A machining device includes: a spindle unit including a spindle that rotates a workpiece; and a device base having the spindle unit mounted thereon. The spindle unit includes upper and lower rolls that rotate the workpiece by contacting the workpiece, upper and lower rotary shafts that rotate integrally with the upper and lower rolls and serves as the spindle, and a support member that supports the workpiece. The device base has mounted thereon the spindle unit, a motor that rotates the upper and lower rotary shafts, and a grindstone to be brought into contact with the workpiece. The spindle unit is detachably mounted on the device base.

The present disclosure provides a grinding robot for an inside wall of a small diameter pipe. The grinding robot includes a grinding device, a transmission device, and a driving device. By arranging the grinding robot into the above three portions, the overall bending pipe passability of the robot can be increased, which is convenient for the grinding robot to grind the small diameter pipe. A first gimbal and two second gimbals provided in the transmission device enable the grinding robot to flexibly pass through bends of the pipe, and enable a grinding driving force to be variably transmitted to the grinding device. When the grinding body rotates and contacts a pipe wall, a reaction force of the pipe wall on the grinding body is balanced by an adjusting spring adjustment force in a balance adjusting device and a self-weight of a grinding body.

The present disclosure provides a grinding robot for an inside wall of a small diameter pipe. The grinding robot includes a grinding device, a transmission device, and a driving device. By arranging the grinding robot into the above three portions, the overall bending pipe passability of the robot can be increased, which is convenient for the grinding robot to grind the small diameter pipe. A first gimbal and two second gimbals provided in the transmission device enable the grinding robot to flexibly pass through bends of the pipe, and enable a grinding driving force to be variably transmitted to the grinding device. When the grinding body rotates and contacts a pipe wall, a reaction force of the pipe wall on the grinding body is balanced by an adjusting spring adjustment force in a balance adjusting device and a self-weight of a grinding body.

A machining device includes: a spindle unit including a spindle that rotates a workpiece; and a device base having the spindle unit mounted thereon. The spindle unit includes upper and lower rolls that rotate the workpiece by contacting the workpiece, upper and lower rotary shafts that rotate integrally with the upper and lower rolls and serves as the spindle, and a support member that supports the workpiece. The device base has mounted thereon the spindle unit, a motor that rotates the upper and lower rotary shafts, and a grindstone to be brought into contact with the workpiece. The spindle unit is detachably mounted on the device base.

The invention relates to a method and a system for the processing of an end-of-use pneumatic tire that is provided with an inner lining layer manufactured with a sealing agent intended to seal any punctures and at least partially applied to the surface of an inner cavity of the end-of-use pneumatic tire. The system comprises an applicator device, which is provided with at least one nozzle suitable for dispensing a cryogenic fluid, preferably liquid nitrogen, upon the inner lining layer of sealing agent in such a way that the inner lining layer of sealing agent reaches the solid state; a device for the removal of the inner lining layer of solid sealing agent that is provided with a tool for removing the inner lining layer of solid sealing agent by means of mechanical abrasion; and a circuit for suctioning the solid sealing agent removed by the tool.