A pipe polishing system

Abstract

The present application relates to a kind of system for grinding ductile iron workpiece using industrial robot, comprising: first industrial robot, six-axis industrial robot;Second industrial robot, it is arranged adjacent to the first industrial robot, six-axis industrial robot, and the first industrial robot and second industrial robot working radius each other intersection and signal communication;Workpiece to be ground, ductile iron pipe fittings;Fitting table, horizontal platform of depositing the workpiece to be ground, all or part is located in the working radius of the first industrial robot;Polishing device, the polishing mechanism of one or more grinding head;The first industrial robot and second industrial robot working radius each set up one or more polishing device, using the functional characteristics of the high flexibility of industrial robot multi-posture, while two industrial robots cooperate with each other, complete the polishing of the mold line of pipe fitting of multiple specifications, multiple angles.

Description

Technical Field

[0001] This invention relates to a pipe grinding system, specifically to a system for grinding ductile iron workpieces using an industrial robot. Background Technology

[0002] During the casting process, due to issues with the casting technology, castings often develop burrs or parting lines. To obtain a complete casting, a post-casting grinding process is typically employed to remove burrs and achieve a perfect part. In the production process of ductile iron pipe fittings, grinding the cast fittings to remove burrs and parting lines is a necessary step. Currently, this grinding process is always performed manually to remove the parting lines.

[0003] Manual grinding of castings is time-consuming and labor-intensive, resulting in low production efficiency. It requires a large number of operators to ensure target output, significantly increasing labor intensity. Furthermore, the grinding workshop environment is poor and poses numerous safety hazards. Therefore, there is an urgent need for a mechanized, automated grinding method to replace manual grinding. This would fill the gap in the current lack of mechanized, automated pipe fitting grinding, greatly reducing labor intensity and improving pipe fitting production efficiency. Summary of the Invention

[0004] To overcome the problems in existing technologies, the inventors employed two industrial robots with intersecting working radii to cooperate in achieving automated grinding and production of castings. The technical solution adopted by the inventors is: a pipe fitting grinding system, comprising:

[0005] The first industrial robot is a six-axis industrial robot;

[0006] The second industrial robot is arranged adjacent to the first industrial robot. It is a six-axis industrial robot, and the working radii of the first industrial robot and the second industrial robot are intersecting and connected by signals.

[0007] Both the first and second industrial robots have end effectors equipped with gripping fixtures. The gripping fixtures are fixedly connected to the T-axis of the first and second industrial robots and can rotate 360° by means of the T-axis.

[0008] Workpieces to be ground: ductile iron pipes and fittings;

[0009] The pipe fitting table, a horizontal platform for storing the workpiece to be ground, is located entirely or partially within the working radius of the first industrial robot.

[0010] A grinding device, comprising a grinding mechanism with one or more grinding heads; one or more of the grinding devices are provided within the working radius of the first industrial robot and the second industrial robot.

[0011] Furthermore, the clamping fixture includes:

[0012] The base is a plate-shaped structure, with one side fixedly connected to the first and second industrial robots, and the other side provided with two parallel base slide rails.

[0013] The first palm base, a support perpendicular to the base, cooperates with two parallel base slide rails and slides relative to the base via the base slide rails;

[0014] The second palm base is a support perpendicular to the base, opposite to the first palm base, and fixedly connected to the base;

[0015] The tooling drive device and the linear telescopic drive device have a driving direction parallel to the direction of the machine base slide rail, and the first palm base is fixedly connected to the telescopic end of the tooling drive device.

[0016] The first and second palm bases move closer or further apart in the direction of the machine base slide rail by means of the tooling drive device.

[0017] A finger support platform, a plate-like structure parallel to the base, is fixedly disposed at the end of the first and second palm bases away from the base;

[0018] The finger clamp is a columnar body perpendicular to the finger clamp support platform, which is fixedly or detachably connected to the finger clamp support platform, and its upright direction is away from the base.

[0019] The clamping fingers engage with the inner wall of the workpiece to be ground, and clamp the workpiece under the drive of the tooling drive device.

[0020] Furthermore,

[0021] The second palm base engages with two parallel base slide rails and slides relative to the base via the base slide rails;

[0022] And, also includes:

[0023] The first palm seat synchronization rack has one end fixed to the first palm seat and the other end facing the rack of the second palm seat;

[0024] The second palm seat synchronization rack has one end fixed to the second palm seat and the other end facing the rack of the first palm seat;

[0025] The first palm seat synchronous rack and the second palm seat synchronous rack have opposite sawtooth structures;

[0026] The palm base synchronization gear is fixedly mounted on the machine base, and the center of the palm base synchronization gear is located between the first palm base and the second palm base;

[0027] The first and second palm seat synchronous racks are respectively meshed with the palm seat synchronous gear, so that when the tooling drive device drives the first palm seat, the second palm seat moves synchronously.

[0028] Furthermore, the pipe fitting platform is equipped with a rotating mechanism that allows it to rotate around a center;

[0029] And, including:

[0030] A pneumatic chuck engages with the inner or outer wall of the workpiece to be ground, fixing the workpiece to be ground onto the pipe platform.

[0031] The pneumatic chucks on the pipe fitting platform are multiple units, arranged in two parallel groups on the pipe fitting platform.

[0032] The pipe fitting platform is connected to the first industrial robot via signal communication.

[0033] Furthermore, the pipe fitting station also includes:

[0034] The protective screen has a plate-like structure, is perpendicular to the plane of the pipe fitting platform, is fixedly connected to the pipe fitting platform, and is located between the two sets of pneumatic chucks.

[0035] Furthermore, the clamping fixture also includes:

[0036] Tooling protection assembly, the tooling protection assembly includes:

[0037] A protective box, a box body fixedly connected to the base, the protective box being provided with a strip-shaped hole for the finger clamp support to extend out of the protective box;

[0038] Furthermore, the tooling protection assembly also includes

[0039] The bellows cover groove is located on both sides of the strip hole;

[0040] The accordion covers are arranged in two groups on either side of the first and second palm bases.

[0041] One end of a set is fixedly connected to the protective box, the other end is fixedly connected to the first palm base, and both sides are slidably connected to the bellows cover groove;

[0042] One end of the other group is fixedly connected to the protective box, and the other end is fixedly connected to the second palm base. Both sides are slidably connected to the accordion cover groove.

[0043] Furthermore, the clamping finger includes:

[0044] The finger root is fixedly connected to the finger clamping support platform, or is provided with an external thread structure and is detachably connected to the finger clamping support platform;

[0045] The fingertip, hemispherical or conical in shape, is located at the tip of the pinching finger;

[0046] The finger-clamping groove is located between the fingertip and the base of the finger, and has multiple grooves that are recessed into the finger.

[0047] Furthermore, on the finger support platform corresponding to the first palm base and the second palm base, multiple finger holes are arranged in a straight line perpendicular to the slide rail direction of the base;

[0048] The multiple finger holes on the first palm base are arranged in parallel with the multiple finger holes on the second palm base;

[0049] The finger hole is provided with an internal thread, which cooperates with the finger root to make the finger clamp detachable.

[0050] Furthermore, the finger holes are arranged in two or more rows in parallel on the finger clamping support platform;

[0051] Furthermore, two finger holes are spaced apart on each row, and the distance between the two finger holes increases along the radial direction of the center point of the palm seat synchronous gear.

[0052] The beneficial effects of this invention compared to existing technologies are as follows: by utilizing the multi-pose and high flexibility of industrial robots, two industrial robots can cooperate with each other to complete the grinding of the mold line of pipe fittings of various specifications and angles, replacing the traditional manual grinding process, achieving a more precise and efficient grinding process, and further improving product quality and output. Attached Figure Description

[0053] Figure 1 This is a top view showing the process layout for a specific embodiment of the present invention;

[0054] Figure 2 This is a side view of the first industrial robot according to a specific embodiment of the present invention;

[0055] Figure 3 A front view of a clamping fixture with a tooling protection component, as shown in a specific embodiment of the present invention;

[0056] Figure 4 This is a front view of the clamping tooling according to a specific embodiment of the present invention;

[0057] Figure 5 This is a side view of the clamping fixture according to a specific embodiment of the present invention;

[0058] Figure 6 This is a top view of the cross-section of the clamping tool JJ according to a specific embodiment of the present invention;

[0059] Figure 7 This is a top view of the clamping fixture according to a specific embodiment of the present invention;

[0060] Figure 8 This is a schematic diagram illustrating the clamping fixtures of the first and second industrial robots during the pipe transfer process, as described in a specific embodiment of the present invention.

[0061] The labels are as follows: 110 - First industrial robot; 120 - Second industrial robot;

[0062] 200-Clamping fixture; 210-Fitting device; 220-Fitting protective assembly; 221-Protective box; 222-Bellbell cover; 223-Bellbell cover slide groove; 224-Strip hole; 230-First palm base; 231-First palm base synchronous rack; 240-Second palm base; 241-Second palm base synchronous rack; 242-Palm base synchronous gear; 250-Base; 251-Base slide rail; 260-Finger gripping support platform; 261-Finger hole; 270-Finger gripper; 271-Finger pad; 272-Finger gripping groove; 273-Finger root;

[0063] 300 - Pipe fitting table; 310 - Pneumatic chuck; 320 - Protective screen;

[0064] 400-Grinding device;

[0065] 500 - Workpiece to be ground. Detailed Implementation

[0066] The technical solutions in the embodiments are clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention 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, and therefore should not be construed as a limitation of the present invention.

[0067] Please see Figures 1 to 8 To overcome the problems in existing technologies, the inventors employed two industrial robots with intersecting working radii to cooperate in achieving automated grinding and production of castings. The technical solution adopted by the inventors is: a pipe fitting grinding system, comprising:

[0068] The first industrial robot 110 is a six-axis industrial robot. To achieve the multi-posture requirements of grasping actions, this invention uses a six-axis industrial robot to meet the operational needs. A six-axis industrial robot generally has 6 degrees of freedom, including the S-axis of rotation, the L-axis of the lower arm, the U-axis of the upper arm, the R-axis of wrist rotation, the B-axis of wrist swing, and the T-axis of wrist rotation. The 6 joints combine to achieve the 6-degree-of-freedom motion of the end effector, which has many advantages such as high flexibility, large load capacity, and high positioning accuracy.

[0069] The second industrial robot 120, arranged adjacent to the first industrial robot 110, is a six-axis industrial robot, and the working radii of the first industrial robot 110 and the second industrial robot 120 intersect and are connected by signals. A key inventive aspect of this invention is the collaboration between the two industrial robots. Because a single industrial robot cannot completely complete the grinding work on the pipe fittings, its gripping end cannot grind to the required depth. To overcome this difficulty, the inventors creatively utilize the collaboration of two industrial robots to complete the grinding work. The essential technical feature for enabling the two industrial robots to transfer the pipe fittings is that the working radii of the first industrial robot 110 and the second industrial robot 120 intersect and are connected by signals.

[0070] The end effectors of the first industrial robot 110 and the second industrial robot 120 are both equipped with a gripping fixture 220. The gripping fixture 220 is fixedly connected to the T-axis of the first industrial robot 110 and the second industrial robot 120, and can rotate 360° by means of the T-axis.

[0071] The workpiece to be ground, 500, is a ductile iron pipe fitting. Typical pipe fittings include straight pipe fittings, tee pipe fittings, 90° elbow pipe fittings, 135° elbow pipe fittings, reducing pipe fittings, etc. In this specific embodiment, since the workpiece to be ground, 500, is a ductile iron pipe fitting, the fitting inevitably has two circumferential holes. This invention utilizes the special characteristics of the pipe fitting to achieve the transfer of the pipe fitting.

[0072] The pipe fitting table 300 is a horizontal platform for storing the workpiece 500 to be ground, and is wholly or partially located within the working radius of the first industrial robot 110. The function of the pipe fitting table 300 is to fix the gripping position of the first industrial robot 110 to achieve automated gripping. A portion of the pipe fitting table 300 will inevitably fall within the working radius of the first industrial robot 110. However, in the design process, the inventors considered that in some embodiments, manual labor or other equipment might transport the workpiece 500 to be ground onto the pipe fitting table 300. To avoid safety risks in the interaction between the first industrial robot and manual labor or other equipment, in other embodiments, only a portion of the pipe fitting table 300 is located within the working radius of the first industrial robot 110. After the workpiece 500 to be ground is placed, it is rotated to bring the workpiece 500 placed on the pipe fitting table 300 into the working radius of the first industrial robot 110.

[0073] A grinding device 400 is a grinding mechanism having one or more grinding heads; one or more of the aforementioned grinding devices 400 are each arranged within the working radius of the first industrial robot 110 and the second industrial robot 120. In this embodiment, please refer to... Figure 1The grinding device 400 is equipped with two units: a double-head grinding wheel machine and a benchtop grinding head machine. Utilizing the characteristics of different grinding equipment, it achieves the grinding of burrs and parting lines. Alternatively, the grinding device 400 can also be used within the overlapping working radius of the first industrial robot 110 and the second industrial robot 120, where both robots utilize the shared grinding device 400 to complete the grinding work.

[0074] In other embodiments, the clamping fixture 200 includes:

[0075] The base 250 is a plate-shaped structure. One side is fixedly connected to the first industrial robot 110 and the second industrial robot 120, and the other side is provided with two parallel base slide rails 251. The function of the base 250 is to support the components on the tooling 200. The tooling drive device 210 can also be fixed on the base 250.

[0076] The first palm base 230 is a support perpendicular to the base 250, and cooperates with two parallel base slide rails 251 and slides relative to the base 250 by means of the base slide rails 251.

[0077] The second palm base 240 is a support perpendicular to the base 250, opposite to the first palm base 230, and fixedly connected to the base 250. In this embodiment, the second palm base 240 is fixed and the first palm base 230 is movable, which can also realize the opening and closing activities between the first palm base 230 and the second palm base 240.

[0078] The tooling drive device 210 is a linear telescopic drive device, and its driving direction is parallel to the direction of the machine base slide rail 251. The first palm base 230 is fixedly connected to the telescopic end of the tooling drive device 210. In this embodiment or other embodiments, the tooling drive device 210 is generally driven by a cylinder. Of course, it can also be a mechanical drive with limit or a hydraulic cylinder, which can all complete the driving function of the present invention.

[0079] The first palm base 230 and the second palm base 240 move closer or further away from each other in the direction of the machine base slide rail 251 by means of the tooling drive device 210.

[0080] The finger support platform 260, a plate-shaped structure parallel to the base 250, is fixedly disposed at the end of the first palm base 230 and the second palm base 240 away from the base 250;

[0081] The finger clamp 270 is a columnar body perpendicular to the finger clamp support platform 260, which is fixedly or detachably connected to the finger clamp support platform 260, and its upright direction is away from the base 250.

[0082] The clamping finger 270 engages with the inner wall of the workpiece 500 to be ground, and clamps the workpiece 500 to be ground under the drive of the tooling drive device 210.

[0083] Further, in some embodiments, please refer to Figure 6 The second palm base 240 cooperates with two parallel base slide rails 251 and slides relative to the base 250 by means of the base slide rails 251;

[0084] And, also includes:

[0085] The first palm seat synchronization rack 231 has one end fixed to the first palm seat 230 and the other end facing the rack of the second palm seat 240;

[0086] The second palm seat synchronization rack 241 has one end fixed to the second palm seat 240 and the other end facing the rack of the first palm seat 230;

[0087] The first palm seat synchronous rack 231 and the second palm seat synchronous rack 241 have serrated structures opposite to each other;

[0088] The palm base synchronization gear 242 is fixedly mounted on the base 250, and the center of the palm base synchronization gear 242 is located between the first palm base 230 and the second palm base 240.

[0089] The first palm-mount synchronous rack 231 and the second palm-mount synchronous rack 241 are respectively meshed with the palm-mount synchronous gear 242, so that when the tooling drive device 210 drives the first palm-mount 230, the second palm-mount 240 moves synchronously. Utilizing the palm-mount synchronous gear 242 to achieve synchronous opening and closing of the first palm-mount 230 and the second palm-mount 240 is another inventive contribution of the inventor to this invention. This method allows the industrial robot to achieve stable gripping by aligning with the axis of the tube and synchronously opening and closing the support when extending into the workpiece 500 to be ground.

[0090] In other embodiments, in order to achieve the technical solution that the pipe fitting table 300 is partially located within the working radius of the first industrial robot 110, the pipe fitting table 300 is provided with a rotating mechanism that can rotate around the center;

[0091] And, including:

[0092] A pneumatic chuck 310 is fitted to the inner or outer wall of the workpiece 500 to be ground, and to fix the workpiece 500 to be ground and the pipe fitting table 300.

[0093] The pneumatic chucks 310 on the pipe fitting table 300 are multiple units, arranged in two parallel groups on the pipe fitting table 300;

[0094] The pipe fitting platform 300 is connected to the first industrial robot 110 via signal communication.

[0095] After the workpiece 500 to be ground is placed on the pipe table 300, the pipe table 300 rotates and then communicates with the first industrial robot 110, which then picks up the corresponding workpiece 500 to be ground.

[0096] Furthermore, the pipe fitting platform 300 also includes:

[0097] The protective screen 320, a plate-like structure, is perpendicular to the plane of the pipe fitting platform 300 and is fixedly connected to the pipe fitting platform 300, located between the two sets of pneumatic chucks 310. In this embodiment, the protective screen 320 is used to improve safety performance.

[0098] In other embodiments, to prevent impurities in the working environment from affecting the stability of the clamping fixture 200, the clamping fixture 200 further includes:

[0099] Tooling protection assembly 220, the tooling protection assembly 220 includes:

[0100] The protective box 221 is a box body fixedly connected to the base 250. The protective box 221 is provided with a strip hole 224 for the finger support platform 260 to extend out of the protective box 221.

[0101] The tooling protection assembly 220 also includes

[0102] The accordion cover groove 223 is located on both sides of the strip hole 224;

[0103] The accordion cover 222 is located in two groups on both sides of the first palm base 230 and the second palm base 240.

[0104] One end of a set is fixedly connected to the protective box 221, the other end is fixedly connected to the first palm base 230, and both sides are slidably connected to the bellows cover slide groove 223;

[0105] One end of the other group is fixedly connected to the protective box 221, and the other end is fixedly connected to the second palm base 240. Both sides are slidably connected to the bellows cover slide groove 223.

[0106] In other embodiments, the clamping finger 270 includes:

[0107] The finger root 273 is fixedly connected to the finger clamping support 260, or has an external thread structure and is detachably connected to the finger clamping support 260; the function of the finger root 272 is to provide a connecting part for either fixed or detachable connection.

[0108] The fingertip 270, hemispherical or conical, is located at the end of the gripping finger 270. The function of the fingertip 270 is to provide tolerance when the gripping action has slight differences and the gripping finger 270 is inserted into the workpiece 500 to be ground, so that it can smoothly enter the interior of the workpiece 500 to be ground.

[0109] The finger-clamping groove 272 is located between the fingertip 270 and the finger root 273, and has multiple grooves that are recessed into the finger clamping 270. The finger-clamping groove 272 increases the friction between the finger clamping 270 and the inner wall of the workpiece 500 to be ground.

[0110] In other embodiments, the gripping performance can be easily adjusted to accommodate differences in the nominal diameter of the workpiece (500 specification).

[0111] On the finger support platform 260 corresponding to the first palm base 230 and the second palm base 240, a plurality of finger holes 261 are arranged in a straight line perpendicular to the machine base slide rail 251.

[0112] The multiple finger holes 261 on the first palm base 230 are arranged in parallel with the multiple finger holes 261 on the second palm base 240;

[0113] The finger hole 261 is provided with an internal thread, which cooperates with the finger root 272 to make the finger clamp 270 detachably connected.

[0114] The finger holes 261 are arranged in two or more rows in parallel on the finger clamping support platform 260.

[0115] Furthermore, two finger holes 261 are provided at intervals on each row, and the distance between the two finger holes 261 increases along the radial direction of the center point of the palm seat synchronous gear 242.

[0116] Please see Figure 7 The gripper fingers 270 are arranged in two rows on different gripper finger support platforms 260. The two inner gripper fingers 270 are spaced closer together, while the two outer gripper fingers 270 are spaced further apart. The four inner gripper fingers 270 with smaller nominal diameter grippers 500, and the four outer gripper fingers 270 with larger nominal diameter grippers 500, enabling the gripping of different workpieces 500 without changing the gripper fingers 270 on the same gripping fixture 200. This is especially useful for different diameter pipe fittings, where two industrial robots can complete the task without adjustment. Figure 8 The design of the aforementioned clip 270 is also one of the inventor's creative contributions.

[0117] Specific technical operation method: In the embodiment, the workpiece 500 to be ground is transported to the pipe table 300, and the pipe table 300 is rotated to the working radius of the first industrial robot 110. The first industrial robot 110 uses the clamping fixture 220 to grab the workpiece 500 to be ground and place it to the grinding device 400 for grinding. Utilizing the multi-position characteristics of the industrial robot, the burrs and parting lines of the workpiece 500 to be ground are ground. However, at this time, burrs and other defects near the clamping fixture 220 of the first industrial robot 110 cannot be ground due to the obstruction of the clamping fixture 220. At this time, the second industrial robot 120, at the intersection of the working radii of the first industrial robot 110 and the second industrial robot 120, cooperates with the first industrial robot 110 to complete the transfer of the workpiece 500 to be ground. The second industrial robot 120 grabs the other opening of the workpiece 500 to be ground, at the end face that has been ground by the first industrial robot 110, and continues to complete the grinding work of the unground area. By leveraging the multi-pose and high flexibility of industrial robots, two industrial robots can work together to complete the grinding of mold lines for pipe fittings of various specifications and angles, replacing the traditional manual grinding process. This achieves a more precise and efficient grinding process, further improving product quality and output.

[0118] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A pipe fitting grinding system, characterized in that, include: The first industrial robot (110) is a six-axis industrial robot; The second industrial robot (120) is arranged adjacent to the first industrial robot (110) and is a six-axis industrial robot. The working radii of the first industrial robot (110) and the second industrial robot (120) intersect each other and are connected by signals. The end effectors of the first industrial robot (110) and the second industrial robot (120) are both equipped with a gripping fixture (200), which is fixedly connected to the T-axis of the first industrial robot (110) and the second industrial robot (120) and can rotate 360° by means of the T-axis. The workpiece to be ground (500) is a ductile iron pipe fitting; The pipe fitting table (300) is a horizontal platform for storing the workpiece (500) to be ground, and is located entirely or partially within the working radius of the first industrial robot (110). A grinding device (400) has a grinding mechanism with one or more grinding heads; one or more of the grinding devices (400) are provided within the working radius of the first industrial robot (110) and the second industrial robot (120). The clamping fixture (200) includes: The base (250) has a plate-like structure. One side is fixedly connected to the first industrial robot (110) and the second industrial robot (120), and the other side is provided with two parallel base slide rails (251). The first palm base (230) is a support perpendicular to the base (250), which cooperates with two parallel base slide rails (251) and slides relative to the base (250) by means of the base slide rails (251); The second palm rest (240) is a support perpendicular to the base (250) and is opposite to the first palm rest (230); the second palm rest (240) cooperates with two parallel base slide rails (251) and slides relative to the base (250) by means of the base slide rails (251); Tooling drive device (210), linear telescopic drive device, the driving direction is parallel to the direction of the machine base slide rail (251), and the first palm base (230) is fixedly connected to the telescopic end of the tooling drive device (210). The first palm base (230) and the second palm base (240) move closer to or further away from each other in the direction of the base slide rail (251) by means of the tooling drive device (210); And, also includes: The first palm seat synchronous rack (231) has one end fixed to the first palm seat (230) and the other end facing the rack of the second palm seat (240); The second palm seat synchronous rack (241) has one end fixed to the second palm seat (240) and the other end facing the rack of the first palm seat (230); The first palm seat synchronous rack (231) and the second palm seat synchronous rack (241) have serrated structures opposite each other; The palm seat synchronization gear (242) is fixedly mounted on the base (250), and the center of the palm seat synchronization gear (242) is located between the first palm seat (230) and the second palm seat (240); The first palm seat synchronous rack (231) and the second palm seat synchronous rack (241) are respectively meshed with the palm seat synchronous gear (242) so that when the tooling drive device (210) drives the first palm seat (230), the second palm seat (240) moves synchronously. A finger support platform (260), a plate-shaped structure parallel to the base (250), is fixedly disposed at the end of the first palm base (230) and the second palm base (240) away from the base (250); The finger clamp (270) is a columnar body perpendicular to the finger clamp support platform (260), which is fixedly or detachably connected to the finger clamp support platform (260), and its upright direction is away from the base (250). The clamping finger (270) engages with the inner wall of the workpiece to be ground (500) and clamps the workpiece to be ground (500) under the drive of the tooling drive device (210). The clamping finger (270) includes: The finger root (273) is fixedly connected to the finger clamping support (260), or is provided with an external thread structure and is detachably connected to the finger clamping support (260); The fingertip (271), hemispherical or conical, is located at the end of the pinch finger (270); The finger clamping groove (272) is located between the fingertip (271) and the finger root (273), and is provided with multiple grooves that are recessed into the finger clamp (270); On the finger support platform (260) corresponding to the first palm base (230) and the second palm base (240), a plurality of finger holes (261) are arranged in a straight line perpendicular to the base slide rail (251). The multiple finger holes (261) on the first palm base (230) are arranged in parallel with the multiple finger holes (261) on the second palm base (240); The finger hole (261) is provided with an internal thread, which cooperates with the finger root (273) to make the finger clamp (270) detachably connected; The finger holes (261) are arranged in two or more rows in parallel on the finger clamping support platform (260); Furthermore, two finger holes (261) are provided at intervals on each row, and the distance between the two finger holes (261) increases along the radial direction of the center point of the palm seat synchronous gear (242).

2. The pipe grinding system according to claim 1, characterized in that, The pipe fitting platform (300) is equipped with a rotating mechanism that can rotate around the center; And, including: A pneumatic chuck (310) engages with the inner or outer wall of the workpiece to be ground (500) to fix the workpiece to be ground (500) onto the pipe fitting table (300); The pneumatic chucks (310) on the fitting table (300) are multiple units, arranged in two parallel groups on the fitting table (300); The pipe fitting platform (300) is connected to the first industrial robot (110) via signal communication.

3. The pipe grinding system according to claim 2, characterized in that, The fitting station (300) also includes: The protective screen (320) has a plate-like structure, is perpendicular to the plane of the pipe fitting table (300), is fixedly connected to the pipe fitting table (300), and is located between the two sets of pneumatic chucks (310).

4. The pipe grinding system according to claim 1, characterized in that, The clamping fixture (200) also includes: Tooling protection assembly (220), the tooling protection assembly (220) includes: The protective box (221) is a box body fixedly connected to the base (250). The protective box (221) is provided with a strip hole (224) for the finger support platform (260) to extend out of the protective box (221). The tooling protection assembly (220) also includes The accordion cover groove (223) is located on both sides of the strip hole (224); The accordion cover (222) is located in two groups on both sides of the first palm base (230) and the second palm base (240). One end of one group is fixedly connected to the protective box (221), the other end is fixedly connected to the first palm base (230), and both sides are slidably connected to the bellows cover slide groove (223); the other group is fixedly connected to the protective box (221) at one end and to the second palm base (240) at the other end, and both sides are slidably connected to the bellows cover slide groove (223).

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