Pipe fitting groove grinding center and grinding method

Abstract

The invention relates to the technical field of pipe fitting groove grinding, in particular to a pipe fitting groove grinding center and a grinding method.The grinding center comprises a grinding room, two rotary tables arranged in the grinding room and a six-axis robot fixedly installed between the two rotary tables, and one side of each rotary table extends out of the room and is protected by a fence to form a feeding and discharging area; according to the key improvement, the rotary table is provided with a clamp capable of moving in the radial direction and a radial adjusting mechanism for driving the clamp to move, and the clamp and the radial adjusting mechanism are used for adjusting the to-be-polished ends of the clamped pipe fittings of different sizes into the preset optimal working area of the six-axis robot. A line laser scanner and a force control grinding head are integrated at the tail end of the robot. Through active adjustment of the workpiece side position, the adaptability, the grinding quality and the production efficiency of the system to pipe fittings of different specifications are remarkably improved while the advantage of high-rigidity fixed installation of the robot is kept.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipe fitting groove polishing, in particular to a pipe fitting groove polishing center and a polishing method. BACKGROUND

[0002] In the fields of petrochemical industry, pressure vessels, shipbuilding and pipeline engineering, a large number of pipe fittings such as elbows, tees and reducers are used. Before welding, the inner and outer walls and the groove surface of these pipe fittings must be polished to remove impurities such as oxide scale and rust to ensure the welding quality. For example, a kind of automatic high-efficiency groove robot polishing machine is disclosed in Chinese patent No. CN213917411U. In addition, in the field of robot fine work, the end effector with force sensing and active compensation function (commonly known as force control floating device or active compliant device) is used to realize constant force contact work, which has become a key technology to improve the processing quality.

[0003] The existing robot polishing workstations generally use fixedly installed robots and fixed position clamps. The working space of the robot is determined by its physical structure, and there is an "optimal working area" with the best comprehensive performance (including positioning accuracy, motion rigidity, flexibility and load capacity).

[0004] When processing pipe fittings of different specifications, especially those with large length differences, the fixedly clamped end of the workpiece may be located outside the optimal area. For example, when polishing an ultra-long pipe fitting, the robot arm needs to be almost fully extended, resulting in decreased end rigidity, increased vibration and deteriorated precision; when polishing an ultra-short pipe fitting, the robot joints may be excessively bent and be in an unfavorable kinematic posture (close to a singular point), which also affects the stability and quality of polishing.

[0005] In order to cover a larger range, the existing technology usually adds external guide rails to the robot to expand its physical movement range, or directly selects a longer arm model. However, both of these solutions will significantly increase the system cost, complexity and floor space, and the moving guide rails may introduce additional positioning errors and vibrations, which weaken the high rigidity advantage of the robot when it is fixedly installed. Therefore, improvements are needed. SUMMARY

[0006] Therefore, the purpose of the present application is to provide a pipe fitting groove polishing center and a polishing method to solve the technical problems of unstable polishing quality and insufficient system flexibility of the existing fixed robot polishing workstation due to its fixed working range.

[0007] To achieve the above purpose, the present application provides a pipe fitting groove polishing center, which comprises a polishing house, two rotary tables arranged in the polishing house, and a six-axis robot arranged between the two rotary tables. One side of the rotating table extends to the outside of the polishing house, and the outside of the polishing house is provided with a fence for protecting the rotating table exposed outside the polishing house. A dust removal table is arranged in the polishing house and surrounds the rotating table. The two rotating tables are configured to work alternately, so that when the six-axis robot is polishing on one rotating table, the operator can load and unload the pipe on the other rotating table. The rotating table is embedded with a fixed disc, and the fixed disc is slidably provided with a plurality of clamps for clamping the pipe. A radial adjustment mechanism for driving the clamps to move radially is arranged on the lower surface of the fixed disc. The radial adjustment mechanism is used to adjust the radial position of the clamped pipe, so that the end of the pipe to be polished enters the preset optimal working area of the six-axis robot. The output end of the six-axis robot is provided with a line laser scanner and a force control polishing head. The force control polishing head includes a motorized spindle, a constant force floating force control unit, and a polishing tool mounted on the motorized spindle. The constant force floating force control unit is installed between the motorized spindle and the output end of the six-axis robot.

[0008] Preferably, the clamp includes a moving plate slidably arranged on the fixed disc. A strip-shaped slot is formed in the moving plate. A bidirectional screw is rotatably arranged in the strip-shaped slot. Two threaded sleeves are threadedly connected to the bidirectional screw. A clamping plate is fixed to the threaded sleeves. A receiving base is fixed to the moving plate.

[0009] Preferably, the dust removal main machine is further included. The dust removal main machine is connected to the dust removal table.

[0010] Preferably, the radial adjustment mechanism includes a plurality of through grooves formed in the fixed disc. A sliding plate is slidably arranged in the through groove. The upper surface of the sliding plate is connected to the moving plate through a connecting block. A pin shaft is fixed to the lower surface of the sliding plate. A driving assembly for driving the plurality of sliding plates to move radially synchronously is arranged on the lower surface of the fixed disc.

[0011] Preferably, the driving assembly includes a mounting groove formed in the fixed disc. A driving motor is installed in the mounting groove. The output end of the driving motor penetrates the lower surface of the fixed disc and is fixedly connected to a disc. A plurality of arc-shaped grooves for the pin shaft to penetrate are formed in the disc.

[0012] Preferably, the fence surrounds the loading and unloading area. The working range of the six-axis robot is the polishing area.

[0013] Preferably, two annular marker lines are arranged on the fixed disc. The area between the two annular marker lines is set as the preset optimal working area of the six-axis robot.

[0014] A polishing method of a pipe bevel polishing center, comprising the following steps: S1. Clamp the pipe fittings to be polished one by one onto multiple fixtures on one of the rotary tables; S2. According to the specifications of the pipe to be ground, the radial position of multiple clamps is adjusted simultaneously through the radial adjustment mechanism so that the end of the clamped pipe is located in the preset optimal working area of ​​the six-axis robot. S3. Control the rotary table to rotate, and rotate the pipes on the multiple fixtures one by one to the grinding area. At the same time, start the dust removal host to remove dust from the grinding area. S4. Control the six-axis robot to drive the line laser scanner to scan and position the pipe fittings, and control the force-controlled grinding head to grind the inner and outer ends and bevel surfaces of the pipe fittings. S5. While the six-axis robot is polishing the pipes on the current rotary table one by one, the operator is clamping pipes on another rotary table. S6. If the pipe on the current rotary table is finished being ground, the six-axis robot moves to another rotary table and repeats steps S3-S4. S7. Operators cut the polished pipe fittings into pieces, check the polishing quality, and collect and process the pipe fittings that need to be polished again. S8. Repeat steps S5-S7 to achieve cyclical production.

[0015] The beneficial effects of this invention are as follows: 1. Two rotary tables are used simultaneously, with one as a backup. Robotic grinding and manual loading and unloading are carried out at the same time, ensuring seamless connection of production rhythm and greatly improving the overall equipment efficiency. Each rotary table has multiple workstations, which can clamp multiple pipes at one time. The robot grinds them automatically in sequence, improving the efficiency of batch operations.

[0016] Second, the radial adjustment mechanism on the rotary table allows for flexible adjustment of the radial position of the fixture and workpiece according to different specifications (especially lengths) of pipe fittings. This resolves the contradiction between the "optimal working area" of a fixed robot and the "ideal processing position" of variable workpieces. Without replacing the robot or adding external tracks, the workpiece position can be adjusted to ensure that the end to be ground always enters the preset optimal working area where the robot's flexibility and precision are highest. This allows for compatibility with a wider range of pipe fitting sizes and enhances the equipment's adaptability to multi-variety, small-batch orders.

[0017] Third, by combining a six-axis robot (position control) with a constant-force floating force control unit (force control), full-attitude force / position hybrid control is achieved. The robot is responsible for precise positioning over a wide range, while the end effector force control unit performs millisecond-level fine adjustments to ensure constant grinding force, adapt to workpiece surface undulations, and achieve uniform grinding results, significantly surpassing the stability of manual operation and traditional machine tools. Line laser scanners can precisely position and scan clamped pipe fittings, automatically compensate for positional changes caused by material deviations and clamping errors, and generate accurate grinding paths, fundamentally avoiding problems such as over-grinding and under-grinding. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, 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 embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the rotary table and fixture of the present invention; Figure 3 This is a schematic diagram of the fixed disk and the disc from an upward angle. Figure 4 This is a schematic diagram of the overall structure of the disk, slide plate, and clamp of the present invention; Figure 5 This is a schematic diagram of the fixture of the present invention; Figure 6 This is a schematic diagram of the structure of the six-axis robot, line laser scanner, and force-controlled grinding head of the present invention.

[0020] In the diagram: 1. Grinding chamber; 2. Rotary table; 3. Fixture; 31. Moving plate; 32. Bidirectional screw; 33. Threaded sleeve; 34. Clamping plate; 35. Support base; 4. Fence; 5. Dust removal table; 6. Six-axis robot; 7. Line laser scanner; 8. Force-controlled grinding head; 81. Grinding tool; 82. Electric spindle; 83. Constant force floating force control unit; 9. Radial adjustment mechanism; 91. Slide plate; 92. Connecting block; 93. Pin; 94. Drive motor; 95. Disc; 96. Arc groove; 10. Fixed plate; 11. Circular marking line. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0022] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this invention should have the ordinary meaning understood by those skilled in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, a pipe bevel grinding center includes a grinding chamber 1, two rotary tables 2 arranged inside the grinding chamber 1, and a six-axis robot 6 arranged between the two rotary tables 2. One side of the rotary table 2 extends to the outside of the grinding chamber 1. The outside of the grinding chamber 1 is equipped with a fence 4, which is used to protect the rotary table 2 exposed outside the grinding chamber 1. Inside the grinding chamber 1, there is a dust removal table 5 surrounding the rotary table 2, and it also includes an external dust removal host, which is connected to the dust removal table 5.

[0024] The area enclosed by fence 4 is the loading and unloading area, and the working area of ​​the six-axis robot 6 is the grinding area.

[0025] The two rotary tables 2 are configured to work alternately, so that when the six-axis robot 6 is performing a grinding operation on one of the rotary tables 2, the operator can perform the loading and unloading of pipes on the other rotary table 2. The rotary table 2 is embedded with a fixed plate 10. The fixed plate 10 is slidably provided with a number of clamps 3 for clamping pipes. The lower surface of the fixed plate 10 is provided with a radial adjustment mechanism 9 for driving the clamps 3 to move radially. The radial adjustment mechanism 9 is used to adjust the radial position of the clamped pipe so that the end of the pipe to be ground enters the preset optimal working area of ​​the six-axis robot 6. Two circular marker lines 11 are provided on the fixed plate 10, and the area between the two circular marker lines 11 is set as the preset optimal working area of ​​the six-axis robot 6. If the tube is too long, its end may extend beyond the "preset optimal working area" and enter the edge of the robot's fully extended arm, resulting in decreased accuracy and increased vibration. If the tube is too short, the robot may need to excessively bend its joints to approach the workpiece, which will also lead it into the non-optimal area.

[0026] The optimal working area of ​​a robot refers to the state in which each transmission mechanism, such as the reducer, is subjected to the most uniform force and the least deformation, so as to most effectively resist the reaction force and vibration generated during grinding and ensure processing stability. Within this area, the robot wrist can flexibly reach the same point in various postures, which is convenient for finding the best tool posture for complex bevel angles, and is far away from the "singularity" that leads to loss of control or a sudden drop in accuracy.

[0027] A wired laser scanner 7 and a force-controlled grinding head 8 are installed on the output end of the six-axis robot 6. The force-controlled grinding head 8 includes an electric spindle 82, a constant force floating force control unit 83, and a grinding tool 81 installed on the electric spindle 82. The constant force floating force control unit 83 is installed between the electric spindle 82 and the output end of the six-axis robot 6.

[0028] The output end of the six-axis robot 6 is equipped with a line laser scanner 7 and a force-controlled grinding head 8. The line laser scanner 7 (model Dajie RP-UK-L) performs high-precision 3D scanning of the workpiece, obtains the actual position and generates the final grinding trajectory, and the grinding tool 81 is used to perform the grinding operation. The constant force floating force control unit 83 plays the role of force sensing and floating compensation.

[0029] Implementation of full-attitude force / position hybrid control compensation The constant force floating force control unit 83 is an electromechanical integrated device that combines a force sensor, a displacement sensor, and a servo driver. Its core function is to provide millisecond-level force feedback closed-loop control based on the position control of the six-axis robot 6.

[0030] Its working principle is as follows: Force sensing: The force sensor inside the unit detects the normal force and tangential force generated when the grinding tool 81 comes into contact with the workpiece in real time.

[0031] Signal processing and decision-making: The controller compares the detected force signal with the preset "constant force value" (process parameter).

[0032] Floating compensation: If the measured force deviates from the preset value, the controller will immediately drive the servo motor in the unit to generate a small, compensatory axial displacement (floating), thereby adjusting the contact force between the tool and the workpiece in real time to stabilize it near the preset value.

[0033] Collaboration with the robot: This unit is responsible for high-frequency, micron-level "force adjustment," while the six-axis robot 6 is responsible for low-frequency, wide-range "position movement." The combination of the two forms a hybrid control of position and force, enabling the robot to adapt to the undulations of the workpiece surface like a skilled worker, achieving stable and uniform constant force grinding without the need for frequent replanning of the robot path due to workpiece deviations.

[0034] This unit can be a commercially available standard product (such as a force-controlled actuator from brands like ATI, OnRobot, and PushCorp), or it can be a dedicated device integrated based on a force sensor and an electric cylinder. Its core function lies in realizing the aforementioned force sensing and active floating compensation capabilities.

[0035] The clamp 3 includes a movable plate 31 that is slidably disposed on the fixed plate 10. A strip groove is provided on the movable plate 31. A bidirectional screw 32 is rotatably disposed in the strip groove. Two threaded sleeves 33 are threadedly connected to the bidirectional screw 32. The internal threads of the two threaded sleeves 33 are in opposite directions. A clamping plate 34 is fixed on the threaded sleeve 33. A receiving base 35 is fixed on the movable plate 31.

[0036] Place the pipe to be ground on the receiving base 35, and then rotate the bidirectional screw 32. Since the bidirectional screw 32 is threadedly connected to the two threaded sleeves 33, and the groove restricts the rotation of the threaded sleeves 33, the two threaded sleeves 33 can move closer to each other or away from each other on the bidirectional screw 32, thereby driving the two clamping plates 34 to clamp and fix the pipe.

[0037] The radial adjustment mechanism 9 includes multiple through slots opened in the fixed plate 10. A slide plate 91 is slidably arranged in the through slots. The upper surface of the slide plate 91 is connected to the moving plate 31 through the connecting block 92. A pin 93 is fixed on the lower surface of the slide plate 91. A drive assembly for driving the multiple slide plates 91 to move radially in sync is provided on the lower surface of the fixed plate 10. The drive assembly includes a mounting slot on the fixed disk 10, in which a drive motor 94 is installed. The drive motor 94 is an integrated structure of a motor and a reducer. The output end of the drive motor 94 passes through the lower surface of the fixed disk 10 and is fixedly connected to a disc 95. The disc 95 has multiple arc-shaped slots 96 through which pins 93 pass.

[0038] When the position needs to be adjusted according to the pipe fitting specifications, the drive motor 94 is started, driving the disc 95 to rotate. Since the pin 93 is constrained within the arc groove 96, the rotational motion of the disc 95 is converted into the linear radial motion of the slide plate 91 along the through groove through the cooperation of the arc groove 96 and the pin 93, thereby driving all the clamps 3 to move synchronously towards the center or outward. Two circular marking lines 11 are drawn on the upper surface of the fixed plate 10, indicating the optimal working area of ​​the six-axis robot 6, which is convenient for the operator to make coarse adjustments.

[0039] A grinding method for a pipe fitting bevel grinding center includes the following steps: S1. The pipe fittings to be polished are clamped one by one on multiple clamps 3 of one of the rotary tables 2; S2. According to the specifications of the pipe to be ground, the radial positions of multiple clamps 3 are adjusted simultaneously by the radial adjustment mechanism 9 so that the end of the clamped pipe is located in the preset optimal working area of ​​the six-axis robot 6. S3. Control the rotary table 2 to rotate, and rotate the pipes on the multiple clamps 3 one by one to the grinding area. At the same time, start the dust removal host to remove dust from the grinding area. S4. Control the six-axis robot 6 to drive the line laser scanner 7 to scan and position the pipe fittings, and control the force-controlled grinding head 8 to grind the inner and outer ends and bevel surfaces of the pipe fittings. S5. While the six-axis robot 6 is grinding the pipes on the current rotary table 2 one by one, the operator is clamping the pipes on another rotary table 2. S6. If the pipe on the current rotary table 2 has been polished, the six-axis robot 6 moves to another rotary table 2 and repeats steps S3-S4. S7. Operators cut the polished pipe fittings into pieces, check the polishing quality, and collect and process the pipe fittings that need to be polished again. S8. Repeat steps S5-S7 to achieve cyclical production.

[0040] To further improve the accuracy of the grinding trajectory, the grinding center can also be equipped with a robot control system, an intelligent grinding software system, and an electrical control system that are interconnected. The robot control system is used to control the movement of the six-axis robot 6 and to control the line laser scanner 7 to scan the pipe port and bevel to obtain positioning data. The electrical control system is used to coordinate the movement of the robot control system and the intelligent grinding software system. The intelligent grinding software system can generate a grinding trajectory based on the scanning data of the line laser scanner 7 and control the six-axis robot 6 to drive the force-controlled grinding head 8 to automatically grind the port and bevel of the pipe clamped on the fixture 3.

[0041] The robot control system is a robot controller, and the electrical control system includes a PLC and an industrial computer, with the intelligent grinding software system running on the industrial computer.

[0042] The robot controller is a KUKA KR C4 controller, which controls a KUKA KR210 R2700 six-axis robot.

[0043] The robot controller has the following functions: Path execution: Receives trajectory instructions from the intelligent polishing software system and drives the six-axis robot 6 to complete path motion at high speed and high precision.

[0044] Vision integration: Communicates directly with the line laser vision system, triggers scanning and receives 3D point cloud data from it, and performs real-time path compensation.

[0045] Force control execution: It works closely with the force control grinding head 8 to achieve constant force grinding and adapt to the unevenness of the workpiece surface.

[0046] Motion control: Precisely control complex motion sequences such as automatic tool change and tool switching.

[0047] The intelligent grinding software system has a built-in process parameter library that stores grinding parameters (such as grinding force, speed, and rotation speed) for all pipe fitting models. Working in conjunction with a vision system, it can automatically generate the robot's grinding path without requiring manual instruction.

[0048] The intelligent sanding software system is RoBIM sanding software, which includes the following modules: Production control module: Used to receive work orders from the upper-level central control system / MES system or manually create custom tasks, and supports scanning QR codes or barcodes on pipe fittings to enter workpiece information; Process parameter library module: Used to store standard grinding process parameter templates (including normal grinding force, tangential grinding force, grinding speed, feed rate, electric spindle speed), and automatically call parameters and generate grinding trajectories according to pipe fitting type (elbow, tee, reducer flange) and specifications; Tool Management Module: Records tool number, type, specifications and service life, monitors tool status in real time and automatically reminds you to replace it; Data acquisition and monitoring module: used to collect production data, equipment status and quality data in real time, and provide visualization display; Integrated interconnect module: It interfaces with the MES system through OPCUA, MQTT, and WebAPI protocols, and collects energy data, equipment data, and production data.

[0049] The grinding system is also equipped with a 55-inch electronic dashboard that displays production plans, task progress, current processing information, capacity data, equipment status (power on / running / alarm), energy consumption, voltage, air pressure, and video monitoring footage in real time. It also has a fault self-diagnosis function, which records equipment alarm information (including alarm status, detailed description, occurrence time, and resolution method) in a hierarchical manner. The alarm records are stored on the industrial computer's hard drive and support historical query.

[0050] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention is limited to these examples; within the framework of the invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.

[0051] The embodiments of this invention are intended to cover all such substitutions, modifications, and variations falling within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A pipe beveling grinding center, comprising a grinding chamber (1), two rotary tables (2) disposed within the grinding chamber (1), and a six-axis robot (6) disposed between the two rotary tables (2), characterized in that: One side of the rotary table (2) extends to the outside of the grinding chamber (1). The outside of the grinding chamber (1) is provided with a fence (4). The fence (4) is used to protect the rotary table (2) exposed outside the grinding chamber (1). The grinding chamber (1) is provided with a dust removal table (5) surrounding the rotary table (2). The two rotary tables (2) are configured to work alternately, so that when the six-axis robot (6) is performing grinding operations on one of the rotary tables (2), the operator can perform loading and unloading operations on the other rotary table (2). The rotary table (2) is embedded with a fixed plate (10). The fixed plate (10) is slidably provided with a plurality of clamps (3) for clamping pipes. The lower surface of the fixed plate (10) is provided with a radial adjustment mechanism (9) for driving the clamps (3) to move radially. The radial adjustment mechanism (9) is used to adjust the radial position of the clamped pipe so that the end of the pipe to be ground enters the preset optimal working area of ​​the six-axis robot (6). A wired laser scanner (7) and a force-controlled grinding head (8) are installed on the output end of the six-axis robot (6). The force-controlled grinding head (8) includes an electric spindle (82), a constant force floating force control unit (83), and a grinding tool (81) installed on the electric spindle (82). The constant force floating force control unit (83) is installed between the electric spindle (82) and the output end of the six-axis robot (6).

2. The pipe fitting beveling grinding center according to claim 1, characterized in that, The clamp (3) includes a movable plate (31) slidably disposed on a fixed plate (10). A strip groove is provided on the movable plate (31), and a bidirectional screw (32) is rotatably disposed in the strip groove. Two threaded sleeves (33) are threadedly connected to the bidirectional screw (32), and a clamping plate (34) is fixed on the threaded sleeves (33). A receiving base (35) is fixed on the movable plate (31).

3. A pipe fitting beveling grinding center according to claim 1, characterized in that, It also includes an external dust removal host, which is connected to the dust removal platform (5).

4. A pipe fitting beveling grinding center according to claim 2, characterized in that, The radial adjustment mechanism (9) includes multiple through slots opened in the fixed plate (10), and a sliding plate (91) is slidably arranged in the through slot. The upper surface of the sliding plate (91) is connected to the moving plate (31) through a connecting block (92). A pin (93) is fixed on the lower surface of the sliding plate (91). A drive assembly for driving the multiple sliding plates (91) to move radially in sync is provided on the lower surface of the fixed plate (10).

5. A pipe fitting beveling grinding center according to claim 4, characterized in that, The drive assembly includes a mounting slot on a fixed disk (10), in which a drive motor (94) is installed. The output end of the drive motor (94) passes through the lower surface of the fixed disk (10) and is fixedly connected to a disc (95). The disc (95) has multiple arc-shaped slots (96) through which pins (93) pass.

6. A pipe fitting beveling grinding center according to claim 1, characterized in that, The area enclosed by the fence (4) is the loading and unloading area, and the working range of the six-axis robot (6) is the grinding area.

7. A pipe fitting beveling grinding center according to claim 1, characterized in that, The fixed disk (10) is provided with two circular marking lines (11), and the area between the two circular marking lines (11) is set as the preset optimal working area of ​​the six-axis robot (6).

8. A grinding method for a pipe fitting bevel grinding center as described in any one of claims 1 to 7, characterized in that, Includes the following steps: S1. The pipe fittings to be polished are clamped one by one on multiple clamps (3) of one of the rotary tables (2); S2. According to the specifications of the pipe to be ground, the radial position of multiple clamps (3) is adjusted simultaneously by the radial adjustment mechanism (9) so that the end of the clamped pipe is located in the preset optimal working area of ​​the six-axis robot (6). S3. Control the rotary table (2) to rotate, and rotate the pipes on the multiple clamps (3) one by one to the grinding area. At the same time, start the dust removal host to remove dust from the grinding area. S4. Control the six-axis robot (6) to drive the line laser scanner (7) to scan and position the pipe fitting, and control the force-controlled grinding head (8) to grind the inner and outer ports and bevel surfaces of the pipe fitting; S5. While the six-axis robot (6) is polishing the pipes on the current rotary table (2) one by one, the operator is clamping the pipes on another rotary table (2). S6. If the pipe on the current rotary table (2) is finished being polished, the six-axis robot (6) moves to another rotary table (2) and repeats steps S3-S4. S7. Operators cut the polished pipe fittings into pieces, check the polishing quality, and collect and process the pipe fittings that need to be polished again. S8. Repeat steps S5-S7 to achieve cyclical production.

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