CN106926077A - A kind of oil nozzle couple cross grinding frock and its grinding process - Google Patents
A kind of oil nozzle couple cross grinding frock and its grinding process Download PDFInfo
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- CN106926077A CN106926077A CN201710248288.8A CN201710248288A CN106926077A CN 106926077 A CN106926077 A CN 106926077A CN 201710248288 A CN201710248288 A CN 201710248288A CN 106926077 A CN106926077 A CN 106926077A
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000009434 installation Methods 0.000 claims abstract description 10
- 230000013011 mating Effects 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/16—Single-purpose machines or devices for grinding end-faces, e.g. of gauges, rollers, nuts, piston rings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
- Grinding Of Cylindrical And Plane Surfaces (AREA)
Abstract
本发明涉及一种油嘴偶件端面磨削工装，包括机架和控制器，所述机架上设置粗磨砂轮和精磨砂轮，所述粗磨砂轮和精磨砂轮连接转动电机，转动电机安装在底板上，所述底板移动设置在电机轨道上，所述底板一侧均连接电机驱动部件，所述机架上位于底板远离电机驱动部件的一侧设置与电机轨道垂直的移动轨道，所述移动轨道上移动设置安装板，安装板上设置油嘴固定座，安装板一侧连接油嘴驱动部件，所述移动轨道一侧还设置平行的油嘴挡板，所述两个转动电机、电机驱动部件和油嘴驱动部件均电连控制器，所述油嘴偶件端面磨削工装及其磨削工艺，直接磨削油嘴偶件端部，保证油嘴偶件升程在0±0.01内，保证产品质量。
The invention relates to a tooling for grinding the end surface of an oil nozzle pair, which includes a frame and a controller. A rough grinding wheel and a fine grinding wheel are arranged on the frame. The rough grinding wheel and the fine grinding wheel are connected to a rotating motor, and the rotating motor is installed On the base plate, the base plate is moved and arranged on the motor track, and one side of the base plate is connected to the motor drive part, and the moving track perpendicular to the motor track is set on the side of the base plate away from the motor drive part on the frame, and the The installation plate is moved on the moving track, the oil nozzle fixing seat is arranged on the installation plate, one side of the installation plate is connected with the oil nozzle driving part, and a parallel oil nozzle baffle is arranged on one side of the moving track, the two rotating motors, the motor driving part and the The driving parts of the oil nozzle are all electrically connected to the controller. The end surface grinding tool of the oil nozzle assembly and its grinding process can directly grind the end of the oil nozzle assembly to ensure that the lift of the oil nozzle assembly is within 0±0.01 and ensure product quality.
Description
技术领域technical field
本发明涉及去定位工装，尤其涉及一种油嘴偶件端面磨削工装。The invention relates to a positioning tool, in particular to a tool for grinding the end surface of an oil nozzle pair.
背景技术Background technique
采用针阀体大端面和针阀肩胛面分别磨削的方式，插配后进行升程测量，升程不合格再拆分重新进行升程返修。因国四无尾部偶件升程要求为0±0.01,高于普通的零件升程要求(+0.03，-0.02)，这种分别磨削测量后升程返修率很高，且无尾部针阀手持拆分难度大，返修非常困难，返修后的零件经常因为二次磨削造成端面缺陷无法保证产品质量。The large end surface of the needle valve body and the shoulder surface of the needle valve are ground separately, and the lift is measured after mating. If the lift is unqualified, the lift is disassembled and repaired again. Due to the requirement of 0 ± 0.01 for the lift of the paired parts without tails in the National IV, which is higher than the lift requirements of ordinary parts (+0.03, -0.02), the repair rate of the lift after the separate grinding measurement is very high, and there is no needle valve at the tail Hand-held disassembly is difficult, and rework is very difficult. The reworked parts often have end face defects caused by secondary grinding, and the product quality cannot be guaranteed.
发明内容Contents of the invention
本申请人针对以上缺点，进行了研究改进，提供一种油嘴偶件端面磨削工装及其磨削工艺。In view of the above shortcomings, the applicant has made researches and improvements, and provides a tool for grinding the end face of the oil nozzle pair and its grinding process.
本发明所采用的技术方案如下：The technical scheme adopted in the present invention is as follows:
一种油嘴偶件端面磨削工装，包括机架和控制器，所述机架上设置粗磨砂轮和精磨砂轮，所述粗磨砂轮和精磨砂轮连接转动电机，转动电机安装在底板上，所述底板移动设置在电机轨道上，所述底板一侧均连接电机驱动部件，所述机架上位于底板远离电机驱动部件的一侧设置与电机轨道垂直的移动轨道，所述移动轨道上移动设置安装板，安装板上设置油嘴固定座，安装板一侧连接油嘴驱动部件，所述移动轨道一侧还设置平行的油嘴挡板，所述两个转动电机、电机驱动部件和油嘴驱动部件均电连控制器。A tool for grinding the end surface of a nozzle coupler, including a frame and a controller. A rough grinding wheel and a fine grinding wheel are arranged on the frame. The rough grinding wheel and the fine grinding wheel are connected to a rotating motor, and the rotating motor is installed on a bottom plate , the base plate is moved and arranged on the motor track, one side of the base plate is connected to the motor drive part, and the side of the base plate away from the motor drive part is provided with a moving track perpendicular to the motor track on the frame. The mounting plate is moved and set, the oil nozzle fixing seat is arranged on the mounting plate, the oil nozzle driving part is connected to one side of the mounting plate, a parallel oil nozzle baffle is arranged on one side of the moving track, the two rotating motors, the motor driving part and the oil nozzle driving part Evenly connected to the controller.
作为上述技术方案的进一步改进：As a further improvement of the above technical solution:
所述油嘴固定座包括定位环，所述定位环内设置固定块，所述固定块上端转动连接调节螺栓，所述调节螺栓穿在定位环上的螺母座内，且调节螺栓上位于定位环内套设锁紧螺母。The oil nozzle fixing seat includes a positioning ring, and a fixing block is arranged in the positioning ring, and the upper end of the fixing block is rotated to connect with the adjusting bolt, and the adjusting bolt is passed through the nut seat on the positioning ring, and the adjusting bolt is located in the positioning ring Set lock nut.
所述电机驱动部件和油嘴驱动部件为驱动气缸或驱动油缸。The motor driving part and the nozzle driving part are driving cylinders or driving oil cylinders.
一种油嘴偶件端面磨削工艺，包括以下步骤：A process for grinding the end face of a nozzle pair, comprising the following steps:
1)插配：将油嘴的针阀插入针阀体内形成油嘴偶件；1) Mating: Insert the needle valve of the oil nozzle into the needle valve body to form the oil nozzle pair;
2)安装固定：将油嘴偶件插入油嘴固定座的定位环内，转动调节螺栓使固定块配合定位环，固定定位住油嘴偶件，然后通过锁紧螺母固定调节螺栓。2) Installation and fixing: Insert the oil nozzle assembly into the positioning ring of the oil nozzle fixing seat, turn the adjusting bolt to make the fixing block match the positioning ring, fix and position the oil nozzle assembly, and then fix the adjusting bolt through the lock nut.
3)粗磨：通过电机驱动部件，驱动粗磨砂轮顶到油嘴偶件前端，并使油嘴偶件尾端顶到油嘴挡板上，然后启动转动电机带动粗磨砂轮进行油嘴偶件端面粗磨，粗磨完成转动电机停止，电机驱动部件带动粗磨砂轮复位；3) Coarse grinding: Drive the coarse grinding wheel to the front end of the oil nozzle assembly through the motor drive components, and push the tail end of the oil nozzle assembly to the oil nozzle baffle, and then start the rotating motor to drive the coarse grinding wheel to perform rough grinding on the end face of the oil nozzle assembly After the coarse grinding is completed, the rotating motor stops, and the motor drive part drives the coarse grinding wheel to reset;
4)精磨：通过油嘴驱动部件带动油嘴偶件运动至精磨砂轮一侧，通过电机驱动部件，驱动精磨砂轮顶到油嘴偶件前端，并使油嘴偶件尾端顶到油嘴挡板上，然后启动转动电机带动精磨砂轮进行油嘴偶件端面精磨；精磨完成转动电机停止，电机驱动部件带动精磨砂轮复位；4) Fine grinding: drive the oil nozzle assembly to move to the side of the fine grinding wheel through the oil nozzle driving part, drive the fine grinding wheel to the front end of the oil nozzle assembly through the motor drive part, and push the tail end of the oil nozzle assembly to the oil nozzle baffle , and then start the rotating motor to drive the fine grinding wheel to carry out the fine grinding of the end face of the oil nozzle pair; after the fine grinding is completed, the rotating motor stops, and the motor drive part drives the fine grinding wheel to reset;
5)卸料重安装；拧松锁紧螺母，转动调节螺栓使固定块上升，将磨削好的油嘴偶件从油嘴固定座内取下，重新插入新的插配油嘴偶件，重复2)～5)步骤进行下一个油嘴偶件的磨削。5) Unloading and reinstalling; loosen the lock nut, turn the adjusting bolt to raise the fixed block, remove the ground oil nozzle assembly from the oil nozzle fixing seat, reinsert the new mating oil nozzle assembly, and repeat 2) ~5) Step to grind the next nozzle assembly.
作为上述技术方案的进一步改进：As a further improvement of the above technical solution:
所述粗磨砂轮的转速：2980-3080mm/min。The rotating speed of described coarse grinding wheel: 2980-3080mm/min.
所述粗磨砂轮的转速：1520-1580mm/min。The rotating speed of described coarse grinding wheel: 1520-1580mm/min.
本发明的有益效果如下：所述油嘴偶件端面磨削工装，先将针阀和针阀体插配到一起形成油嘴偶件，然后进行油嘴偶件端面的粗磨和精磨，保证油嘴偶件升程在0±0.01内，保证产品质量。The beneficial effects of the present invention are as follows: the end face grinding tooling of the oil nozzle coupler first inserts the needle valve and the needle valve body together to form the oil nozzle coupler, and then performs rough grinding and fine grinding on the end surface of the oil nozzle coupler to ensure that the oil nozzle coupler The lift of the parts is within 0±0.01 to ensure the product quality.
附图说明Description of drawings
图1为装配好的油嘴偶件剖视图。Figure 1 is a cross-sectional view of the assembled nozzle assembly.
图2为本发明提供的油嘴偶件端面磨削工装的俯视图。Fig. 2 is a top view of the tooling for grinding the end face of the nozzle assembly provided by the present invention.
图3为本发明提供的油嘴偶件端面磨削工装油嘴固定座的正视图。Fig. 3 is a front view of the oil nozzle fixing seat of the end face grinding tooling of the oil nozzle pair provided by the present invention.
图中：1、机架；2、控制器；3、粗磨砂轮；4、精磨砂轮；5、底板；6、电机轨道；7、电机驱动部件；8、移动轨道；9、安装板；10、油嘴固定座；101、定位环；102、固定块；103、调节螺栓；104、螺母座；105、锁紧螺母；11、油嘴驱动部件；12、油嘴挡板。In the figure: 1. Rack; 2. Controller; 3. Coarse grinding wheel; 4. Fine grinding wheel; 5. Bottom plate; 6. Motor track; 7. Motor drive components; 8. Moving track; 10. Oil nozzle fixing seat; 101. Positioning ring; 102. Fixed block; 103. Adjusting bolt; 104. Nut seat; 105. Lock nut; 11. Oil nozzle driving part; 12. Oil nozzle baffle.
具体实施方式detailed description
下面结合附图，说明本发明的具体实施方式。The specific implementation manner of the present invention will be described below in conjunction with the accompanying drawings.
如图1至图3所示，本实施例的油嘴偶件端面磨削工装，包括机架1和控制器2，机架1上设置粗磨砂轮3和精磨砂轮4，粗磨砂轮3和精磨砂轮4连接转动电机，转动电机安装在底板5上，底板5移动设置在电机轨道6上，底板5一侧均连接电机驱动部件7，机架1上位于底板5远离电机驱动部件7的一侧设置与电机轨道6垂直的移动轨道8，移动轨道8上移动设置安装板9，安装板9上设置油嘴固定座10，油嘴固定座10包括固定在安装板9上的定位环101，定位环101内设置固定块102，固定块102上端转动连接调节螺栓103，调节螺栓103穿在定位环101上的螺母座104内，且调节螺栓103上位于定位环101内套设锁紧螺母105安装板9一侧连接油嘴驱动部件11，移动轨道8一侧还设置平行的油嘴挡板12，两个转动电机、电机驱动部件7和油嘴驱动部件11均电连控制器2。As shown in Figures 1 to 3, the end face grinding tooling of the oil nozzle pair in this embodiment includes a frame 1 and a controller 2, a rough grinding wheel 3 and a fine grinding wheel 4 are arranged on the frame 1, and the rough grinding wheel 3 and the The fine grinding wheel 4 is connected to the rotating motor, and the rotating motor is installed on the base plate 5, and the base plate 5 is moved and arranged on the motor track 6, and one side of the base plate 5 is connected to the motor drive part 7, and the frame 1 is located on the base plate 5 away from the motor drive part 7. One side is provided with a moving track 8 perpendicular to the motor track 6, a mounting plate 9 is moved on the moving track 8, and an oil nozzle fixing seat 10 is arranged on the installing plate 9, and the oil nozzle fixing seat 10 includes a positioning ring 101 fixed on the mounting plate 9 for positioning A fixed block 102 is arranged inside the ring 101, and the upper end of the fixed block 102 is rotated to connect with an adjusting bolt 103. The adjusting bolt 103 passes through the nut seat 104 on the positioning ring 101, and the adjusting bolt 103 is located in the positioning ring 101 and is sleeved with a lock nut 105 for installation. One side of the plate 9 is connected to the oil nozzle driving part 11, and a parallel oil nozzle baffle plate 12 is arranged on the side of the moving track 8. The two rotating motors, the motor driving part 7 and the oil nozzle driving part 11 are all electrically connected to the controller 2.
本实施例的油嘴偶件端面磨削工艺，包括以下步骤：The end face grinding process of the nozzle pair in this embodiment includes the following steps:
1)插配：将油嘴的针阀插入针阀体内形成油嘴偶件；1) Mating: Insert the needle valve of the oil nozzle into the needle valve body to form the oil nozzle pair;
2)安装固定：将油嘴偶件插入油嘴固定座10的定位环101内，转动调节螺栓103使固定块102配合定位环101固定定位住油嘴偶件，然后通过锁紧螺母105固定调节螺栓103。2) Installation and fixing: Insert the oil nozzle assembly into the positioning ring 101 of the oil nozzle fixing seat 10, turn the adjusting bolt 103 so that the fixing block 102 cooperates with the positioning ring 101 to fix and position the oil nozzle assembly, and then fix the adjusting bolt 103 through the lock nut 105.
3)通过电机驱动部件7，驱动粗磨砂轮3顶到油嘴偶件前端，并使油嘴偶件尾端顶到油嘴挡板12上，然后启动转动电机带动粗磨砂轮3进行油嘴偶件端面粗磨，粗磨完成转动电机停止，电机驱动部件7带动粗磨砂轮3复位；3) Drive the coarse grinding wheel 3 to the front end of the oil nozzle assembly through the motor drive part 7, and push the tail end of the oil nozzle assembly to the oil nozzle baffle plate 12, and then start the rotation motor to drive the rough grinding wheel 3 to rough the end surface of the oil nozzle assembly. Grinding, the rough grinding is completed and the rotating motor stops, and the motor drive part 7 drives the rough grinding wheel 3 to reset;
4)精磨：通过油嘴驱动部件11带动油嘴偶件运动至精磨砂轮4一侧，通过电机驱动部件7，驱动精磨砂轮4顶到油嘴偶件前端，并使油嘴偶件尾端顶到油嘴挡板12上，然后启动转动电机带动精磨砂轮4进行油嘴偶件端面精磨；精磨完成转动电机停止，电机驱动部件7带动精磨砂轮4复位；4) Fine grinding: drive the oil nozzle pair to move to the side of the fine grinding wheel 4 through the oil nozzle driving part 11, drive the fine grinding wheel 4 to the front end of the oil nozzle pair through the motor drive part 7, and push the tail end of the oil nozzle pair to the On the oil nozzle baffle plate 12, then start the rotating motor to drive the fine grinding wheel 4 to carry out the fine grinding of the end face of the oil nozzle coupler; after the fine grinding is completed, the rotating motor stops, and the motor drive part 7 drives the fine grinding wheel 4 to reset;
5)卸料重安装；拧松锁紧螺母105，转动调节螺栓103使固定块102上升，将磨削好的油嘴偶件从油嘴固定座10内取下，重新插入新的插配好的油嘴偶件，重复2)～5)步骤进行下一个油嘴偶件的磨削。5) Unloading and reinstalling; loosen the lock nut 105, turn the adjusting bolt 103 to raise the fixed block 102, remove the ground oil nozzle assembly from the oil nozzle fixing seat 10, and reinsert the new mated oil nozzle For even parts, repeat steps 2) to 5) to grind the next nozzle pair.
粗磨砂轮3的转速：2980-3080mm/min。The rotating speed of coarse grinding wheel 3: 2980-3080mm/min.
精磨砂轮4的转速：1520-1580mm/min。The rotating speed of fine grinding wheel 4: 1520-1580mm/min.
电机驱动部件7和油嘴驱动部件11为驱动气缸或驱动油缸。The motor driving part 7 and the nozzle driving part 11 are driving cylinders or driving oil cylinders.
以上描述是对本发明的解释，不是对发明的限定，本发明所限定的范围参见权利要求，在不违背本发明的基本结构的情况下，本发明可以作任何形式的修改。The above description is an explanation of the present invention, not a limitation of the invention. For the limited scope of the present invention, refer to the claims. The present invention can be modified in any form without departing from the basic structure of the present invention.
Claims (6)
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| CN201710248288.8A CN106926077B (en) | 2017-04-14 | 2017-04-14 | A kind of oil nozzle couple cross grinding tooling and its grinding process |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107671655A (en) * | 2017-11-14 | 2018-02-09 | 广东大雅智能厨电股份有限公司 | Profiled-cross-section tubing plane is roughly ground and fine grinding integrative-structure |
| CN116038563A (en) * | 2023-01-10 | 2023-05-02 | 一汽解放汽车有限公司 | Grinding tooling for injector nozzles |
| CN117564822A (en) * | 2023-12-28 | 2024-02-20 | 宁波兴马油嘴油泵有限公司 | A needle valve cylindrical grinding method, system, storage medium and intelligent terminal |
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| CN105234781A (en) * | 2015-08-28 | 2016-01-13 | 广州遂联自动化设备有限公司 | Grinding wheel polishing system and polishing control method thereof |
| CN106078387A (en) * | 2016-07-28 | 2016-11-09 | 无锡普瑞腾传动机械有限公司 | A kind of gear special grinding machine |
| CN106166695A (en) * | 2016-08-26 | 2016-11-30 | 广东豪特曼智能机器有限公司 | A kind of internal and external cylindrical compound grinding machine |
| CN106271994A (en) * | 2016-08-17 | 2017-01-04 | 吉林大华机械制造有限公司 | A kind of bidirectional grinding machine |
| CN206010725U (en) * | 2016-08-31 | 2017-03-15 | 安吉圆磨机械科技有限公司 | A kind of pair of bistrique double-station numerical control circular grinder |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0775948A (en) * | 1993-08-24 | 1995-03-20 | Rollomatic Sa | Grinder |
| CN204053668U (en) * | 2014-08-15 | 2014-12-31 | 江西力环弹簧有限公司 | Spring end face sanding apparatus |
| CN105234781A (en) * | 2015-08-28 | 2016-01-13 | 广州遂联自动化设备有限公司 | Grinding wheel polishing system and polishing control method thereof |
| CN106078387A (en) * | 2016-07-28 | 2016-11-09 | 无锡普瑞腾传动机械有限公司 | A kind of gear special grinding machine |
| CN106271994A (en) * | 2016-08-17 | 2017-01-04 | 吉林大华机械制造有限公司 | A kind of bidirectional grinding machine |
| CN106166695A (en) * | 2016-08-26 | 2016-11-30 | 广东豪特曼智能机器有限公司 | A kind of internal and external cylindrical compound grinding machine |
| CN206010725U (en) * | 2016-08-31 | 2017-03-15 | 安吉圆磨机械科技有限公司 | A kind of pair of bistrique double-station numerical control circular grinder |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107671655A (en) * | 2017-11-14 | 2018-02-09 | 广东大雅智能厨电股份有限公司 | Profiled-cross-section tubing plane is roughly ground and fine grinding integrative-structure |
| CN116038563A (en) * | 2023-01-10 | 2023-05-02 | 一汽解放汽车有限公司 | Grinding tooling for injector nozzles |
| CN116038563B (en) * | 2023-01-10 | 2024-05-14 | 一汽解放汽车有限公司 | Grinding tool for injector nozzles |
| CN117564822A (en) * | 2023-12-28 | 2024-02-20 | 宁波兴马油嘴油泵有限公司 | A needle valve cylindrical grinding method, system, storage medium and intelligent terminal |
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| Publication number | Publication date |
|---|---|
| CN106926077B (en) | 2018-11-16 |
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