The invention discloses an internal grinding machine for steel pipes, which comprises a track, a first trolley and a second trolley arranged on the track, the first trolley is provided with supporting wheels for supporting and driving the steel pipe to rotate, and the second trolley is provided with The lifting column, the connecting piece, and the sleeve connected with the connecting piece, the sleeve is provided with a first rotating shaft, the first rotating shaft is connected with a worm, the worm is meshed with a worm wheel, the worm wheel is threaded on the second rotating shaft, and the second rotating shaft The shaft is connected to the sleeve through a parallel beam sensor, and a clamping mechanism is also arranged in the sleeve; the axis of the grinding wheel of the present invention is perpendicular to the axis of the first rotating shaft, and the first rotating shaft is only subjected to the bending moment on the vertical plane, and It will not be subjected to the bending moment on the horizontal plane, and under the action of the support of the sleeve, the bending of the first rotating shaft on the vertical plane is avoided; and the parallel beam sensor can detect the pressure of the grinding wheel on the inner wall of the steel pipe, so that the grinding wheel The inner wall of the steel pipe has a suitable amount of grinding to avoid excessive pressure affecting the size of the inner diameter of the steel pipe.