CN210790284U - Pipe fitting polishing robot - Google Patents

Abstract

The utility model discloses a pipe fitting polishing robot, which comprises a controller, the fixed horizontal X servo slip table that sets up subaerial, the vertical ascending arm that erects of first mounting panel fixedly connected with of dress is joined in marriage through sliding on the servo slip table of horizontal X, the fixed horizontal Y servo slip table that is provided with in top of erecting the arm, the side of the servo slip table of horizontal Y is provided with vertical Z servo slip table through the second mounting panel is fixed, be provided with rotary joint through the third mounting panel on the servo slip table of vertical Z, be provided with the elasticity grinding device who polishes the operation towards the outside on the rotary joint, the work piece of being polished passes through the below of servo rotary table setting at elasticity grinding device. The utility model discloses can enough carry out nimble convenient operation, have great space reachability again, be applicable to the polishing process needs of work piece hole, excircle, not only improve polishing precision and efficiency of polishing greatly, but also have to use that the intuition is strong, convenient operation and higher durability and suitability.

Description

Pipe fitting polishing robot

Technical Field

The utility model relates to a large-and-medium-sized special industrial robot equipment technical field, concretely relates to pipe fitting is polished and is used robot.

Background

The industrial robot can replace manpower to complete long-time and high-intensity repeated labor under various complex working conditions and high-risk harmful environments, performs high-degree automatic work, realizes intelligent, multifunctional and flexible automatic production, and becomes a main application mode of modern industrial production.

The metal pipe fitting products mainly comprise elbows, tees, reducing pipes and the like, and are widely applied to the industrial production fields of energy, chemical engineering, ships and the like. Most of pipe fittings are produced by adopting a heating and pushing method, surface oxide skin and trace metal are seriously burnt, particularly alloy steel pipe fittings can leave a factory after being polished inside and outside, and the amount of polished workpieces is huge. The mode that tradition was polished metal pipe fitting still adopts artifical mode of polishing, and the workman is engaged in heavy work for a long time under adverse circumstances, and spark, dust, noise and harmful gas etc. that produce among the polishing process all seriously influence operation personnel's physical and mental health. In addition, the manual workpiece polishing has low work efficiency, the consistency is difficult to ensure, and workers cannot concentrate on the repeated work for a long time. Based on this, the polishing robot has a wider market.

Chinese patent CN109015202B discloses a full-automatic pipe fitting polishing robot, move material part through holding material drive unit drive clearance and remove in the processing platform, realize holding the removal operation of work or material rest, convey a plurality of pipe fittings of treating processing forward in proper order, the position of rethread spacing carrier part at the processing bench changes, the pipe fitting of rethread rotary friction part realization treating processing carries out the tip operation of polishing, through automatic material and the operation of polishing of moving, the activity duration has been saved. However, due to the limitation of the structure, the technology can only polish the end of the pipe, the metal pipe product is in a closed annular curved surface shape, the size of the workpiece is from hundreds of millimeters to more than one meter, the polishing treatment needs to be performed on the inner part and the outer part of the workpiece, and obviously, a comparison document cannot be realized.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the technical problem that needs to solve provides a pipe fitting polishing robot to satisfy the curved surface needs of polishing of pipe fitting holes such as elbow, tee bend, reducing pipe, excircle, improve the precision of polishing and the efficiency of polishing.

In order to solve the technical problem, the utility model adopts the following technical proposal.

A pipe fitting polishing robot comprises a horizontal X servo sliding table fixedly arranged on the ground, wherein a first mounting plate fixedly connected with a vertical upward vertical arm is assembled on the horizontal X servo sliding table through sliding, a horizontal Y servo sliding table is fixedly arranged at the top end of the vertical arm (2), a vertical Z servo sliding table is fixedly arranged on the side surface of the horizontal Y servo sliding table through a second mounting plate, a rotary joint is arranged on the vertical Z servo sliding table through a third mounting plate, an elastic polishing device for polishing operation towards the outer side is arranged on the rotary joint, and a polished workpiece is arranged below the elastic polishing device through a servo rotary table;

the servo slip table of horizontal X, the servo slip table of horizontal Y, the servo slip table of vertical Z, the servo slip table of gyration joint elasticity grinding device and servo revolving platform's controlled end is connected with the fixed controller output that sets up on erecting the arm respectively, wherein, the preset structural feature by the work piece of polishing in the controller, the servo slip table of horizontal X, the servo slip table of horizontal Y and the servo slip table of vertical Z drive elasticity grinding device at rectangular coordinate system internal motion location under the controller instruction, the gyration joint reaches suitable polishing state with the motion gesture of the work piece of polishing with servo revolving platform adjustment elasticity grinding device (6) under the controller instruction.

According to the pipe fitting polishing robot, the main body structures of the horizontal X-servo sliding table, the horizontal Y-servo sliding table and the vertical Z-servo sliding table are all box-type column structures and comprise bases, a ball screw parallel to the bases is arranged on the bases through front bearing seat assemblies and rear bearing seat assemblies which are fixedly arranged at the two ends of the bases, and one end, extending out of the front bearing seat assemblies, of the ball screw is connected with a servo motor output shaft fixedly arranged on the bases; two linear guide rails which are positioned on the same plane and are parallel to the ball screw are erected above the base positioned on two sides of the ball screw, and a sliding block is assembled on each linear guide rail; the ball screw is provided with a sliding seat fixedly connected with the sliding blocks, and the top end surfaces of the two sliding blocks are fixedly connected with a first mounting plate, a second mounting plate or a third mounting plate.

According to the pipe fitting polishing robot, the base of the horizontal X-shaped servo sliding table is provided with the machine tool shield which is buckled above the base and can slide along the base, and the machine tool shield comprises two groups of multi-section buckling boxes which are gradually increased in cross section area from the end part to the middle and can be nested up and down; the first mounting plate is assembled on the linear guide rail sliding block between the two groups of buckle boxes; when the first mounting plate moves towards the two ends, the buckling boxes close to the first mounting plate gradually move towards the two ends, and when the first mounting plate moves to the end part, the group of buckling boxes are stacked together.

The base is provided with a layer of cavity, and the cavity is filled with vibration-damping filler.

Above-mentioned pipe fitting polishing robot, rotary joint drive elasticity grinding device is at vertical plane internal rotation, and rotary joint includes the fixing support of fixed mounting on the third mounting panel, the last fixed joint servo motor and the RV decelerator that are provided with the hub connection of fixing support, fixedly connected with perpendicular to output end plate of output shaft on RV decelerator's the output shaft, and the outer end of output end plate is through rotating the pendulum seat that supporting component connected installation elasticity grinding device.

Above-mentioned pipe fitting polishing robot, be provided with on the output end plate and carry out spacing limiting plate to the swing seat.

The pipe fitting polishing robot comprises a polishing bearing seat, a main shaft, a supporting sleeve and a polishing tool, wherein the polishing bearing seat is connected with a swing seat of a rotary joint through a first elastic supporting component, and the polishing bearing seat is also connected with a limiting plate of the rotary joint through a second elastic supporting component;

a grinding servo motor is arranged at the rear end of the grinding bearing seat, a grinding rear bearing provided with a supporting sleeve is fixedly arranged in an inner cavity at the front end of the grinding bearing seat, one end of the main shaft sequentially penetrates through the grinding rear bearing and the supporting sleeve and then extends out of a front bearing supporting part fixedly arranged at the front end of the supporting sleeve, and the other end of the main shaft extends into the grinding bearing seat and is connected with an output shaft of the grinding servo motor;

the grinding tool is mounted at one end of the main shaft extending out of the front bearing supporting part.

Above-mentioned pipe fitting polishing robot, servo revolving platform is including fixing the revolving platform base on subaerial, and revolving platform base top is provided with the revolving stage of installation by the work piece of polishing, be provided with slewing bearing part, decelerator and gyration servo motor between revolving stage and the revolving platform base, gyration servo motor is connected with the output gear through decelerator, and the output gear meshes with slewing bearing part mutually.

Due to the adoption of the technical scheme, the utility model has the following technical progress.

The utility model discloses feedback control and elastic compensation before moment in the curved surface route planning, the polishing motion of polishing through the pipe fitting on motion control to combine joint motion to be the arbitrary gesture in three-dimensional space of inseparable series coupling transmission and terminal instrument can reach characteristics, thereby realized the optimization of product structure, have very high system rigidity and precision stability, can realize powerful heavy load polishing operating mode needs. The closed annular curved surface which puzzles the industrial production of the pipe fitting for a long time is solved, and the polishing application of the inner part and the outer part of the metal pipe fitting with the workpiece size from hundreds of millimeters to more than one meter is realized.

The utility model discloses at the pipe fitting in-process of polishing, can enough carry out nimble convenient operation, have great space reachability again, be applicable to the polishing process needs of work piece hole, excircle, the pipe fitting that can satisfy various specifications, variety and material is polished and is produced the application, has not only improved polishing precision and efficiency of polishing greatly, but also has to use that the intuition is strong, convenient operation and higher durability and suitability.

Drawings

FIG. 1 is a three-dimensional structure of the present invention;

FIG. 2 is a three-dimensional structure diagram of the horizontal X-servo sliding table of the present invention;

fig. 3 is a three-dimensional structure diagram of the horizontal Y-servo sliding table of the present invention;

fig. 4 is a three-dimensional structure diagram of the vertical Z-servo sliding table of the present invention;

FIG. 5 is a cross-sectional view of the rotary joint of the present invention;

fig. 6 is a top view of the elastic polishing device of the present invention;

fig. 7 is a bottom view of the elastic polishing device of the present invention;

fig. 8 is a structural sectional view of the servo rotary table of the present invention.

Wherein:

1. the device comprises a horizontal X servo sliding table, a 101.X base, a 102.X rear bearing seat assembly, a 103.X ball screw, a 104.X linear guide rail, a 105.X sliding block, a 106.X sliding seat, a 107.X female seat, a 108.X nut, a 109.X front bearing seat assembly, a 110.X servo motor, a 111.X machine tool shield and a 112.X vibration-making filler;

2. a vertical arm, 201, a controller,

3. the vibration-damping device comprises a horizontal Y servo sliding table, a 301Y sliding table body, a 302Y rear bearing block assembly, a 303Y ball screw, a 304Y linear guide rail, a 305Y sliding block, a 306Y sliding block, a 307Y nut seat, a 308Y nut, a 309Y front bearing block assembly, a 310Y servo motor and a 312Y vibration-damping filler;

4. the device comprises a vertical Z servo sliding table, a 401Z sliding frame body, a 402Z rear bearing seat assembly, a 403Z ball screw, a 404Z linear guide rail, a 405Z sliding block, a 406Z sliding seat, a 407Z nut seat, a 408Z nut, a 409Z front bearing seat assembly, a 410Z servo motor and a 412Z vibration-damping filler;

5. the rotary joint comprises a rotary joint 501, a fixed support 502, an RV speed reducer 503, a joint servo motor 504, an output end plate 505, a limiting plate 506, a rotary supporting component 507 and a swing seat;

6. an elastic grinding device 601, a grinding servo motor 603, a grinding bearing seat 604, a main shaft 605, a grinding rear bearing 606, a bearing sleeve 607, a front bearing support 607, a grinding tool 608, a 609, a first elastic support part 610 and a second elastic support part;

7. a servo rotary table 701, a rotary table base 701, a rotary table 702, a rotary table 703, a rotary support part 704, a speed reducer 705, an output end gear 706 and a rotary servo motor;

8. the workpiece is polished.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

A customized six-degree-of-freedom industrial robot system is shown in figure 1 in the overall structure and comprises a bottom horizontal X servo sliding table 1, a vertical arm 2, a horizontal Y servo sliding table 3, a vertical Z servo sliding table 4, a rotary joint 5, an elastic grinding device 6, a servo rotary table 7 and a controller 201; the horizontal X-servo sliding table 1 is fixedly arranged on the ground, and the servo rotary table 7 is arranged on the ground beside the horizontal X-servo sliding table 1; vertical arm 2 fixed connection is on servo slip table 1 of horizontal X, and the servo slip table 3 of horizontal Y is installed on vertical arm 2, and the servo slip table 4 of vertical Z is installed on servo slip table 3 of horizontal Y, and gyration joint 5 is installed in the servo slip table 4 lower part of vertical Z, and elasticity grinding device 6 is installed at the output of gyration joint 5, is clamped on servo revolving platform 7 by work piece 8 of polishing, and controller 201 is installed on vertical arm 2.

The controlled ends of the horizontal X servo sliding table 1, the horizontal Y servo sliding table 3, the vertical Z servo sliding table 4, the rotary joint 5, the elastic polishing device 6 and the servo rotary table 7 are respectively connected with the output end of a controller 201, wherein the controller is internally preset with structural characteristics of a workpiece to be polished, the horizontal X servo sliding table 1, the horizontal Y servo sliding table 3 and the vertical Z servo sliding table 4 form a position link of rectangular coordinate movement of the robot, and the elastic polishing device 6 is driven to move and position in a rectangular coordinate system under the instruction of the controller; the rotary joint 5 and the servo rotary table 7 are used for constructing the motion postures of the grinding tool and the ground workpiece; the motion postures of the elastic grinding device 6 and the ground workpiece 8 are adjusted under the instruction of the controller to achieve a proper grinding state, so that grinding operation with six degrees of freedom is realized.

In the utility model, the main body structures of the horizontal X servo sliding table, the horizontal Y servo sliding table and the vertical Z servo sliding table are the same and are box-type column structures, the base comprises a base, a ball screw parallel to the base is arranged on the base, and the ball screw is fixed by a front bearing seat assembly and a rear bearing seat assembly which are fixedly arranged at the two ends of the base; one end of the base is fixedly provided with a servo motor, and one end of the ball screw, which extends out of the front bearing seat assembly, is connected with an output shaft of the servo motor; two linear guide rails which are positioned on the same plane and are parallel to the ball screw are erected above the base positioned on two sides of the ball screw, two ends of each linear guide rail are fixed on the base through brackets respectively, and a sliding block is assembled on each linear guide rail; the ball screw is provided with a sliding seat fixedly connected with the sliding blocks, and the top end surfaces of the two sliding blocks are fixedly connected with a first mounting plate, a second mounting plate or a third mounting plate.

In this embodiment, the structure of the horizontal X servo sliding table 1 is as shown in fig. 2, and includes an X base 101, an X rear bearing block assembly 102, an X ball screw 103, an X linear guide rail 104, an X slider 105, an X sliding base 106, an X female base 107, an X nut 108, an X front bearing block assembly 109, and an X servo motor 110. The X servo motor 110, the X front bearing seat assembly 109, the X rear bearing seat assembly 102 and the X ball screw 103 are integrally arranged on the X base 101; two groups of X linear guide rails 104 and X sliding blocks 105 are arranged on the guide rail connecting surface of the X base 101; the X nut seat 107, the X nut 108, and the X ball screw 103 are fitted together with the X slider 105 and mounted on the corresponding coupling surface of the X slider 106, and the first mounting plate is fixedly provided on the two X sliders 105 for mounting the vertical arm, thereby forming a horizontal X-direction moving axis pair that moves along the X linear guide 104.

The utility model discloses a be provided with the spiral-lock on servo slip table 1's of horizontal X base and can follow the gliding lathe guard shield of base in the base top, as shown in figure 2. The machine tool shield comprises two groups of multi-section buckle boxes which are gradually enlarged from the end parts to the middle section area and can be nested up and down; the first mounting plate is assembled on the linear guide rail sliding block between the two groups of buckling boxes, and two ends of the first mounting plate are respectively connected with the two adjacent buckling boxes; when the first mounting plate moves towards the two ends, the buckling boxes close to the first mounting plate gradually move towards the two ends, and when the first mounting plate moves to the end part, the group of buckling boxes are stacked together. With this structure, the buckle box can change state with the movement of the first mounting plate, thereby ensuring the sealing during the inside.

A layer of cavity is arranged in the X base 101 of the horizontal X servo sliding table 1, and an X vibration-making filler 112 is filled in the cavity for improving the motion performance.

The structure of the horizontal Y servo sliding table 3 is shown in fig. 3, and includes a base, a Y rear bearing block assembly 302, a Y ball screw 303, a Y linear guide rail 304, a Y slider 305, a Y sliding base 306, a Y nut block 307, a Y nut 308, a Y front bearing block assembly 309 and a Y servo motor 310; wherein the base is Y slider body 301, and the second mounting panel is fixed to be set up on two Y sliders 305 for the servo slip table 4 of vertical Z of installation. The horizontal Y servo slide table 3 forms a horizontal Y-direction moving axis pair that moves along the linear guide 304.

A layer of cavity is arranged in the sliding frame body 301, and the cavity is filled with a vibration-making filler 312 for improving the motion performance.

The structure of the vertical Z servo sliding table 4 is shown in fig. 4, and comprises a base, a Z rear bearing seat assembly 402, a Z ball screw 403, a Z linear guide rail 404, a Z slider 405, a Z sliding seat 406, a Z nut seat 407, a Z nut 408, a Z front bearing seat assembly 409 and a Z servo motor 410; wherein the base is a Z sliding frame body 401, and a third mounting plate is fixedly arranged on the two Z sliding blocks 405 and is used for mounting the rotary joint 5. The vertical Z servo slide 4 forms a vertical Z-direction moving axis pair that moves along the linear guide 404.

A layer of cavity is arranged in the carriage body 401, and a vibration-making filler 412 is filled in the cavity and is used for improving the motion performance.

The structure of the revolute joint 5 is shown in fig. 5, and the main body part includes a fixed support 501, an RV reducer 502, a joint servo motor 503, an output end plate 504, a limit plate 505, and a swing seat 507 of a rotation support member 506.

The RV speed reducer 502 and the joint servo motor 503 are installed on the fixed support 501, the servo motor 503 is installed at the input end of the RV speed reducer 502, the output end plate 504 perpendicular to the output shaft is fixedly connected to the output shaft, and the joint servo motor 503, the RV speed reducer 502 and the output end plate 504 form a standing rotating shaft of the elastic grinding device 6.

The outer end of the output end plate 504 is connected with a swing seat 507 through a rotary supporting part 506, and the elastic grinding device 6 is arranged on the swing seat 507; the limit plate 505 is mounted on the output end plate 504 and used for limiting the swing seat 507.

The elastic grinding device 6 is constructed as shown in fig. 6 and 7, and includes a grinding spindle system mainly composed of a grinding bearing seat 603, a spindle 604, a bearing sleeve 606, a grinding tool 608, and a grinding servo motor 601.

The polishing bearing seat 603 is connected with a swing seat 507 of the rotary joint through a first elastic supporting component 609, and the polishing bearing seat 603 is further connected with a limiting plate 505 of the rotary joint through a second elastic supporting component 610, so that the micro-amplitude swing of the polishing bearing seat 603 on the swing seat 507 and the micro-amplitude swing of the swing seat 507 on an output end plate are realized, and finally the elastic circular swing error compensation of the polishing spindle system is realized.

A polishing servo motor 601 is arranged at the rear end of the polishing bearing seat 603, a polishing rear bearing 605 provided with a supporting sleeve 606 is fixedly arranged in the inner cavity at the front end of the polishing bearing seat 603, one end of a main shaft 604 sequentially penetrates through the polishing rear bearing 605 and the supporting sleeve 606 and then extends out of a front bearing supporting part 607 fixedly arranged at the front end of the supporting sleeve, and the other end of the main shaft extends into the polishing bearing seat to be connected with an output shaft of the polishing servo motor 601; a grinding tool 608 is mounted to the front end of the spindle 604.

The servo rotary table 7 is configured as shown in fig. 8, and includes a rotary table base 701, a rotary table 702, a rotary support member 703, a reduction gear 704, an output gear 705, and a rotary servo motor 706.

The turntable 702 is used for mounting the workpiece 8 to be polished, and is disposed above the turntable base, the slewing bearing member 703 is disposed between the turntable 702 and the turntable base 701, the turntable 702, and the slewing bearing member 703 constitute a turntable body system. The speed reducer 704 is mounted on the base 701, a gear 705 at the output end of the speed reducer 704 is in meshing transmission with the slewing bearing part 703, and a servo motor 706 is mounted at the input end of the speed reducer 704.

The utility model is used for when polishing the work piece, at first keep the structural feature of work piece in the controller through the scanning, the controller polishes the route according to the curved surface of the structural feature planning robot of work piece, polishes the operation of coordinating of route control X servo slip table 1, horizontal Y servo slip table 3, vertical Z servo slip table 4, rotary joint 5, elasticity grinding device 6 and servo revolving platform 7 according to the curved surface, accomplishes polishing of work piece.

The work piece is at the in-process of polishing, and the elastic support part that sets up on the elasticity grinding device 6 can make the in-process of polishing of elasticity grinding device 6 carry out a little swing according to the dynamics, avoids appearing polishing inhomogeneous, the problem of damage work piece takes place.

The structure of the present invention is not limited to the embodiments described in the specific embodiments, and those skilled in the art can obtain other embodiments according to the technical solution of the present invention, which also belongs to the technical innovation scope of the present invention.

Claims (8)

1. The utility model provides a pipe fitting polishing robot which characterized in that: the automatic polishing device comprises a horizontal X servo sliding table (1) fixedly arranged on the ground, wherein a first mounting plate assembled on the horizontal X servo sliding table (1) in a sliding mode is fixedly connected with a vertical upward vertical arm (2), a horizontal Y servo sliding table (3) is fixedly arranged at the top end of the vertical arm (2), a vertical Z servo sliding table (4) is fixedly arranged on the side surface of the horizontal Y servo sliding table (3) through a second mounting plate, a rotary joint (5) is arranged on the vertical Z servo sliding table (4) through a third mounting plate, an elastic polishing device (6) for polishing towards the outer side is arranged on the rotary joint, and a workpiece (8) to be polished is arranged below the elastic polishing device (6) through a servo rotary table (7);

the servo slip table of horizontal X (1), servo slip table of horizontal Y (3), servo slip table of vertical Z (4), gyration joint (5), the controlled end of elasticity grinding device (6) and servo revolving platform (7) is connected with fixed controller (201) output that sets up on erecting the arm respectively, wherein, preset the structural feature by the work piece of polishing in the controller, servo slip table of horizontal X (1), servo slip table of horizontal Y (3) and servo slip table of vertical Z (4) drive elasticity grinding device (6) at the rectangular coordinate system internal kinematic location under the controller instruction, gyration joint (5) and servo revolving platform (7) adjust elasticity grinding device (6) and the motion gesture by work piece (8) of polishing under the controller instruction reach suitable polishing state.

2. The pipe sanding robot of claim 1, wherein: the main body structures of the horizontal X-servo sliding table, the horizontal Y-servo sliding table and the vertical Z-servo sliding table are the same and are box-type column structures, the box-type column structures comprise a base, a ball screw parallel to the base is arranged on the base through a front bearing seat assembly and a rear bearing seat assembly which are fixedly arranged at the two ends of the base, and one end of the ball screw extending out of the front bearing seat assembly is connected with a servo motor output shaft fixedly arranged on the base; two linear guide rails which are positioned on the same plane and are parallel to the ball screw are erected above the base positioned on two sides of the ball screw, and a sliding block is assembled on each linear guide rail; the ball screw is provided with a sliding seat fixedly connected with the sliding blocks, and the top end surfaces of the two sliding blocks are fixedly connected with a first mounting plate, a second mounting plate or a third mounting plate.

3. The pipe sanding robot of claim 2, wherein: a machine tool shield which is buckled above the base and can slide along the base is arranged on the base of the horizontal X-shaped servo sliding table, and the machine tool shield comprises two groups of multi-section buckling boxes which are gradually increased in cross section area from the end parts to the middle and can be nested up and down; the first mounting plate is assembled on the linear guide rail sliding block between the two groups of buckle boxes; when the first mounting plate moves towards the two ends, the buckling boxes close to the first mounting plate gradually move towards the two ends, and when the first mounting plate moves to the end part, the group of buckling boxes are stacked together.

4. The pipe sanding robot of claim 2, wherein: the base is provided with a layer of cavity, and the cavity is filled with vibration-damping filler.

5. The pipe sanding robot of claim 1, wherein: the rotary joint (5) drives the elastic grinding device (6) to rotate in a vertical plane, the rotary joint (5) comprises a fixed support (501) fixedly mounted on a third mounting plate, a joint servo motor (503) and an RV speed reducer (502) which are connected through shafts are fixedly arranged on the fixed support (501), an output end plate (504) perpendicular to an output shaft is fixedly connected onto an output shaft of the RV speed reducer (502), and the outer end of the output end plate (504) is connected with a swing seat (507) provided with the elastic grinding device (6) through a rotating support component (506).

6. The pipe sanding robot of claim 5, wherein: and a limiting plate (505) for limiting the swing seat (507) is arranged on the output end plate (504).

7. The pipe sanding robot of claim 6, wherein: the elastic grinding device (6) comprises a grinding bearing seat (603), a main shaft (604), a supporting sleeve (606) and a grinding tool (608), wherein the grinding bearing seat (603) is connected with a swing seat (507) of the rotary joint through a first elastic supporting component (609), and the grinding bearing seat (603) is further connected with a limiting plate (505) of the rotary joint through a second elastic supporting component (610);

a polishing servo motor (601) is arranged at the rear end of the polishing bearing seat (603), a polishing rear bearing (605) provided with a supporting sleeve (606) is fixedly arranged in an inner cavity at the front end of the polishing bearing seat (603), one end of the main shaft sequentially penetrates through the polishing rear bearing and the supporting sleeve and then extends out of a front bearing supporting part (607) fixedly arranged at the front end of the supporting sleeve, and the other end of the main shaft extends into the polishing bearing seat and is connected with an output shaft of the polishing servo motor (601);

the grinding tool (608) is mounted on the end of the spindle that extends beyond the front bearing support (607).

8. The pipe sanding robot of claim 1, wherein: the servo rotary table (7) comprises a rotary table base (701) fixed on the ground, a rotary table (702) for mounting a workpiece (8) to be polished is arranged above the rotary table base, a rotary supporting part (703), a speed reducer (704) and a rotary servo motor (706) are arranged between the rotary table (702) and the rotary table base (701), the rotary servo motor (706) is connected with an output end gear (705) through the speed reducer (704), and the output end gear is meshed with the rotary supporting part (703).

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