The invention discloses a continuous cloth type steel tube grinding device. The continuous cloth type steel tube grinding device comprises a grinding box body, wherein a grinding motor is fixedly arranged at the bottom of a supporting table, irregular gears are movably arranged in double-side racks, telescopic connecting rods are fixedly arranged at the top ends of the double-side racks, a grinding roller wheel frame movably sleeves a fixed sliding rod, one-way bearings are fixedly arranged at the two ends of the grinding roller wheel frame, polishing cloth roller wheels are movably inserted in the one-way bearings, wheel shafts of the grinding cloth roller wheels are further fixedly provided with driven wheels with irregular gear mechanisms, the two grinding cloth roller wheels are connected through polishing cloth, and a linear conveying wheel and radial rolling wheels are movably arranged on the conveying table. According to the device, a cloth type grinding mode is adopted, so thatthe grinding contact area is increased, the surface of a steel tube is polished by rubbing the polishing cloth on the steel tube back and forth on the steel tube, uniform and effective grinding can be carried out on each part of the steel tube, and the grinding device is especially suitable for grinding and polishing the precise bearing parts and the steel tubes.