To provide a device for grinding and cleaning the inner periphery of an acceptor of a pipe capable of controlling the thrust of a grinding and cleaning tool on the inner periphery of the acceptor, grinding and leaning it following the pipe, if vibrated, always properly grinding and cleaning it, if a geometrical change due to wear occurs in the grinding and cleaning tool, and detecting a replacement timing for the grinding and cleaning tool.

A grinding and cleaning device includes a grinding and cleaning tool 43 mounted at the end of a rotational shaft 39 insertable into the acceptor 16 of a pipe 15 supported in a horizontal direction, a support 35 for supporting the rotational shaft 39 around the center of a horizontal axis in a up-and-down oscillatable manner, a cylinder device 46 for granting vertical force to the rotational shaft 39 to adjust the thrust of the grinding and cleaning tool 43 on the inner face of the acceptor 16 and an elevating device 26 for elevating the support 35, when the grinding and cleaning tool 43 is thrust against the inner face of the acceptor 16 by the cylinder device 46, to make the rotational shaft 39 in horizontal attitude.