Pipe end inside and outside weld joint automatic grinding equipment used for spiral welding pipe production line

The invention discloses pipe end inside and outside weld joint automatic grinding equipment used for a spiral welding pipe production line. The equipment comprises steel pipe rotating roller mechanisms, a moving sliding seat, a robot body, a dust removal mechanism, a grinding head mechanism, a detect mechanism and a system control cabinet. Spiral welding pipe end position detection, locating of spiral welding pipe end inside and outside weld joints, building of surface three-dimensional models of the spiral welding pipe end inside and outside weld joints, forming of motion tracks of the robotbody and the grinding head mechanism, weld joint grinding, dust removal and detection work are completed at a time, manual operation or control is not needed, automation and operation precision are high, the efficiency of the grinding work of the welding pipe end inside and outside weld joints is greatly improved, and cost is saved; and the function of dust removal is achieved, and the work environment is further improved