We have Mincraft PE on our ipad and the full version on our xbox 360, is there any way to access the worlds created on the ipad when we're on the xbox version?
Not at all. Minecraft: Console Edition and Minecraft: Pocket Edition are, as far as the programming concerns, completely different games and are built on different platforms and architectures. Not only that, but the Pocket Edition of Minecraft has far less features than the Console Edition.
Also note that as of 20/09/2017 (release date of the Better Together Update) the Xbox 360 version remains unchanged and does not feature the update allowing this cross-compatibility.
Today, no. Unfortunately you cannot.
There may be someday, and that someday may be as soon as this year. Microsoft recently announced that the next generation Xbox, Project Scorpio, will have a new version of Minecraft. The new version will leverage Universal Windows Platform, giving it the same codebase as Minecraft Pocket Edition and Windows 10 Edition. It is expected that more information will be available at the E3 conference this year (June of 2017).
Yes, this would require a new Xbox, so I'm not suggesting that this is an 'easy solution' assuming it is available soon. Regardless, just wanted to provide this upcoming possibility in case it helps anyone. :)