CN220389003U - Pipe fitting polishing system - Google Patents

Abstract

The utility model relates to a pipe fitting polishing system, comprising: the first industrial robot is a six-axis industrial robot; the second industrial robot is adjacently arranged with the first industrial robot and is a six-axis industrial robot, and the working radiuses of the first industrial robot and the second industrial robot are mutually intersected and in signal communication; to-be-grinded workpiece, nodular cast iron pipe fitting; the pipe fitting table is used for storing the horizontal platform of the workpiece to be ground and is wholly or partially positioned in the working radius of the first industrial robot; a grinding device having a grinding mechanism with one or more grinding heads; one or more polishing devices are respectively arranged in the working radiuses of the first industrial robot and the second industrial robot, and the two industrial robots cooperate with each other to finish polishing of the pipe fitting mould closing lines with various specifications and angles by utilizing the functional characteristics of multiple postures and high flexibility of the industrial robots.

Description

Pipe fitting polishing system

Technical Field

The utility model relates to a pipe fitting polishing system, in particular to a system for polishing a ball ink workpiece by using an industrial robot.

Background

During casting, the castings often develop some burrs or leave parting lines due to casting process problems. In order to obtain a sound casting, a polishing process after casting is generally adopted to eliminate burrs and obtain a complete casting. In the production process of ductile cast iron pipe fittings, the cast-formed pipe fitting polishing burr removal die line is a necessary procedure, and at present, the pipe fitting polishing procedure is always performed manually.

The manual polishing of foundry goods wastes time and energy, and production efficiency is very low, only can guarantee target output through a large amount of operators, has greatly increased artificial intensity of labour, and the workshop environment of polishing is poor simultaneously, and has a lot of potential safety hazards. Therefore, a need exists for a device that can realize mechanical automatic polishing to replace manual polishing, and can make up for the blank that mechanical automatic pipe polishing cannot be realized, thereby greatly reducing the labor intensity of manual work and improving the production efficiency of pipe fittings.

Disclosure of Invention

In order to overcome the problems in the prior art, the inventor adopts two industrial robots with mutually crossed working radiuses to mutually match, so as to realize the polishing and automatic production of castings, and adopts the following technical scheme: a pipe polishing system comprising:

the first industrial robot is a six-axis industrial robot;

the second industrial robot is adjacently arranged with the first industrial robot and is a six-axis industrial robot, and the working radiuses of the first industrial robot and the second industrial robot are mutually intersected and in signal communication;

the clamping tool is fixedly connected with T shafts of the first industrial robot and the second industrial robot, and 360-degree rotation is realized by means of the T shafts;

to-be-grinded workpiece, nodular cast iron pipe fitting;

the pipe fitting table is used for storing the horizontal platform of the workpiece to be ground and is wholly or partially positioned in the working radius of the first industrial robot;

a grinding device having a grinding mechanism with one or more grinding heads; one or more polishing devices are arranged in the working radius of the first industrial robot and the working radius of the second industrial robot respectively.

Further, the clamping tool comprises:

the machine base is of a plate-shaped structure, one surface of the machine base is fixedly connected with the first industrial robot and the second industrial robot, and two parallel machine base sliding rails are arranged on the other surface of the machine base;

the first palm seat is perpendicular to the support of the machine base, is matched with two machine base sliding rails which are parallel to each other and slides relative to the machine base by virtue of the machine base sliding rails;

the second palm seat is perpendicular to the support of the base, is opposite to the first palm seat and is fixedly connected with the base;

the driving direction of the tool driving device is parallel to the direction of the base sliding rail, and the first palm seat is fixedly connected with the telescopic end of the tool driving device;

the first palm seat and the second palm seat are close to or far away from each other in the direction of the base sliding rail by means of the tool driving device;

the clamping finger supporting table is parallel to the plate-shaped structure of the base and is fixedly arranged at one end of the first palm seat and the second palm seat, which is far away from the base;

the clamping finger is perpendicular to the columnar body of the clamping finger supporting table and is fixedly connected or detachably connected with the clamping finger supporting table, and the vertical direction is the direction away from the machine base;

the clamping fingers are matched with the inner wall of the workpiece to be ground, and the workpiece to be ground is clamped under the driving of the tool driving device.

Further, the method comprises the steps of,

the second palm seat is matched with two mutually parallel base sliding rails and slides relative to the base by virtue of the base sliding rails;

and, further comprising:

one end of the first palm seat synchronous rack is fixed with the first palm seat, and the other end of the first palm seat synchronous rack faces to the rack of the second palm seat;

one end of the second palm seat synchronous rack is fixed with the second palm seat, and the other end of the second palm seat synchronous rack faces to the rack of the first palm seat;

the first palm seat synchronous rack is opposite to the second palm seat synchronous rack sawtooth structure;

the palm seat synchronous gear is fixedly arranged on the machine seat, and the center of the palm seat synchronous gear is positioned between the first palm seat and the second palm seat;

the first palm seat synchronous rack and the second palm seat synchronous rack are respectively connected with the palm seat synchronous gear in a meshed mode, so that the second palm seat synchronously moves when the tool driving device drives the first palm seat.

Further, the pipe fitting table is provided with a rotating mechanism which can rotate around the center;

and, comprising:

the pneumatic chuck is matched with the inner wall or the outer wall of the workpiece to be grinded and is used for fixing the workpiece to be grinded and the pipe fitting table;

the pneumatic chucks on the pipe fitting table are multiple, and are arranged on the pipe fitting table in parallel in two groups;

the pipe fitting table is in signal communication with the first industrial robot.

Further, the pipe fitting table further includes:

the protective screen is of a plate-shaped structure, is perpendicular to the plane of the pipe fitting table, is fixedly connected with the pipe fitting table and is positioned between the two groups of air chucks.

Further, the clamping tool further comprises:

frock protection component, frock protection component includes:

the protection box is fixedly connected with the base and is provided with a strip-shaped hole for enabling the finger clamping support table to extend out of the protection box;

further, the tool protection assembly further comprises

The organ cover sliding grooves are positioned at two sides of the strip-shaped holes;

organ covers which are arranged on two sides of the first palm seat and the second palm seat in two groups,

one end of the group is fixedly connected with the protective box, the other end of the group is fixedly connected with the first palm seat, and two sides of the group are in sliding connection with the organ cover sliding grooves;

one end of the other group is fixedly connected with the protective box, the other end of the other group is fixedly connected with the second palm seat, and two sides of the other group are in sliding connection with the organ cover sliding groove

Further, the clamping finger includes:

the finger root is fixedly connected with the clamping finger supporting table or is provided with an external thread structure and is detachably connected with the clamping finger supporting table;

finger belly, hemispherical or conical, located at the end of the clamping finger;

the finger clamping groove is positioned between the finger belly and the finger root and is provided with a plurality of groove bodies which are sunken inwards towards the finger clamping.

Further, a plurality of finger holes are arranged on the finger clamping support tables corresponding to the first palm seat and the second palm seat and perpendicular to the direction of the base sliding rail along a straight line;

the plurality of finger holes on the first palm seat are arranged in parallel with the plurality of finger holes on the second palm seat;

the finger hole is provided with an internal thread which is matched with the finger root to enable the clamping finger to be detachably connected.

Further, the finger holes are arranged in parallel on the finger clamping support table in two or more rows;

and two finger holes are arranged at intervals on each row, and the distance between the two finger holes is increased along the radial direction of the central point of the palm seat synchronous gear.

The beneficial effects of the utility model compared with the prior art are as follows: the multifunctional polishing device has the advantages that the multifunctional characteristics of multiple postures and high flexibility of the industrial robots are utilized, meanwhile, the two industrial robots cooperate with each other to finish polishing of the pipe fitting compound line with various specifications and angles, the traditional manual polishing process is replaced, the more accurate and efficient polishing process is realized, and the product quality and yield are further improved.

Drawings

FIG. 1 is a top view of a process arrangement according to an embodiment of the utility model;

FIG. 2 is a side view of a first industrial robot according to an embodiment of the present utility model;

FIG. 3 is a front view of a clamping tool with a tool protection assembly according to an embodiment of the present utility model;

FIG. 4 is a front view of a clamping tool according to an embodiment of the present utility model;

FIG. 5 is a side view of a clamping tool according to an embodiment of the utility model;

FIG. 6 is a cross-sectional top view of a clamping tool J-J according to an embodiment of the utility model;

FIG. 7 is a top view of a clamping tool according to an embodiment of the utility model;

FIG. 8 is a schematic diagram of a clamping fixture of a first industrial robot and a clamping fixture of a second industrial robot in a pipe transfer process according to an embodiment of the present utility model;

wherein the label is expressed as: 110-a first industrial robot; 120-a second industrial robot;

200-clamping a tool; 210-a tool driving device; 220-a tooling protection assembly; 221-a protective box; 222-organ cover; 223-organ cover chute; 224-bar-shaped holes; 230-a first palm rest; 231-first palm rest synchronous rack; 240-a second palm rest; 241-second palm rest synchronous rack; 242-palm rest synchronizing gear; 250-stand; 251-a base slide rail; 260-finger-clamping support; 261-finger hole; 270-clamping fingers; 271-refer to the belly; 272-finger grip; 273-refers to root;

300-a pipe fitting table; 310-a pneumatic chuck; 320-protective screen;

400-polishing device;

500-workpiece to be ground.

Detailed Description

The technical solutions in the embodiments are clearly and completely described, and it is obvious that the described embodiments are only some embodiments of the present utility model, not all embodiments. In the description of the present utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present utility model and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Referring to fig. 1 to 8, in order to overcome the problems in the prior art, the inventor adopts two industrial robots with mutually crossed working radii to mutually cooperate, so as to realize polishing and automatic production of castings, and adopts the following technical scheme: a pipe polishing system comprising:

the first industrial robot 110 is a six-axis industrial robot; in order to meet the multi-pose requirement of the grabbing action, the six-axis industrial robot is applied to meet the operation requirement, and the six-axis industrial robot generally has 6 degrees of freedom and comprises a rotation S axis, a lower arm L axis, an upper arm U axis, a wrist rotation R axis, a wrist swing B axis and a wrist rotation T axis; the 6 joints are synthesized to realize the 6-degree-of-freedom motion of the tail end, and the device has the advantages of high flexibility, extra-large load, high positioning precision and the like.

A second industrial robot 120, disposed adjacent to the first industrial robot 110, being a six-axis industrial robot, and the working radii of the first industrial robot 110 and the second industrial robot 120 being intersected and in signal communication with each other; an important utility model point of the utility model is the cooperation of two industrial robots, because a single industrial robot cannot complete the polishing work of a pipe fitting, and the grabbing end cannot be polished in place, in order to overcome the difficulty, the inventor creatively utilizes the cooperation of the two industrial robots to complete the polishing work. In order for two industrial robots to transfer pipe, the essential technical features are that the working radii of the first industrial robot 110 and the second industrial robot 120 are intersected and in signal communication

The end effectors of the first industrial robot 110 and the second industrial robot 120 are provided with a clamping tool 200, the clamping tool 200 is fixedly connected with the T-axis of the first industrial robot 110 and the T-axis of the second industrial robot 120, and 360-degree rotation is realized by means of the T-axis;

a workpiece 500 to be ground, a ductile cast iron pipe fitting; typically the pipe comprises: in this embodiment, because the workpiece 500 to be ground is a ductile iron pipe fitting, two circumferential holes are necessarily present in the pipe fitting, the utility model formally utilizes the particularity of the pipe fitting to realize the transmission of the pipe fitting.

A pipe fitting table 300 for storing the horizontal platform of the workpiece 500 to be grinded, which is wholly or partially located within the working radius of the first industrial robot 110; the pipe stage 300 is used to fix the grabbing position of the first industrial robot 110, so as to realize automatic grabbing, a part of the pipe stage 300 necessarily falls into the working radius of the first industrial robot 110, but in the design process, the inventor considers that in some embodiments, people or other devices transport the workpiece 500 to be grinded onto the pipe stage 300, in order to avoid the safety risk in the interaction of the first industrial robot with people or other devices, in other embodiments, only a part of the pipe stage 300 is located in the working radius of the first industrial robot 110, and after the workpiece 500 to be grinded is placed, the workpiece 500 to be grinded placed on the pipe stage 300 is twisted into the working radius of the first industrial robot 110 by rotating.

A grinding device 400, a grinding mechanism having one or more grinding heads; one or more polishing devices 400 are respectively disposed in the working radii of the first industrial robot 110 and the second industrial robot 120, in this embodiment, referring to fig. 1, two polishing devices 400 are disposed, namely, a double-head grinder and a bench grinder, and polishing of burrs and die lines is achieved by using the characteristics of different polishing devices. Of course, the polishing device 400 may also be configured such that the first industrial robot 110 and the second industrial robot 120 utilize a common polishing device 400 within a working radius where the first industrial robot 110 and the second industrial robot 120 intersect.

In other embodiments, the clamping tool 200 includes:

the machine base 250 is a plate-shaped structure, one surface of the machine base is fixedly connected with the first industrial robot 110 and the second industrial robot 120, and the other surface of the machine base is provided with two parallel machine base sliding rails 251; the housing 250 is used to support the components of the clamping tool 200, wherein the tool driving device 210 may also be fixed to the housing 250.

The first palm rest 230, which is perpendicular to the support of the base 250, is matched with two parallel base sliding rails 251 and slides relative to the base 250 by means of the base sliding rails 251;

the second palm rest 240 is perpendicular to the support of the base 250, is opposite to the first palm rest 230, and is fixedly connected with the base 250; in this embodiment, the second palm rest 240 is fixed, and the first palm rest 230 moves, so that the opening and closing movement between the first palm rest 230 and the second palm rest 240 can be realized.

The tool driving device 210, the linear telescopic driving device, the driving direction of which is parallel to the direction of the base sliding rail 251, and the first palm seat 230 is fixedly connected with the telescopic end of the tool driving device 210; in this embodiment or other embodiments, the tool driving device 210 is generally implemented by an air cylinder, and may be a mechanical driving device with a limit or an oil cylinder, which can all implement the driving function of the present utility model.

The first palm rest 230 and the second palm rest 240 approach or depart from each other in the direction of the base sliding rail 251 by means of the tool driving device 210;

the finger-clamping support table 260 is parallel to the plate-shaped structure of the base 250, and is fixedly arranged at one end of the first palm rest 230 and the second palm rest 240 away from the base 250;

the clamping finger 270 is perpendicular to the column-shaped body of the clamping finger supporting platform 260, and is fixedly connected or detachably connected with the clamping finger supporting platform 260, and the vertical direction is the direction away from the stand 250;

the clamping finger 270 is matched with the inner wall of the workpiece 500 to be grinded, and clamps the workpiece 500 to be grinded under the driving of the tool driving device 210.

In further embodiments, referring to fig. 6, the second palm rest 240 is engaged with two parallel base rails 251 and slides relative to the base 250 by the base rails 251;

and, further comprising:

a first palm rest synchronous rack 231, one end of which is fixed with the first palm rest 230, and the other end of which faces to the rack of the second palm rest 240;

a second palm rest synchronous rack 241, one end of which is fixed with the second palm rest 240, and the other end of which faces the rack of the first palm rest 230;

the first palm rest synchronous rack 231 is opposite to the saw tooth structure of the second palm rest synchronous rack 241;

the palm rest synchronous gear 242 is fixedly arranged on the base 250, and the center of the palm rest synchronous gear 242 is positioned between the first palm rest 230 and the second palm rest 240;

the first palm rest synchronous rack 231 and the second palm rest synchronous rack 241 are respectively engaged with the palm rest synchronous gear 242, so that the second palm rest 240 moves synchronously when the tool driving device 210 drives the first palm rest 230. The synchronous opening and closing of the first palm rest 230 and the second palm rest 240 is realized by utilizing the palm rest synchronous gear 242, which is another creative contribution of the inventor to the utility model, and the mode is to realize the purpose of stable grabbing by aligning the axes of the pipe fitting and synchronously opening and closing the support when the industrial robot stretches into the workpiece 500 to be grinded.

In other embodiments, in order to achieve a solution in which the pipe table 300 is partially located within the working radius of the first industrial robot 110, the pipe table 300 is provided with a rotation mechanism capable of rotating around a center;

and, comprising:

an air chuck 310 which is matched with the inner wall or the outer wall of the workpiece 500 to be grinded and fixes the workpiece 500 to be grinded and the pipe fitting table 300;

the number of the air chucks 310 on the pipe fitting table 300 is two, and the two air chucks are arranged on the pipe fitting table 300 in parallel;

the tubular table 300 is in signal communication with the first industrial robot 110.

When the workpiece 500 to be ground is placed on the pipe stage 300, the pipe stage 300 is rotated and then communicated to the first industrial robot 110, and the first industrial robot 110 grips the corresponding workpiece 500 to be ground.

Further, the pipe fitting stage 300 further includes:

the protective screen 320, which is a plate-like structure, is perpendicular to the plane of the tube table 300, and is fixedly connected to the tube table 300, and is located between the two sets of air chucks 310. In this embodiment, the security performance is improved by using the protective screen 320.

In other embodiments, to avoid that the gripping fixture 200 is affected by impurities in the working environment to the stability of the device, the gripping fixture 200 further includes:

a tooling guard assembly 220, the tooling guard assembly 220 comprising:

a guard box 221, a box body fixedly connected with the stand 250, wherein the guard box 221 is provided with a bar-shaped hole 224 for extending the finger-clamping support 260 out of the guard box 221;

the tool protection assembly 220 further comprises

Organ cover sliding grooves 223 located at both sides of the bar-shaped holes 224;

organ cover 222, two sets of two sides of the first palm rest 230 and the second palm rest 240,

one end of a group is fixedly connected with the protective box 221, the other end is fixedly connected with the first palm seat 230, and two sides of the group are in sliding connection with the organ cover sliding groove 223;

one end of the other group is fixedly connected with the protective box 221, the other end is fixedly connected with the second palm seat 240, and two sides of the other group are in sliding connection with the organ cover sliding groove 223

In other embodiments, the clamping finger 270 includes:

finger root 273 fixedly connected with the finger clamping support table 260 or provided with an external thread structure and detachably connected with the finger clamping support table 260; the function of the finger root 272 is to provide a connection for a fixed connection or a detachable connection.

Finger belly 270, hemispherical or conical, located at the end of said finger 270; the function of the finger pad 270 is to provide fault tolerance when the gripping operation is slightly different and the finger pad 270 extends into the workpiece 500 to be grinded, so that the workpiece 500 to be grinded can be smoothly entered.

The finger clamping groove 272 is positioned between the finger belly 270 and the finger root 273, and is provided with a plurality of grooves which are recessed into the finger clamping 270, and the finger clamping groove 272 improves the friction force between the finger clamping 270 and the inner wall of the workpiece 500 to be ground.

In other embodiments, for differences in nominal diameters of 500 gauge workpieces to be ground, the gripping performance is conveniently adjusted:

a plurality of finger holes 261 are arranged on the finger-clamping support tables 260 corresponding to the first palm seat 230 and the second palm seat 240 along a straight line perpendicular to the direction of the base sliding rail 251;

the plurality of finger holes 261 on the first palm rest 230 are arranged in parallel with the plurality of finger holes 261 on the second palm rest 240;

the finger hole 261 is provided with internal threads, and cooperates with the finger root 272 to detachably connect the finger 270.

Two or more rows of finger holes 261 are arranged in parallel on the finger clamping support table 260;

and, two finger holes 261 are arranged at intervals on each row, and the distance between the two finger holes 261 increases along the radial direction of the central point of the palm rest synchronous gear 242.

Referring to fig. 7, two rows of clamping fingers 270 are disposed on different clamping finger support tables 260, wherein the distance between two clamping fingers 270 on the inner side is small, the distance between two clamping fingers 270 on the outer side is large, four clamping fingers 270 on the inner side are small to clamp a workpiece 500 to be ground with a small nominal diameter, and four clamping fingers 270 on the outer side are large to clamp a workpiece 500 to be ground with a large nominal diameter, so that the two industrial robots can grasp different workpieces 500 to be ground without replacing the clamping fingers 270 in the same clamping tool 200, especially for reducing pipe members, and can complete the transfer fit of the pattern as shown in fig. 8 without adjustment. The design of the finger 270 described above is also one of the inventive contributions of the inventors.

The specific technical operation mode is as follows: in the embodiment, the workpiece 500 to be grinded is transported to the pipe fitting table 300, the pipe fitting table 300 is rotated to the working radius of the first industrial robot 110, the first industrial robot 110 grabs the workpiece 500 to be grinded to the grinding device 400 by using the clamping tool 220, and the grinding of burrs and mold closing lines of the workpiece 500 to be grinded is completed by using the multi-gesture characteristic of the industrial robot, but at this time, the defects such as burrs and the like near the clamping tool 220 of the first industrial robot 110 cannot be ground due to the blocking of the clamping tool 220, at this time, the second industrial robot 120 is matched with the first industrial robot 110 at the intersection of the working radius of the first industrial robot 110 and the working radius of the second industrial robot 120 to finish the transmission of the workpiece 500 to be grinded, the second industrial robot 120 grabs the other opening of the workpiece 500, and at the end face of the workpiece 500 after the first industrial robot 110 has been ground, the second industrial robot 120 continues to finish the grinding work of the non-polished area. The multifunctional polishing device has the advantages that the multifunctional characteristics of multiple postures and high flexibility of the industrial robots are utilized, meanwhile, the two industrial robots cooperate with each other to finish polishing of the pipe fitting compound line with various specifications and angles, the traditional manual polishing process is replaced, the more accurate and efficient polishing process is realized, and the product quality and yield are further improved.

The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.

Claims (10)

1. A pipe polishing system comprising:

a first industrial robot (110) which is a six-axis industrial robot;

a second industrial robot (120) disposed adjacent to the first industrial robot (110) and being a six-axis industrial robot, and the first industrial robot (110) and the second industrial robot (120) having working radii intersecting and in signal communication with each other;

the end effectors of the first industrial robot (110) and the second industrial robot (120) are respectively provided with a clamping tool (200), the clamping tools (200) are fixedly connected with T shafts of the first industrial robot (110) and the second industrial robot (120), and 360-degree rotation is realized by means of the T shafts;

a workpiece (500) to be grinded, a ductile cast iron pipe fitting;

a pipe fitting table (300) for storing a horizontal platform of the workpiece (500) to be ground, which is wholly or partially located within the working radius of the first industrial robot (110);

a grinding device (400) having a grinding mechanism with one or more grinding heads; one or more polishing devices (400) are arranged in the working radius of the first industrial robot (110) and the working radius of the second industrial robot (120).

2. The pipe grinding system of claim 1, wherein the gripping tooling (200) comprises:

the machine base (250) is of a plate-shaped structure, one surface of the machine base is fixedly connected with the first industrial robot (110) and the second industrial robot (120), and two parallel machine base sliding rails (251) are arranged on the other surface of the machine base;

a first palm rest (230) which is perpendicular to the support of the machine base (250), is matched with two mutually parallel machine base sliding rails (251) and slides relative to the machine base (250) by virtue of the machine base sliding rails (251);

the second palm seat (240) is perpendicular to the bracket of the base (250), is opposite to the first palm seat (230) and is fixedly connected with the base (250);

the tool driving device (210), the linear telescopic driving device, the driving direction of which is parallel to the direction of the base sliding rail (251), and the first palm seat (230) is fixedly connected with the telescopic end of the tool driving device (210);

the first palm seat (230) and the second palm seat (240) are close to or far away from each other in the direction of the base sliding rail (251) by means of the tool driving device (210);

the clamping finger supporting table (260) is parallel to the plate-shaped structure of the base (250) and is fixedly arranged at one end of the first palm seat (230) and the second palm seat (240) far away from the base (250);

the clamping finger (270) is perpendicular to the columnar body of the clamping finger supporting table (260) and is fixedly connected or detachably connected with the clamping finger supporting table (260), and the vertical direction is the direction away from the base (250);

the clamping finger (270) is matched with the inner wall of the workpiece (500) to be grinded, and the workpiece (500) to be grinded is clamped under the driving of the tool driving device (210).

3. A pipe polishing system as defined in claim 2 wherein,

the second palm seat (240) is matched with two mutually parallel seat sliding rails (251) and slides relative to the seat (250) by virtue of the seat sliding rails (251);

and, further comprising:

a first palm rest synchronous rack (231), one end of which is fixed with the first palm rest (230) and the other end of which faces to the rack of the second palm rest (240);

a second palm rest synchronous rack (241), one end of which is fixed with the second palm rest (240) and the other end of which faces to the rack of the first palm rest (230);

the first palm seat synchronous rack (231) is opposite to the saw-tooth structure of the second palm seat synchronous rack (241);

the palm seat synchronous gear (242) is fixedly arranged on the base (250), and the center of the palm seat synchronous gear (242) is positioned 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 connected with the palm seat synchronous gear (242) in a meshed mode, so that when the tool driving device (210) drives the first palm seat (230), the second palm seat (240) moves synchronously.

4. A pipe polishing system according to claim 3, wherein the pipe table (300) is provided with a rotation mechanism rotatable about a centre;

and, comprising:

an air chuck (310) which is matched with the inner wall or the outer wall of the workpiece (500) to be grinded and fixes the workpiece (500) to be grinded and the pipe fitting table (300);

the pneumatic chucks (310) on the pipe fitting table (300) are multiple, and are arranged on the pipe fitting table (300) in two groups in parallel;

the tubular table (300) is in signal communication with the first industrial robot (110).

5. The pipe polishing system according to claim 4, wherein the pipe table (300) further comprises:

the protective screen (320) is of a plate-shaped structure, is perpendicular to the plane of the pipe fitting table (300), is fixedly connected with the pipe fitting table (300), and is positioned between the two groups of air chucks (310).

6. A pipe grinding system according to claim 3, wherein the gripping tooling (200) further comprises:

a tooling guard assembly (220), the tooling guard assembly (220) comprising:

the protection box (221) is fixedly connected with the base (250), and the protection box (221) is provided with a strip-shaped hole (224) for enabling the clamping finger supporting table (260) to extend out of the protection box (221).

7. The pipe grinding system of claim 6, wherein said tool guard assembly (220) further comprises

Organ cover sliding grooves (223) positioned at two sides of the strip-shaped holes (224);

an organ cover (222) which is arranged at two sides of the first palm seat (230) and the second palm seat (240) in two groups,

one end of the group is fixedly connected with the protective box (221), the other end of the group is fixedly connected with the first palm seat (230), and two sides of the group are in sliding connection with the organ cover sliding groove (223);

one end of the other group is fixedly connected with the protective box (221) and the other end is fixedly connected with the second palm seat (240), and two sides of the other group are in sliding connection with the organ cover sliding groove (223).

8. A pipe grinding system according to claim 3, wherein the gripping fingers (270) comprise:

the finger root (273) is fixedly connected with the finger clamping support table (260) or is provided with an external thread structure and is detachably connected with the finger clamping support table (260);

a finger belly (271) hemispherical or conical at the end of the gripping finger (270);

and a finger clamping groove (272) positioned between the finger belly (271) and the finger root (273) and provided with a plurality of groove bodies recessed into the finger clamping groove (270).

9. The pipe fitting polishing system according to claim 8, wherein a plurality of finger holes (261) are provided on the finger-gripping support tables (260) corresponding to the first palm rest (230) and the second palm rest (240) along a straight line perpendicular to the direction of the base slide rail (251);

the plurality of finger holes (261) on the first palm seat (230) are arranged in parallel with the plurality of finger holes (261) on the second palm seat (240);

the finger hole (261) is provided with internal threads which are matched with the finger root (273) so as to detachably connect the clamping finger (270).

10. The pipe grinding system of claim 9, wherein the finger holes (261) are arranged in parallel in two or more rows on the finger rest (260);

and, finger holes (261) are arranged at intervals on each row, and the distance between the two finger holes (261) is increased along the radial direction of the central point of the palm seat synchronous gear (242).