Grinding device

Abstract

A grinding device includes a first arm including at a tip thereof at least one grinding member configured to grind a workpiece, the first arm causing at least one grinding member to reciprocate linearly, and a second arm including at a tip thereof a gripping part configured to grip the workpiece, the second arm causing the workpiece to rock through repetitive two-way rotations.

1 . A grinding device comprising:
 a first arm including at a tip thereof at least one grinding member configured to grind a workpiece, the first arm causing the at least one grinding member to reciprocate linearly; and   a second arm including at a tip thereof a gripping part configured to grip the workpiece, the second arm causing the workpiece to rock through repetitive two-way rotations.   
     
     
         2 . The grinding device according to  claim 1 , wherein the second arm causes the workpiece to rock through repetitive two-way rotations about an axis orthogonal to directions in which the at least one grinding member reciprocates linearly. 
     
     
         3 . The grinding device according to  claim 1 , wherein the at least one grinding member comprises a plurality of grinding members, the plurality of grinding members being spaced in circumferential directions around an axis of the first arm and revolve about the axis. 
     
     
         4 . The grinding device according to  claim 1 , wherein the first arm further includes a suction part, the suction part being configured to deliver the workpiece adhering thereto due to suction, to the gripping part. 
     
     
         5 . The grinding device according to  claim 4 , wherein
 the first arm further includes a camera, and   the workpiece adhering to the suction part is positioned with respect to the gripping part based on an image captured by the camera.   
     
     
         6 . The grinding device according to  claim 1 , comprised of a robot including the first arm and the second arm.