CN108176903A - A kind of high-precision gear grinding machine - Google Patents

A kind of high-precision gear grinding machine Download PDF

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Publication number
CN108176903A
CN108176903A CN201810152507.7A CN201810152507A CN108176903A CN 108176903 A CN108176903 A CN 108176903A CN 201810152507 A CN201810152507 A CN 201810152507A CN 108176903 A CN108176903 A CN 108176903A
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CN
China
Prior art keywords
grinding wheel
grinding
workpiece
slide unit
clamping
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Granted
Application number
CN201810152507.7A
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Chinese (zh)
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CN108176903B (en
Inventor
赵亚飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Zhongzhi Jinggong Intelligent Equipment Co ltd
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Zhejiang Xinyue Machine Tool Ltd By Share Ltd
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Priority to CN201810152507.7A priority Critical patent/CN108176903B/en
Publication of CN108176903A publication Critical patent/CN108176903A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23FMAKING GEARS OR TOOTHED RACKS
    • B23F19/00Finishing gear teeth by other tools than those used for manufacturing gear teeth
    • B23F19/02Lapping gear teeth
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23FMAKING GEARS OR TOOTHED RACKS
    • B23F23/00Accessories or equipment combined with or arranged in, or specially designed to form part of, gear-cutting machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23FMAKING GEARS OR TOOTHED RACKS
    • B23F23/00Accessories or equipment combined with or arranged in, or specially designed to form part of, gear-cutting machines
    • B23F23/10Arrangements for compensating irregularities in drives or indexing mechanisms
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Grinding Of Cylindrical And Plane Surfaces (AREA)

Abstract

The invention belongs to gear machining apparatus technical fields, refer in particular to a kind of high-precision gear grinding machine, including rack, the workbench of installation workpiece is provided in rack, one end of workbench is provided with by pulse controlled clamping motor A and clamping workpiece slide unit, and clamping motor A driving clamping workpiece slide units do the reciprocating motion and axial vibration of workpiece axial direction;At least one set of grinding mechanism is provided in rack, grinding mechanism includes grinding wheel stand, and grinding wheel feed mechanism and grinding wheel slide unit are provided on grinding wheel stand, and grinding wheel feed mechanism driving grinding wheel slide unit does the feed motion perpendicular to workpiece spindle;Grinding wheel slide unit front end is provided with grinding wheel, its rear end is provided with the emery wheel motor that driving grinding wheel rotates.The core of the present invention is exactly to realize the secondary grinding of workpiece by the gear motion of grinding wheel and workpiece by the main grinding of reciprocal vibration realizing workpiece, reduces the degree of wear of grinding wheel by this method.In addition, contact area during vibration is bigger, grinding speed is very fast, and precision is also much improved.

Description

A kind of high-precision gear grinding machine
Technical field
The invention belongs to gear machining apparatus technical fields, refer in particular to a kind of high-precision gear grinding machine.
Background technology
In gear machining apparatus technical field, commonly use numerical control worm gear-grinding machine and carry out high speed, accurately grinding cylinder Directly, helical gear, the deformation after being heat-treated the purpose is to profile shifted gear improve tooth accuracy and finish, reach stable drive, drop Low noise and propose high-precision requirement.The similar gear machining apparatus of such as numerical control worm gear-grinding machine uses grinding wheel and work The processing of gear is realized in the intermeshing movement of part.There are following discoveries for work in-process:
1st, this traditional engagement processing, the abrasion of grinding wheel is very serious, particularly at tooth root, because its stock removal is most Greatly, the corresponding grinding position great work intensity of grinding wheel, prolonged work are easy to cause abrasion of grinding wheel, and the accumulation for increasing between cog misses Difference;
2nd, the processing of a gear often relies on same wheel grinding and completes, under this also causes production efficiency very low;
3rd, unilateral grinding easily makes the workpiece of gear shaft class deform distortion, seriously affect processing dimension and Precision;
4th, in the case that the distance of two processed gears is very near on gear shaft, when processing pinion gear, because of canine tooth The interference of wheel, gear grinding machine with worm grinding wheel completely cannot realize processing operation, and local close to gear wheel has processing blind area, The drastic delimitations range of work of equipment.
Invention content
The object of the present invention is to provide a kind of simple in structure, high stability, high efficiency, high-precision gear grindings applied widely Machine mainly processes spur gear, helical gear, bevel gear, helical gear and corresponding gear shaft.
The object of the present invention is achieved like this:
A kind of high-precision gear grinding machine, including rack, be provided in rack installation workpiece workbench, the one of the workbench End is provided with the clamping workpiece slide unit by pulse controlled clamping motor A and with artifact-driven motor, the clamping motor A drivings Clamping workpiece slide unit does the reciprocating motion and axial vibration of workpiece axial direction;
At least one set of grinding mechanism is provided in the rack, grinding mechanism includes grinding wheel stand, sand is provided on grinding wheel stand Feed mechanism and grinding wheel slide unit are taken turns, the grinding wheel feed mechanism driving grinding wheel slide unit does the feed motion perpendicular to workpiece spindle;Institute State grinding wheel slide unit front end be provided with the grinding wheel being adapted with workpiece shapes, its rear end be provided with driving grinding wheel rotation grinding wheel driving Motor.
Preferably, the other end of the workbench is provided with pulse or the clamping motor B of sound wave controlled and tailstock clamping Slide unit, during processing, the clamping motor A drivings tailstock clamping slide unit simultaneously does synchronous reciprocating movement and axis with clamping workpiece slide unit To vibration.
Preferably, chucks are provided on the clamping workpiece slide unit, thimble is provided on the tailstock clamping slide unit.
Preferably, two groups of grinding mechanisms are symmetrically set in the rack.
Preferably, center symmetric setting has three groups of grinding mechanisms, each two processing stand and workpiece spindle line in the rack The angle formed is 120 °.
Preferably, the grinding wheel spindle is arranged in parallel with workpiece spindle.
Preferably, the detection device of detection workpiece and grinding wheel is provided on the workbench.
Preferably, the grinding wheel feed mechanism include be arranged on grinding wheel stand grinding wheel feeding motor, shaft coupling, screw rod with And be arranged on the feed screw nut of grinding wheel slide unit bottom, the both ends of the screw rod be arranged with successively inner sleeve, bearing, outer sleeve with And locking nut, the bearing are fixed by bearing (ball) cover.
Preferably, the both ends of the bearing, the outside of inside and outside sleeve are arranged with inner oil seal and outer oil seal respectively.
The clamping motor A, clamping motor B, artifact-driven motor, emery wheel motor and grinding wheel feeding motor are Servo motor.
The present invention is prominent and beneficial compared with prior art to be had the technical effect that:
1st, core of the invention is exactly by the main grinding of reciprocal vibration realizing workpiece, passes through grinding wheel and workpiece Gear motion realizes the secondary grinding of workpiece, reduces the degree of wear of grinding wheel by this method.In addition, contact area during vibration Bigger, grinding speed is very fast, and precision is also much improved.
2nd, the structure of two groups of grinding mechanisms is the same in the first of the invention embodiment, and stock removal is different, for it is thick, Finishing.Symmetrical processing, facilitates the deformation for reducing gear shaft, reduces the frequency of grinding wheel reconditioning, improve the steady of workpiece It is qualitative, increase machining accuracy.Meanwhile different stock removals, the processing efficiency of workpiece can be increased, be the 2.5- of traditional equipment 5 times, service life is 5-10 times of traditional equipment.
3rd, the structure of three groups of grinding mechanisms is the same in second of embodiment of the invention, and stock removal is different, for it is thick, Half essence, finishing.Symmetrical processing, facilitates the deformation for reducing gear shaft, reduces the frequency of grinding wheel reconditioning, improve workpiece Stability, increase machining accuracy.Meanwhile different stock removals, the processing efficiency of workpiece, three groups of grinding mechanisms can be increased It is 5-10 times of traditional equipment, service life is 10-20 times of traditional equipment.
4th, locking nut of the invention generates pretension to screw rod, can greatly reduce driving error during screw rod rotation, The mobile accuracy of grinding wheel is improved, ensures the amount of feeding of grinding wheel, so as to ensure the machining accuracy of gear.
5th, grinding wheel spindle and workpiece spindle of the present invention are arranged in parallel, and prevent the processing blind area of gear grinding machine with worm grinding wheel, increase The scope of application of product.
Description of the drawings
Fig. 1 is the structure diagram for the first embodiment that the present invention is provided with double grinding mechanisms.
Fig. 2 is the positive structure diagram for second of embodiment that the present invention is provided with three grinding mechanisms.
Fig. 3 is that the back of the body for second of embodiment that the present invention is provided with three grinding mechanisms regards structure diagram.
Fig. 4 is the structure diagram of grinding wheel feed mechanism of the present invention.
Fig. 5 is the partial enlarged view of pre- pull-up structure at A in Fig. 4.
Meaning represented by figure label:
1- racks;2- workpiece;3- workbench;4- clamping motors A;5- artifact-driven motors;6- clamping workpiece slide units;7- is filled Press from both sides motor B;8- tailstock clamping slide units;
11- grinding wheel stands;12- grinding wheel slide units;13- grinding wheels;14- emery wheel motors;15- installing ports;
21- grinding wheels feed motor;22- shaft couplings;23- screw rods;24- feed screw nut;25- inner sleeves;26- bearings;Outside 27- Sleeve;28- locking nuts;29- bearing (ball) covers;30- inner oil seals;31- outer oil seals;32- mounting bases;33- lock-screws.
Specific embodiment
With reference to specific embodiment, the invention will be further described:
Embodiment one:
A kind of high-precision gear grinding machine including rack 1, is provided with the workbench 3 of installation workpiece 2, the workbench in rack 1 3 one end is provided with the clamping workpiece slide unit 6 by pulse controlled clamping motor A4 and with artifact-driven motor 5, the clamping Motor A4 driving clamping workpieces slide unit 6 does the reciprocating motion and axial vibration of workpiece axial direction.The reciprocating motion refers to, and workpiece exists Workbench 3 moves back and forth, because embodiment medium plain emery wheel does not move axially in workpiece, occurs to be axially moved to expire by workpiece itself The requirement of sufficient Working position;Axial vibration refers to, by Pulse Width Control, the preferred ultrasonic pulse of pulse so that workpiece does micro- That sees is of reciprocating vibration, realizes the main grinding of workpiece, core of the invention is exactly the master by reciprocal vibration realizing workpiece The secondary grinding of workpiece is realized in grinding by the gear motion of grinding wheel and workpiece, reduces the abrasion of grinding wheel by this method Degree.In addition, contact area during vibration is bigger, grinding speed is very fast, and precision is also much improved.
At least one set of grinding mechanism is provided in the rack 1, grinding mechanism includes grinding wheel stand 11, set on grinding wheel stand 11 There are grinding wheel feed mechanism and grinding wheel slide unit 12, the grinding wheel feed mechanism driving grinding wheel slide unit 12 does the feeding perpendicular to workpiece spindle Movement;12 front end of grinding wheel slide unit is provided with the grinding wheel 13 being adapted with workpiece shapes, its rear end is provided with driving grinding wheel 13 The emery wheel motor 14 of rotation.Grinding wheel spindle and workpiece spindle of the present invention are arranged in parallel, and prevent adding for gear grinding machine with worm grinding wheel Work blind area increases the scope of application of product.The grinding wheel can spread plain wheel, Carborundum wheel, CBN grinding wheels, coating grinding wheel Etc..
Preferably, the other end of the workbench 3 is provided with pulse controlled clamping motor B7 and tailstock clamping slide unit 8, During processing, the clamping motor A4 driving tailstock clampings slide unit 8 simultaneously does synchronous reciprocating movement and axial direction with clamping workpiece slide unit 6 Vibration.It can move alone during clamping workpiece, be mainly used for the processing of gear shaft-like workpiece, thimble can reduce gear shaft-like workpiece Rotation error, increase machining accuracy.
Preferably, chucks are provided on the clamping workpiece slide unit 6, top is provided on the tailstock clamping slide unit 8 Needle.
Preferably, two groups of grinding mechanisms, one mould one of structure of two groups of grinding mechanisms are symmetrically set in the rack 1 Sample, stock removal is different, for Roughing and fine machining.Symmetrical processing, facilitates the deformation for reducing gear shaft, reduces grinding wheel reconditioning Frequency, improve the stability of workpiece, increase machining accuracy.Meanwhile different stock removals, adding for workpiece can be increased Work efficiency rate is 2.5-5 times of traditional equipment, and service life is 5-10 times of traditional equipment.
Preferably, the detection device 9 of detection workpiece and grinding wheel is provided on the workbench 3.Detection device 9 is generally red Outside line sensing device can detect the gear of gear, judge whether gear meets processing request;Secondly the feeding of detection grinding wheel Amount, and carry out intelligent compensation;The detection device 9 records the parameters such as time, the number of grinding wheel processing, controls the work longevity of grinding wheel Life.
Preferably, the grinding wheel feed mechanism include be arranged on grinding wheel stand 11 grinding wheel feeding motor 21, shaft coupling 22, Screw rod 23 and the feed screw nut 24 for being arranged on 12 bottom of grinding wheel slide unit, the both ends of the screw rod 23 are both provided with pretension fixing device, Pretension fixing device is sequentially sleeved at inner sleeve 25, bearing 26, outer sleeve 27 and the locking nut 28 of 23 end of screw rod, locking screw Lock-screw 33 is provided on mother 28, the bearing 26 is fixed by bearing (ball) cover 29.For convenience of install and ensure assembling essence Degree, the pretension fixing device close to grinding wheel feeding motor 21 are directly installed on grinding wheel stand 11, and the pretension fixing device of the other end passes through installation Seat 32 is fixed on grinding wheel stand 11.The locking nut 28 of the present invention generates pretension to screw rod, can greatly reduce screw rod rotation When driving error, improve the mobile accuracy of grinding wheel, ensure the amount of feeding of grinding wheel, so as to ensure the machining accuracy of gear.
Preferably, the both ends of the bearing 26, the outside of inside and outside sleeve are arranged with inner oil seal 30 and outer oil seal 31 respectively, increase Sealing property is encrypted, the impurity such as dust is placed and enters bearing, ensure the working life and operating accuracy of bearing.
Preferably, the clamping motor A4, clamping motor B7, artifact-driven motor 5, emery wheel motor 14 and grinding wheel It is servo motor to feed motor 21, and the present invention is entirely Serve Motor Control, substantially increases the precision of processing.
Embodiment two:
The present embodiment and embodiment one are essentially identical, and difference is:Center symmetric setting has three groups in the rack 1 Grinding mechanism, the angle that each two processing stand is formed with workpiece spindle line is 120 °.One mould one of structure of three groups of grinding mechanisms Sample, stock removal is different, for thick, half essence, finishing.Symmetrical processing, facilitates the deformation for reducing gear shaft, reduces grinding wheel The frequency of reconditioning improves the stability of workpiece, increases machining accuracy.Meanwhile different stock removals, workpiece can be increased Processing efficiency, three groups of grinding mechanisms are 5-10 times of traditional equipment, and service life is 10-20 times of traditional equipment.Classification Processing helps to reduce tooth space error, increases the machining accuracy of workpiece.
Preferably, the grinding wheel stand 11 of every group of grinding mechanism is integrally formed, and the middle part is provided with passed through for workpiece Installing port 15, the integrated molding of grinding wheel stand can ensure that grinding mechanism processes the identical location of workpiece, increase machining accuracy.
Principle:
One end of workpiece to be processed is fixed on to the chucks of clamping workpiece slide unit 6, the other end is fixed on tailstock clamping On the thimble of slide unit 8, and start artifact-driven motor 5, workpiece rotation.Clamping motor A4 and clamping motor B7 is synchronized with the movement simultaneously real The reciprocating motion and axial vibration of existing workpiece axial direction.At this point, corresponding grinding mechanism is carried out according to the amount of feeding set in advance The grinding of different accuracy, main grinding are axial vibration, and pair grinding is grinding wheel and the gear motion of workpiece.When detection device detects When workpiece meets the requirements, equipment stops resetting, and waits for the processing of workpiece.
Above-described embodiment is only presently preferred embodiments of the present invention, is not limited the scope of the invention according to this, therefore:It is all according to The equivalence changes that structure, shape, the principle of the present invention is done, should all be covered by within protection scope of the present invention.

Claims (10)

1. a kind of high-precision gear grinding machine including rack (1), is provided with the workbench (3) of installation workpiece (2) in rack (1), special Sign is:One end of the workbench (3) is provided with by pulse controlled clamping motor A (4) and with artifact-driven motor (5) Clamping workpiece slide unit (6), clamping motor A (4) the driving clamping workpiece slide unit (6) do reciprocating motion and the axis of workpiece axial direction To vibration;
At least one set of grinding mechanism is provided on the rack (1), grinding mechanism includes grinding wheel stand (11), and grinding wheel stand is set on (11) Grinding wheel feed mechanism and grinding wheel slide unit (12) are equipped with, the grinding wheel feed mechanism driving grinding wheel slide unit (12) is done perpendicular to workpiece spindle Feed motion;Grinding wheel slide unit (12) front end is provided with the grinding wheel (13) being adapted with workpiece shapes, its rear end is provided with The emery wheel motor (14) that grinding wheel (13) is driven to rotate.
2. a kind of high-precision gear grinding machine according to claim 1, it is characterised in that:The other end of the workbench (3) is set It is equipped with pulse controlled clamping motor B (7) and tailstock clamping slide unit (8), during processing, clamping motor A (4) the driving tailstock dress Folder slide unit (8) simultaneously does synchronous reciprocating movement and axial vibration with clamping workpiece slide unit (6).
3. a kind of high-precision gear grinding machine according to claim 2, it is characterised in that:It is set on the clamping workpiece slide unit (6) Chucks are equipped with, thimble is provided on the tailstock clamping slide unit (8).
4. a kind of high-precision gear grinding machine according to claim 1, it is characterised in that:It is symmetrical on the rack (1) to set It is equipped with two groups of grinding mechanisms.
5. a kind of high-precision gear grinding machine according to claim 1, it is characterised in that:Central symmetry is set on the rack (1) Three groups of grinding mechanisms are equipped with, the angle that each two processing stand is formed with workpiece spindle line is 120 °.
6. a kind of high-precision gear grinding machine according to claim 1, it is characterised in that:The grinding wheel spindle is parallel with workpiece spindle to be set It puts.
7. a kind of high-precision gear grinding machine according to claim 1, it is characterised in that:Inspection is provided on the workbench (3) Survey the detection device (9) of workpiece and grinding wheel.
8. according to a kind of high-precision gear grinding machine of claim 1-7 any one of them, it is characterised in that:The grinding wheel feed mechanism Grinding wheel including being arranged on grinding wheel stand (11) feeds motor (21), shaft coupling (22), screw rod (23) and is arranged on grinding wheel cunning The feed screw nut (24) of platform (12) bottom, the both ends of the screw rod (23) are arranged with inner sleeve (25), bearing (26), outer successively Sleeve (27) and locking nut (28), the bearing (26) are fixed by bearing (ball) cover (29).
9. a kind of high-precision gear grinding machine according to claim 8, it is characterised in that:It is the both ends of the bearing (26), inside and outside The outside of sleeve is arranged with inner oil seal (30) and outer oil seal (31) respectively.
10. a kind of high-precision gear grinding machine according to claim 8, it is characterised in that:The clamping motor A (4), clamping electricity Machine B (7), artifact-driven motor (5), emery wheel motor (14) and grinding wheel feeding motor (21) are servo motor.
CN201810152507.7A 2018-02-15 2018-02-15 High-precision gear grinding machine Active CN108176903B (en)

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Application Number Priority Date Filing Date Title
CN201810152507.7A CN108176903B (en) 2018-02-15 2018-02-15 High-precision gear grinding machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810152507.7A CN108176903B (en) 2018-02-15 2018-02-15 High-precision gear grinding machine

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CN108176903A true CN108176903A (en) 2018-06-19
CN108176903B CN108176903B (en) 2024-03-01

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109093039A (en) * 2018-07-18 2018-12-28 太原科技大学 It is a kind of horizontal cold to strike lathe
CN109570643A (en) * 2018-12-20 2019-04-05 大连理工大学 A kind of high class gear flank of tooth transforms into burnishing device
CN109570637A (en) * 2018-12-25 2019-04-05 益阳康益机械发展有限公司 The vertical tumbling mill of internal messing positive motion chain is vertical and radial feed mechanism
CN115971994A (en) * 2022-12-29 2023-04-18 广东鼎泰机器人科技有限公司 Multi-shaft cylindrical grinding machine

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1182938B (en) * 1961-03-27 1964-12-03 Michigan Tool Co In the axial direction oscillating drive of the tool spindle of a precision machining machine for gears
CN201645272U (en) * 2010-03-25 2010-11-24 陕西汉江机床有限公司 Numerical-control wire guiding roller grinder
CN201982597U (en) * 2011-01-14 2011-09-21 徐俊玉 Screw rod supporting assembly
CN203696624U (en) * 2014-02-27 2014-07-09 陈志斌 Tensile pre-stress ultra-high-speed external circle grinding device
CN204893598U (en) * 2015-08-31 2015-12-23 自贡中兴耐磨新材料有限公司 Processing grinding machine of taper hole
CN205237246U (en) * 2015-12-03 2016-05-18 金华市力晟工具有限公司 A main shaft divides tooth mechanism for gear grinding machines
CN208162782U (en) * 2018-02-15 2018-11-30 浙江新跃机床股份有限公司 A kind of high-precision gear grinding machine

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1182938B (en) * 1961-03-27 1964-12-03 Michigan Tool Co In the axial direction oscillating drive of the tool spindle of a precision machining machine for gears
CN201645272U (en) * 2010-03-25 2010-11-24 陕西汉江机床有限公司 Numerical-control wire guiding roller grinder
CN201982597U (en) * 2011-01-14 2011-09-21 徐俊玉 Screw rod supporting assembly
CN203696624U (en) * 2014-02-27 2014-07-09 陈志斌 Tensile pre-stress ultra-high-speed external circle grinding device
CN204893598U (en) * 2015-08-31 2015-12-23 自贡中兴耐磨新材料有限公司 Processing grinding machine of taper hole
CN205237246U (en) * 2015-12-03 2016-05-18 金华市力晟工具有限公司 A main shaft divides tooth mechanism for gear grinding machines
CN208162782U (en) * 2018-02-15 2018-11-30 浙江新跃机床股份有限公司 A kind of high-precision gear grinding machine

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109093039A (en) * 2018-07-18 2018-12-28 太原科技大学 It is a kind of horizontal cold to strike lathe
CN109570643A (en) * 2018-12-20 2019-04-05 大连理工大学 A kind of high class gear flank of tooth transforms into burnishing device
CN109570637A (en) * 2018-12-25 2019-04-05 益阳康益机械发展有限公司 The vertical tumbling mill of internal messing positive motion chain is vertical and radial feed mechanism
CN115971994A (en) * 2022-12-29 2023-04-18 广东鼎泰机器人科技有限公司 Multi-shaft cylindrical grinding machine

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