A grinding device for grinding a workpiece comprises: a main frame that rotates about a rotary shaft and is able to move in parallel on a horizontal plane vertically intersecting an axial direction; a first swingable frame that is disposed so as to be spaced from the main frame in the axial direction and is swingably mounted to the main frame; a pitch feed frame that is mounted to the first. swingable frame so as to be able to move in parallel on a horizontal plane intersecting the axial direction; and a second swingable frame that is swingably mounted to the pitch feed frame.

The occurrence of grinding unevenness is prevented even when the movement speed of a robot is changed. Provided is a grinding robot system including: a motor-driven grinder that performs grinding; a robot that grinds a grinding target by means of the grinder in a state in which one of the grinder or the grinding target is attached to a distal end thereof and is moved, and the other is set at a fixed position; and a control unit that controls the robot and the grinder, wherein the control unit calculates a rotational-speed command value for the grinder that changes according to the movement speed of the distal end of the robot and controls the rotational speed of the grinder on the basis of the calculated rotational-speed command value.

The occurrence of grinding unevenness is prevented even when the movement speed of a robot is changed. Provided is a grinding robot system including: a motor-driven grinder that performs grinding; a robot that grinds a grinding target by means of the grinder in a state in which one of the grinder or the grinding target is attached to a distal end thereof and is moved, and the other is set at a fixed position; and a control unit that controls the robot and the grinder, wherein the control unit calculates a rotational-speed command value for the grinder that changes according to the movement speed of the distal end of the robot and controls the rotational speed of the grinder on the basis of the calculated rotational-speed command value.

The invention relates to a finishing device for removing the weld bead generated during welding of a window or door frame or frame section at the mitered surfaces, wherein the finishing device comprises a support surface for the frame or frame section and a processing arm for supporting a tool holder, and the processing arm consists of a plurality of arm elements that move in hinged fashion relative to one another but can also be fixed in place, wherein the tool holder comprises at least two cutting tools driven by a rotational drive, said tools rotating about a tool axis and at least one tool laterally next to the blade of the tool, contact sides.

The invention relates to a finishing device for removing the weld bead generated during welding of a window or door frame or frame section at the mitered surfaces, wherein the finishing device comprises a support surface for the frame or frame section and a processing arm for supporting a tool holder, and the processing arm consists of a plurality of arm elements that move in hinged fashion relative to one another but can also be fixed in place, wherein the tool holder comprises at least two cutting tools driven by a rotational drive, said tools rotating about a tool axis and at least one tool laterally next to the blade of the tool, contact sides.

A machining apparatus machines an end face of a tapered roller with a grinding wheel. The machining apparatus includes a support mechanism configured to support the tapered roller, a wheel unit on which the grinding wheel is mounted, and a base configured to support the wheel unit so that the wheel unit is swivelable about a center line in a vertical direction. A machining point where the grinding wheel is brought into contact with the end face of the tapered roller supported by the support mechanism is located on an extension of the center line serving as a swivel center of the wheel unit.

A disclosed pipe scuffing device includes a frame and a shaft coupled to the frame and configured to rotate about a central axis. The pipe scuffing device also includes a drive motor configured to drive the rotation of the shaft. The device further includes one or more abrasive wheels disposed about the shaft and having an abrasive outer surface configured to engage an outer surface of a pipe when rotating with the shaft to remove one or more contaminants from the outer surface of the pipe.

A robotic device that can include an end effector configured to manipulate one or more tools that drives one or more consumable abrasive products to abrade a substrate along several different surface dimensions, wherein the end effector comprises: three linear actuators each configured to move orthogonal relative to one another and at least one tool mount coupled to one of the three linear actuators and coupled to the tool.

A robotic device that can include an end effector configured to manipulate one or more tools that drives one or more consumable abrasive products to abrade a substrate along several different surface dimensions, wherein the end effector comprises: three linear actuators each configured to move orthogonal relative to one another and at least one tool mount coupled to one of the three linear actuators and coupled to the tool.