In view of the existing grinding and cutting equipment to limit the size of welded pipe,spend a lot of labor time and other problems,a set of welding tumor cleaning equi-pment with image recognition control system is designed,and the current fixed clamping device is improved to achieve excellent results in the work of different sizes of welded pipe nodule cleaning. Image recognition control system of the equipment can collect the internal image of the welded pipe in real time,and adjust the position and angle of the grinding machine through the image processing program at the PC end to realize the automatic operation of the whole equipment. Com-pared with the traditional welding machine,it has the advantages of simple and convenient operation,saving labor and so on. In addition,changing the traditional fixed clamping structure of the welded pipe to the chuck clamping rotating type can improve the cleaning accuracy and efficiency and adapt to welding tumor of different shapes and heights.