission arm 221.

[0059] The grinding disc 222 is located on the outside of the transmission arm 221; a guide shaft 2221 is fixedly connected to the grinding disc 222 and slidably inserted into the slot 2211, and a first elastic element 2222 is provided between the insertion end of the guide shaft 2221 and the bottom of the slot 2211. The first elastic element 2222 is used to push the grinding disc 222 outward so that the grinding disc 222 contacts the protrusion on the inner wall of the pipe.

[0060] In this embodiment, the first elastic element 2222 is a spring embedded in the bottom of the slot 2211, and the two ends of the spring are fixedly connected to the bottom of the slot 2211 and the insertion end of the guide shaft 2221, respectively.

[0061] By adopting the above technical solution, the above elastic floating structure can enable the grinding disc 222 to adapt to the slight concavity and convexity of the tube wall. When encountering a protrusion, the first elastic element 2222 is compressed, and the grinding disc 222 can still maintain constant pressure, avoiding hard impact damage to the grinding disc 222 or the tube wall, and ensuring the orderliness of the entire grinding process.

[0062] In some embodiments, such as Figures 12 to 16 As shown, the positioning component 3 includes a positioning disk 31 and an adjustment disk 32.

[0063] A positioning disk 31 is disposed on the front or rear side of the device body 1, its axis is parallel to the front-rear direction, and it adopts a disk structure. Multiple guide arms 311 are fixedly connected to the outer peripheral wall of the positioning disk 31. These guide arms 311 are spaced apart circumferentially along the positioning disk 31, and each guide arm 311 extends radially outward from the positioning disk 31. An alignment arm 312 is slidably connected to each guide arm 311 in the direction of its length. The end of the alignment arm 312 facing away from the central axis of the positioning disk 31 is used to abut against the inner wall and / or outer end face of the pipe. In this embodiment, the alignment arm 312 simultaneously abuts against both the inner wall and outer end face of the pipe in its target state. The outer end face of the alignment arm 312 has a locking groove that extends through the side of the alignment arm 312 facing the device body 1, and the bottom of the locking groove has a soft pad. After the alignment arm 312 extends, the pipe edge is embedded in the snap-fit ​​groove, which allows the side wall of the snap-fit ​​groove to abut against the pipe end face, and the soft pad to abut against the inner wall of the pipe and undergo elastic deformation.

[0064] The adjustment plate 32 is located on the side of the positioning plate 31 facing away from the main body 1 of the device, and the adjustment plate 32 is coaxially arranged with the positioning plate 31; multiple swing arms 321 are hinged on the outer peripheral wall of the adjustment plate 32 and arranged along its circumference, and the swing ends of the multiple swing arms 321 are hinged to multiple alignment arms 312 one by one.

[0065] The positioning disk 31 is coaxially rotatably connected to a drive screw 313; correspondingly, the adjusting disk 32 is coaxially fixedly connected to a transmission nut 322 that is threadedly connected to the drive screw 313.

[0066] When the drive screw 313 rotates at a constant speed under manual operation, the adjusting plate 32 moves toward or away from the positioning plate 31, so that each alignment arm 312 moves toward or away from the central axis of the positioning plate 31. In other words, the positioning assembly 3 can synchronously adjust the radial extension of all alignment arms 312 by rotating the drive screw 313, achieving rapid centering and clamping, and is suitable for well walls or pipe openings of different diameters.

[0067] In this embodiment, to facilitate locking the drive screw 313, a locking disc is connected to the end of the drive screw 313. The locking disc has multiple locking holes arranged circumferentially. Correspondingly, the positioning disc 31 has multiple locking holes that correspond one-to-one with the multiple locking holes. After rotating the drive screw 313, the multiple locking holes can communicate one-to-one with the multiple locking holes. Furthermore, the locking disc is also equipped with a stop disc that can fit against the back of the positioning disc 31. This stop disc is provided with a convex shaft that can be inserted one-to-one into the multiple locking holes. The convex shaft can also pass through the corresponding locking hole and extend out, and the extended part of the convex shaft is threadedly connected to a nut that abuts against the front of the positioning disc 31.

[0068] Based on the winding member 5 including the winding tape 51, in some embodiments, such as Figures 15 to 19 As shown, the winding component 5 also includes a winding roller 52 and a lifting platform 53.

[0069] The take-up roller 52 is rotatably disposed on the outside of the positioning disk 31. Specifically, the outer side of the positioning disk 31 has at least two bosses arranged side by side in the horizontal direction. The axial direction of the take-up roller 52 is parallel to the arrangement direction of the two bosses, and the take-up roller 52 is rotatably connected to each boss.

[0070] Combined with the aforementioned take-up tape 51, one end of the take-up tape 51 is connected to the main body 1 of the device, and the other end is wound around the take-up roller 52 and fixedly connected to the outer peripheral wall of the take-up roller 52.

[0071] To enable transmission of the take-up roller 52, a transmission gear 521 is coaxially connected to the take-up roller 52. Based on this, the lifting platform 53 is slidably disposed on the outer side of the positioning disk 31 in the vertical direction, and a second rotary motor 531 is fixedly disposed on the lifting platform 53. The power output shaft of the second rotary motor 531 is parallel to the axial direction of the take-up roller 52, and the power output end is connected to a drive gear 5311 for meshing with the transmission gear 521.

[0072] In order to achieve automated driving of the lifting platform 53, the lifting platform 53 has a protrusion 532 extending toward the positioning disk 31; a rodless cylinder 8 is fixedly installed on the outer side of the positioning disk 31, the power output axis of the rodless cylinder 8 is parallel to the vertical direction, and the power output component has a groove 81 suitable for the protrusion 532 to be inserted, and the groove 81 is filled with an elastic gasket 82.

[0073] When the outer ends of the transmission gear 521 and the drive gear 5311 are connected but not meshed, the elastic pad 82 undergoes elastic deformation. That is, the lifting platform 53 is controlled to lift and lower by the rodless cylinder 8 to achieve the engagement and disengagement of the drive gear 5311 and the transmission gear 521; when winding is required, the lifting platform 53 descends to engage the gears, and the second rotary motor 531 drives the winding roller 52 to tighten the winding belt 51; wherein, the elastic pad 82 provides flexible cushioning to prevent damage to the tooth surface due to hard collision when the gears are not fully aligned.

[0074] In some embodiments, such as Figure 2 and Figure 11 As shown, the clamping component 4 includes a clamping plate 41 and a limiting plate 42.

[0075] The clamping plate 41 is hinged to the front or rear end of the device body 1 in the vertical direction, and the swing end of the clamping plate 41 has a snap-fit ​​part 411 that is bent in the thickness direction.

[0076] The limiting plate 42 is slidably connected to the clamping plate 41 along the thickness direction of the clamping plate 41, and is arranged parallel to the side of the snap-fit ​​part 411. The distance between the limiting plate 42 and the side of the snap-fit ​​part 411 is equal to the thickness of the positioning plate 31.

[0077] The positioning plate 31 has a through hole 314 extending along its thickness direction; the locking part 411 has a first mating hole 4111, and the limiting plate 42 has a second mating hole 421. When the clamping plate 41 swings to the point where the locking part 411 abuts against one side of the positioning plate 31, the first mating hole 4111 and the through hole 314 are coaxially connected; and the limiting plate 42 can slide until the second mating hole 421 and the first mating hole 4111 are coaxially connected.

[0078] Based on the foregoing, the snap-fit ​​part 411 is also provided with a mating bolt 4112. This mating bolt 4112 can be inserted into the first mating hole 4111. When the first mating hole 4111 is coaxially connected with the through hole 314 and the second mating hole 421, the mating bolt 4112 can also pass through the through hole 314 and the second mating hole 421 and protrude. Based on this, a mating nut 4113 is threadedly connected to the mating bolt 4112. This mating nut 4113 is used to abut against the side of the limiting plate 42 facing away from the snap-fit ​​part 411.

[0079] By adopting the above technical solution, controlling the swing of the clamping plate 41 and the sliding of the limiting plate 42, the positioning plate 31 can be quickly locked or separated from the device body 1. When the device body 1 needs to move independently, loosening the docking nut 4113 and pulling open the limiting plate 42 can disengage the device body 1 from the positioning component 3; when the positioning component 3 needs to be deployed, that is, when the positioning component 3 and the device body 1 move synchronously, the two can be quickly locked by reversing the operation.

[0080] In some embodiments, such as Figure 20 , Figure 21 and Figure 22 As shown, the roller assembly 9 includes two translation rods 91 and a second elastic element 92.

[0081] Two translation rods 91 are arranged side by side in the horizontal direction on the main body 1 of the device, and are slidably connected to the main body 1 of the device in the left and right direction; wherein, the two ends of each translation rod 91 are respectively located on the upper and lower sides of the main body 1 of the device, and are rotatably connected to guide wheels 911.

[0082] The second elastic element 92 is disposed on the main body 1 of the device and is connected to the two translation rods 91. It is used to drive the two translation rods 91 to move in opposite directions so that the guide wheel 911 abuts against the inner wall of the pipe.

[0083] At least one guide wheel 911 is connected to a drive motor 9111 to provide driving force for moving the main body 1 along the pipeline.

[0084] The elastic force of the second elastic element 92 ensures that each guide wheel 911 is always pressed against the pipe wall, providing stable support and walking friction. Based on this, the drive motor 9111 can actively drive the main body 1 of the device to move inside the pipe, realizing automatic feeding.

[0085] Based on the same inventive concept, this application also provides a method for grinding the inner wall of municipal pipeline network for repair, based on the inner wall grinding device for municipal pipeline network repair proposed in any of the foregoing claims, such as... Figure 24 As shown, the method includes the following steps: S1. The operator places the main body 1 of the device inside the pipeline in the starting well, so that the roller assembly 9 is in contact with the inner wall of the pipeline; S2. Adjust the clamping member 4 corresponding to the positioning component 3 on the rear side of the device body 1 to separate the positioning component 3 from the device body 1; then, adjust the positioning component 3 to make it contact the inner wall of the working well; and adjust the winding member 5 corresponding to the positioning component 3 to release the winding belt 51. S3. The main body of the drive unit 1 moves forward along the pipeline axis until it reaches the receiving well; S4. Adjust the clamping member 4 corresponding to the positioning component 3 on the front side of the device body 1 to separate the positioning component 3 from the device body 1; then, adjust the positioning component 3 to make it contact the inner wall of the receiving well; and adjust the winding member 5 corresponding to the positioning component 3 to release the winding tape 51. S5. The main body 1 of the drive device moves backward along the pipe axis until it is in the position of the protrusion to be ground; S6. Adjust the two sets of winding components 5 so that the two winding belts 51 are simultaneously taut; S7. Start the polishing component 2.

[0086] The beneficial effects of the inner wall grinding method for municipal pipeline repair provided in this application are as follows: The operator first places the main body 1 of the device inside the pipe, making the roller assembly 9 contact the pipe wall; then, separate the clamping component 4 at the rear end, fix the rear positioning component 3 to the inner wall of the working well, and release the winding belt 51, driving the main body 1 forward to the receiving well; at the receiving well, separate the front clamping component 4, fix the front positioning component 3 to the inner wall of the receiving well, and release the winding belt 51, then drive the main body 1 backward back to the position of the protrusion to be ground. At this time, by simultaneously adjusting the two sets of winding components 5, both the front and rear winding belts 51 are in a taut state, and the main body 1 is bidirectionally tightened and fixed in the predetermined grinding position inside the pipe, and then the grinding component 2 is started for fixed-point grinding.

[0087] The core of the above method lies in using the working well and receiving well as remote anchor points. Through the process of "first walking, then pulling back, and then locking," the main body 1 of the device is axially locked by the front and rear winding belts 51 before grinding. In the traditional method, the main body 1 of the device walks and grinds at the same time, which is prone to deviating from the axis due to resistance fluctuations. However, this method separates the walking positioning and grinding actions: the walking stage is only used to deploy the front and rear positioning components 3 to the well walls at both ends respectively. After pulling back to the target position, the bidirectional winding belts 51 tighten at the same time. The main body 1 of the device does not move during the grinding process, and the grinding components 2 only need to complete the reciprocating friction.

[0088] This sequence of "walking-positioning-locking-grinding" ensures absolute stability of the grinding posture, avoiding uneven grinding or scratches caused by axial movement or tilting, thus providing a smooth base for subsequent repair layers.

[0089] Compared with the prior art, the inner wall grinding method for municipal pipeline repair provided in this application realizes bidirectional axial locking and posture stability of the main body 1 of the device before grinding operation, thereby systematically solving the problems of uneven circumferential overlap and axial scratches caused by the grinding wheel deviating from the predetermined axis in the traditional following grinding method, and significantly improving the overall flatness of the inner wall repair surface of the pipeline and the adhesion of the subsequent repair layer.

[0090] The above content is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An inner wall polishing device for municipal pipe network repair, characterized in that, include: Main body of the device; The main body of the device is equipped with a set of rollers for contacting the inner wall of the pipe; A grinding component, mounted on the main body of the device, is used to reciprocate and rub against the protrusions on the inner wall of the pipe to eliminate the protrusions; Two sets of positioning components are respectively disposed on both sides of the main body of the device and are used to fix them to the inner wall of the working well and the inner wall of the receiving well, respectively; each set of positioning components has a clamping component and a winding component between itself and the main body of the device; the clamping component is used to restrict the movement of the positioning component relative to the main body of the device; the winding component includes a winding tape with both ends connected to the main body of the device and the positioning component, respectively. By simultaneously tightening the two take-up belts located on both sides of the device body, the movement of the device body relative to the pipeline can be restricted.

2. The inner wall polishing apparatus for municipal pipeline repair according to claim 1, wherein The main body of the device has a spindle extending in its front-rear direction; the grinding assembly includes: Two splicing plates are symmetrically arranged on both sides of the main shaft with respect to the center line of the main shaft; the length directions of the two splicing plates are parallel, and the length direction of each splicing plate is perpendicular to the main shaft, and the two splicing plates are detachably connected; and Two grinding components are respectively disposed at both ends of the splicing plate, and each grinding component is slidably connected to at least one splicing plate along the length direction of the splicing plate; there is an adjustable distance structure between the two grinding components; The device body has a rotary drive component connected to the two splicing plates. The rotary drive component is used to drive the two splicing plates to rotate around the main shaft, so that the two grinding parts contact the protrusion one after the other, and the contact between the grinding parts and the protrusion is intermittent.

3. The inner wall polishing apparatus for municipal pipeline repair according to claim 2, wherein Both of the two splicing plates have arc-shaped grooves on their adjacent sides, each arc-shaped groove penetrating both sides of the splicing plate in the front-to-back direction; when the two splicing plates are connected, the two arc-shaped grooves combine to form a circular hole for the main shaft to pass through; the rotation drive component includes: Two half-gears are respectively disposed on adjacent sides of the two splicing plates; each half-gear is fitted around the outer periphery of the arc-shaped groove, and when the two splicing plates are connected, the two half-gears combine to form an annular gear body coaxially disposed around the outer periphery of the circular hole; and The first rotating motor is fixedly mounted on the main body of the device, and a drive gear that meshes with the annular gear body is coaxially connected to its power output shaft.

4. The inner wall grinding device for municipal pipeline repair as described in claim 2, characterized in that, Each of the splicing panels has receiving grooves on both ends along its length, and each receiving groove penetrates the inner side of the splicing panel so that when two splicing panels are connected, the corresponding two receiving grooves are connected and form a receiving cavity; the two grinding parts are slidably inserted into the two receiving cavities respectively, and the adjusting structure includes: A two-way cylinder is fixedly mounted on the splicing plate, with its power output axis parallel to the length direction of the splicing plate; the two-way cylinder has two power output shafts, and the two power output shafts are oriented in opposite directions; and Two slides are connected to the two grinding parts respectively, and the two slides are connected to the two power output shafts of the bidirectional cylinder respectively, so as to drive the two grinding parts to move towards each other or away from each other.

5. The inner wall grinding device for municipal pipeline repair as described in claim 4, characterized in that, The polishing component includes: The transmission arm is slidably inserted into the corresponding receiving cavity and connected to one of the power output shafts of the bidirectional cylinder; a slot is provided on the outer end face of the transmission arm; and A grinding disc is disposed on the outside of the transmission arm. A guide shaft is fixedly connected to the grinding disc and slidably inserted into the slot. A first elastic element is provided between the insertion end of the guide shaft and the bottom of the slot. The first elastic element is used to push the grinding disc outward so that the grinding disc contacts the protrusion on the inner wall of the pipe.

6. The inner wall grinding device for municipal pipeline repair as described in claim 1, characterized in that, The positioning component includes: A positioning disk is disposed on the front or rear side of the main body of the device, with its axis parallel to the front-rear direction; multiple guide arms are fixedly connected to the outer peripheral wall of the positioning disk, arranged circumferentially thereon, each guide arm extending radially along the positioning disk, and each guide arm is slidably connected to an alignment arm, the end of the alignment arm facing away from the central axis of the positioning disk being used to abut against the inner wall of the pipe and / or the outer end face of the pipe; and An adjustment disc is located on the side of the positioning disc facing away from the main body of the device and is coaxially arranged with the positioning disc; multiple swing arms are hinged to the outer peripheral wall of the adjustment disc and arranged circumferentially thereon, and the swing ends of the multiple swing arms are hinged to multiple alignment arms one by one. The positioning disk is coaxially rotatably connected to a drive screw, and the adjusting disk is coaxially fixedly connected to a transmission nut that is threadedly connected to the drive screw. As the drive screw rotates, the adjusting disc moves toward or away from the positioning disc, so that each of the alignment arms moves toward or away from the central axis of the positioning disc.

7. The inner wall grinding device for municipal pipeline repair as described in claim 6, characterized in that, The winding component further includes: A take-up roller is rotatably mounted outside the positioning plate; one end of the take-up belt is connected to the main body of the device, and the other end is wound around the take-up roller; a transmission gear is coaxially connected to the take-up roller; and A lifting platform is slidably disposed on the outer side of the positioning plate in the vertical direction; a second rotating motor is fixedly disposed on the lifting platform, the power output shaft of the second rotating motor is parallel to the axial direction of the winding roller, and the power output end is connected to a drive gear for meshing with the transmission gear. The lifting platform has a protrusion extending toward the positioning plate; a rodless cylinder is fixedly installed on the outer side of the positioning plate, the power output axis of the rodless cylinder is parallel to the vertical direction, and the power output component has a groove suitable for the protrusion to be inserted into, the groove being filled with an elastic gasket. When the outer ends of the transmission gear and the drive gear are connected but not meshed, the elastic pad undergoes elastic deformation.

8. The inner wall grinding device for municipal pipeline repair as described in claim 6, characterized in that, The clamping component includes: A clamping plate, hinged vertically to the front or rear end of the device body, and the swing end of the clamping plate having a locking portion bent along its thickness direction; and A limiting plate is slidably connected to the clamping plate along the thickness direction, and is arranged parallel to the side of the snap-fit ​​part, and the distance between the limiting plate and the side of the snap-fit ​​part is equal to the thickness of the positioning plate; The positioning disk has a through hole extending along its thickness direction; the snap-fit ​​part has a first mating hole; and the limiting plate has a second mating hole. When the clamping plate swings to the point where the locking part abuts against the side of the positioning plate, the first docking hole and the through hole are coaxially connected; and the limiting plate can slide to the point where the second docking hole and the first docking hole are coaxially connected. The snap-fit ​​part is also provided with a mating bolt that is inserted into the first mating hole. The mating bolt is threaded with a mating nut, which is used to abut against the side of the limiting plate facing away from the snap-fit ​​part.

9. The inner wall grinding device for municipal pipeline repair as described in claim 1, characterized in that, The roller assembly includes: Two translational rods are arranged side-by-side horizontally on the main body of the device, and both are slidably connected to the main body of the device in the left-right direction; each translational rod has guide wheels rotatably connected to its ends on the upper and lower sides of the main body of the device; and The second elastic element is disposed on the main body of the device and connected to the two translation rods. It is used to drive the two translation rods to move in opposite directions so that the guide wheel abuts against the inner wall of the pipe. At least one of the guide wheels is connected to a drive motor.

10. A method for grinding the inner wall of municipal pipeline network for repair, based on the device for grinding the inner wall of municipal pipeline network for repair according to any one of claims 1-9, characterized in that, Includes the following steps: S1. The operator places the main body of the device inside the pipe in the starting well, so that the roller assembly is in contact with the inner wall of the pipe; S2. Adjust the clamping member corresponding to the positioning component on the rear side of the device body to separate the positioning component from the device body; then, adjust the positioning component to make it contact the inner wall of the working well; and adjust the winding member corresponding to the positioning component to release the winding tape. S3. Drive the main body of the device forward along the pipeline axis until it reaches the receiving well; S4. Adjust the clamping member corresponding to the positioning component on the front side of the device body to separate the positioning component from the device body; then, adjust the positioning component to make it contact the inner wall of the receiving well; and adjust the winding member corresponding to the positioning component to release the winding tape. S5. Drive the main body of the device to move backward along the pipe axis until it is in the position of the protrusion to be polished; S6. Adjust the two sets of winding components so that the two winding belts are simultaneously taut; S7. Start the polishing assembly.

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