CN110605671B - Preparation method of nano ceramic bond cBN grinding wheel for universal joint ball track grinding - Google Patents
Preparation method of nano ceramic bond cBN grinding wheel for universal joint ball track grinding Download PDFInfo
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- CN110605671B CN110605671B CN201910945892.5A CN201910945892A CN110605671B CN 110605671 B CN110605671 B CN 110605671B CN 201910945892 A CN201910945892 A CN 201910945892A CN 110605671 B CN110605671 B CN 110605671B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
- B24D18/00—Manufacture of grinding tools or other grinding devices, e.g. wheels, not otherwise provided for
- B24D18/0009—Manufacture of grinding tools or other grinding devices, e.g. wheels, not otherwise provided for using moulds or presses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
- B24D3/00—Physical features of abrasive bodies, or sheets, e.g. abrasive surfaces of special nature; Abrasive bodies or sheets characterised by their constituents
- B24D3/02—Physical features of abrasive bodies, or sheets, e.g. abrasive surfaces of special nature; Abrasive bodies or sheets characterised by their constituents the constituent being used as bonding agent
- B24D3/04—Physical features of abrasive bodies, or sheets, e.g. abrasive surfaces of special nature; Abrasive bodies or sheets characterised by their constituents the constituent being used as bonding agent and being essentially inorganic
- B24D3/14—Physical features of abrasive bodies, or sheets, e.g. abrasive surfaces of special nature; Abrasive bodies or sheets characterised by their constituents the constituent being used as bonding agent and being essentially inorganic ceramic, i.e. vitrified bondings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
- B24D3/00—Physical features of abrasive bodies, or sheets, e.g. abrasive surfaces of special nature; Abrasive bodies or sheets characterised by their constituents
- B24D3/34—Physical features of abrasive bodies, or sheets, e.g. abrasive surfaces of special nature; Abrasive bodies or sheets characterised by their constituents characterised by additives enhancing special physical properties, e.g. wear resistance, electric conductivity, self-cleaning properties
- B24D3/342—Physical features of abrasive bodies, or sheets, e.g. abrasive surfaces of special nature; Abrasive bodies or sheets characterised by their constituents characterised by additives enhancing special physical properties, e.g. wear resistance, electric conductivity, self-cleaning properties incorporated in the bonding agent
Abstract
The invention provides a preparation method of a nano ceramic bond cBN grinding wheel for universal joint ball track grinding. The nano ceramic bonding agent is made of SiO2、V2O5、Na2O、Al2O3、K2O, adding 5-8% of nano ZrO2. The difference between the binding agent used in the nano ceramic bond grinding wheel provided by the invention and the general ceramic bond is that rare metal oxide V is used2O5Instead of the conventional B2O3While adding nano ZrO2The grinding wheel has the advantages that the effect of improving the wetting capacity of the binding agent by utilizing the rare metal oxide is utilized, the strength and the hardness of the grinding wheel are improved, the grinding wheel has better shape retentivity while the higher sharpness is ensured, the grinding speed is increased, the interval between the grinding speed and the dressing is increased, and the grinding efficiency and the service life of the grinding wheel are greatly improved.
Description
The invention belongs to a nano ceramic bond cBN grinding wheel for a universal joint ball mill and a preparation method thereof, and belongs to divisional application of invention application with application date of 2017, 5 and 27 and application number of 2017103937293, and belongs to the part of a product preparation method.
Technical Field
The invention belongs to the technical field of superhard abrasive tools, and relates to a preparation method of a nanometer ceramic bond cBN grinding wheel for universal joint ball path grinding.
Background
The ceramic cBN grinding wheel is a porous wear-resistant material with high porosity and high strength, which is formed by sintering a ceramic bonding agent and cBN grinding materials at high temperature. Compared with the common abrasive, the cBN abrasive not only has the advantages of high hardness, high thermal conductivity and good wear resistance, but also has strong thermal and chemical stability, so the cBN abrasive grinding wheel gradually becomes the first choice for high-speed and high-precision grinding.
When universal joint ball channels are ground, because the grinding allowance is large, the grinding speed is high, and each ball channel is ground in place at one time, the abrasion to the grinding wheel is serious, and the requirements on the sharpness and the shape retentivity of the grinding wheel are high. At present, the shape retentivity of the grinding wheel is poor due to the strength problem of the domestic grinding wheel, the correction interval is 1, and the grinding efficiency and the service life of the grinding wheel are seriously influenced.
Disclosure of Invention
Aiming at the defects of the prior art, the invention discloses a nano ceramic bond cBN grinding wheel for universal joint ball track grinding and a preparation method thereof2O5Instead of the conventional B2O3And adding nano ZrO in the ceramic binder2The strength of the grinding wheel is improved while the sharpness of the grinding wheel is kept, so that the grinding speed and the correction interval are improved, the grinding efficiency is greatly improved, and the service life is greatly prolonged.
In order to achieve the purpose, the invention provides the following technical scheme:
a nano-ceramic binder for universal joint ball track mill contains basic binder and nano-ZrO2(ii) a The nano ZrO2The dosage of the basic binding agent is 5 to 8 percent of that of the basic binding agent; the base binder comprises SiO2、Al2O3、K2O、Na2O。
In the above technical scheme, the nano ZrO2The particle size of (A) is 30-50 nm; the base binder further comprises V2O5. The invention limits ZrO2Particle size of ZrO2The reaction process with the high-temperature melt is controlled, and the final damage to the structure and the performance uniformity of the bonding agent is avoided.
In the above technical solution, the weight percentage of the basic binder is SiO2 45～60%、V2O5 20～30%、Al2O3 5～10%、Na2O 5～16%、K2And 5-10% of O. The invention limits the component proportion, is beneficial to the fusion and infiltration among the components, and the prepared ceramic bond has the characteristics of high hardness, good temperature resistance, good self-sharpening property, sharpness and the like, so that the service life and the processing efficiency of the trimming wheel can be greatly improved without frequently replacing the trimming wheel.
The invention also discloses a preparation method of the nano ceramic bonding agent for the universal joint ball track millMixing the basic binder with nano ZrO2Uniformly mixing, heating to 1500 ℃, rapidly cooling by water, performing ball milling for 3-5 hours, drying, sieving, and selecting powder of 600-800 meshes to obtain the nano ceramic bonding agent; the nano ZrO2The dosage of the basic binding agent is 5 to 8 percent of that of the basic binding agent; the base binder comprises SiO2、Al2O3、K2O、Na2O、V2O5。
The invention also discloses a nano ceramic bond cBN grinding wheel for universal joint ball track grinding, which consists of a substrate and a grinding material layer; the abrasive layer comprises the nano-ceramic binder.
In the technical scheme, the grinding material layer comprises, by weight, 40-60% of cBN grinding material and Al2O320-30% of abrasive, 15-30% of nano ceramic bonding agent, 1-5% of pore-forming agent and 5-10% of temporary bonding agent.
In the technical scheme, the grain size of the cBN abrasive is 100-120 mu m; the Al is2O3The grain size of the abrasive is 70-90 mu m; the particle size of the pore-forming agent is 50-70 mu m; the temporary bonding agent is epoxy resin.
In the ceramic bonding agent prepared by the method, silicon dioxide mainly provides a main framework consisting of silicon-oxygen tetrahedrons for the ceramic bonding agent; vanadium pentoxide and potassium oxide are used as nucleating agents; because the sodium oxide and the zirconium oxide are added into the basic raw material subsequently, the specific surface area, namely the surface activation energy, of the whole powder is increased, so that the sintering temperature, namely the refractoriness, of the ceramic bond is reduced, the strength of the ceramic bond is enhanced, and the problem that the refractoriness of the ceramic bond is improved while the strength of the ceramic bond is increased in the prior art is solved; according to the invention, the thermal expansion coefficient of the ceramic bond can be reduced through the proportion of silicon dioxide, aluminum oxide, zirconium oxide and potassium oxide, so that the thermal expansion coefficients of the sintered ceramic bond and the abrasive are matched; the grinding wheel prepared by the method has reasonable component proportion, is beneficial to fully and uniformly mixing, can fully participate in the reaction in the sintering process of manufacturing the grinding tool in the future, and improves the reaction uniformity of the ceramic bond of each part of the grinding tool.
The invention further discloses a preparation method of the nano ceramic bond cBN grinding wheel for the universal joint ball track grinding, which comprises the following steps:
(1) combining a basic binder with nano-ZrO2Uniformly mixing, heating to 1500 ℃, rapidly cooling by water, performing ball milling for 3-5 hours, drying, sieving, and selecting powder of 600-800 meshes to obtain the nano ceramic bonding agent;
(2) uniformly mixing the abrasive, the nano ceramic bonding agent, the pore-forming agent and the temporary bonding agent, drying, and sieving by a 120-mesh standard sieve to obtain a mixture; the abrasive contains cBN;
(3) dry-pressing and molding the mixture to obtain a green body; carrying out heat treatment on the green body to obtain an abrasive layer;
(4) and combining the abrasive layer with the substrate to obtain the nano ceramic binder cBN grinding wheel for the universal joint ball track grinding.
In the above technical solution, the weight percentage of the basic binder is SiO2 45～60%、V2O5 20～30%、Al2O3 5～10%、Na2O 5～16%、K25-10% of O; the weight percentage of the mixture is that the cBN abradant accounts for 40-60 percent, and Al2O320-30% of abrasive, 15-30% of nano ceramic bonding agent, 1-5% of pore-forming agent and 5-10% of temporary bonding agent.
In the above technical scheme, the nano ZrO2The particle size of (A) is 30-50 nm; the grain size of the cBN abrasive is 100-120 mu m; the Al is2O3The grain size of the abrasive is 70-90 mu m; the particle size of the pore-forming agent is 50-70 mu m; the temporary bonding agent is epoxy resin. The pore-forming agent is preferably an alumina hollow sphere.
In the technical scheme, in the step (2), the uniform mixing is carried out in the presence of an organic solvent; in the step (3), the pressure of the dry pressing molding is 10MPa, and the temperature is normal temperature. The heat treatment is that the temperature is raised to 350 ℃ for 3 hours, the temperature is preserved for 2 hours, the temperature is raised to 850 ℃ for 3 hours, the temperature is preserved for 2 hours, and finally the product is naturally cooled; in the step (4), the abrasive layer is combined with the substrate by using epoxy resin glue. The process has the advantages of strong operability, good stability and contribution to producing the ceramic bond grinding wheel with stable and reliable structure and performance.
The ceramic binder of the present invention contains rare metal oxide V2O5Glass system SiO2-V2O5-Al2O3(ii) a And the limited amount of zirconia is added, so that the sharpness of the grinding wheel is maintained, and simultaneously, the strength of the grinding wheel is improved, the grinding speed and the correction interval are improved, the grinding efficiency is greatly improved, and the service life is greatly prolonged.
For example, the method for preparing the nano ceramic bond cBN grinding wheel for universal joint ball track grinding, disclosed by the invention, specifically comprises the following steps:
(1) mixing SiO2、V2O5、Al2O3、Na2O、K2O and ZrO2Uniformly mixing according to the weight ratio, heating to 1500 ℃ in a frit furnace, rapidly cooling by water, ball-milling for 3-5 hours, drying, sieving, and selecting powder of 600-800 meshes to obtain the required ceramic bonding agent;
(2) weighing cBN abrasive and Al according to weight ratio2O3Adding acetone into the abrasive binding agent, the alumina hollow spheres and the epoxy resin, stirring until the mixture is uniformly mixed, drying, and sieving the mixture through a 120-mesh standard sieve;
(3) after sieving, putting the mixture into a mold, and performing dry pressing to obtain a green body;
(4) putting the green body into an electric furnace, heating to 350 ℃ for 3 hours, preserving heat for 2 hours, heating to 850 ℃ for 3 hours, preserving heat for 2 hours, and finally cooling along with the furnace to obtain an abrasive material layer;
(5) and bonding the sintered abrasive layer with a substrate by using epoxy resin glue, and processing the cured abrasive layer on a lathe and a grinding machine according to the size requirement to finally obtain the nano ceramic binder cBN grinding wheel. The turning content is that according to a drawing, a grinding wheel base body with qualified size and meeting the requirement on precision is processed; the grinding content comprises grinding the end face and the excircle of the grinding wheel.
The invention has the following advantages:
1. the invention adopts glass system SiO containing rare metal oxide2-V2O5-Al2O3And adding nano ZrO2A new ceramic bonding agent is formed, the strength of the obtained bonding agent is improved, the wettability to the grinding material is good, and the shape retentivity of the prepared grinding wheel is high;
2. the ceramic bond disclosed by the invention is reasonable in composition, the sintering temperature of the bond is low, so that the grinding wheel can be sintered at low temperature, the strength of the grinding material is protected from being influenced by high temperature, and meanwhile, the energy loss is reduced;
3. the nano ceramic cBN grinding wheel prepared by the invention has higher strength while keeping sharpness, so that the shape of the grinding wheel can be kept unchanged although the grinding allowance is large when the grinding wheel grinds a universal joint ball channel, the grinding precision requirement is met, the grinding efficiency is improved, the service life is prolonged, and unexpected technical effects are achieved.
Detailed Description
The invention is further illustrated by the following examples:
example one
A nanometer ceramic bond cBN grinding wheel for universal joint ball track grinding comprises a base body and a grinding material layer. The abrasive layer comprises the following components in percentage by weight: cBN grit 50%, Al2O320% of abrasive, 20% of ceramic bond, 4% of alumina hollow sphere and 6% of epoxy resin.
The matrix is steel base, the grain diameter of the cBN abrasive is 100-120 mu m, and Al2O3The grain diameter of the abrasive is 70-90 μm, and the grain diameter of the alumina hollow sphere is 50-70 μm. The ceramic bond comprises SiO in percentage by weight2 53%，V2O5 25%，Al2O3 7%，Na2O 9%，K2O6 percent, and then nano ZrO with the weight percentage of 8 percent is added2，ZrO2The particle size of (A) is 30 to 50 nm.
The preparation process of the grinding wheel comprises the following steps:
(1) mixing SiO2、V2O5、Al2O3、Na2O、K2O and ZrO2Uniformly mixing according to the weight ratio, heating to 1500 ℃ in a frit furnace, rapidly cooling by water, ball-milling for 3-5 hours,drying, sieving, and selecting 600-800 mesh powder to obtain the desired binder;
(2) weighing cBN abrasive, a bonding agent, carbon powder and epoxy resin according to the weight ratio, adding acetone, stirring until the mixture is uniformly mixed, drying, and sieving the mixture through a 120-mesh standard sieve;
(3) after sieving, putting the mixture into a mold, and performing dry pressing to obtain a green body;
(4) putting the green body into an electric furnace, heating to 350 ℃ for 3 hours, preserving heat for 2 hours, heating to 850 ℃ for 3 hours, preserving heat for 2 hours, and finally cooling along with the furnace to obtain an abrasive material layer;
(5) and bonding the sintered abrasive layer with a substrate by using epoxy resin glue, and processing the cured abrasive layer on a lathe and a grinding machine according to the size requirement to finally obtain the nano ceramic binder cBN grinding wheel.
When the nano ceramic bond cBN grinding wheel is used for processing a universal joint ball path made of CF53, compared with a domestic grinding wheel (17.56 × 22.5 × M8) in the current market, the grinding speed of the nano ceramic bond cBN grinding wheel is the same as that of the domestic grinding wheel (600.56 × 22.5 × M8), the correction interval is increased from 1 piece/repair to 3 pieces/repair, and the service life is prolonged by 2 times.
When the grinding wheel is used for processing the universal joint bell-shaped shell made of 20CrMnTi steel, compared with the grinding wheel (17.56M 8) made in China in the current market, the grinding speed is increased to 600 mm/min from 500 mm/min, and meanwhile, the service life is increased by 2 times.
Compared with the existing grinding wheel, the grinding speed can reach 600 mm/min, but the service life cannot be prolonged; the service life of the grinding wheel can be improved by 1 time only at a low grinding speed of 500 mm/min without replacing boron oxide with vanadium pentoxide.
Example two
A nanometer ceramic bond cBN grinding wheel for universal joint ball track grinding comprises a base body and a grinding material layer. The abrasive layer comprises the following components in percentage by weight: cBN grit 47%, Al2O323% of abrasive, 22% of binding agent, 2% of alumina hollow sphere and 6% of epoxy resin.
The matrix is steel base, the grain diameter of the cBN abrasive is 100-120 mu m, and Al2O3The grain diameter of the abrasive is 70-90 mu m, and the grain diameter of the alumina hollow sphere is50 to 70 μm. The ceramic bond comprises SiO in percentage by weight2 53%，V2O5 25%，Al2O3 7%，Na2O 9%，K2O6 percent, and nano ZrO with the weight percent of 6 percent is added2，ZrO2The particle size of (A) is 30 to 50 nm.
The process for preparing the grinding wheel is the same as that of the first embodiment.
When the prepared grinding wheel is used for processing a universal joint bell-shaped shell with the material of CF53, compared with the domestic grinding wheel (17.56 × 22.5 × M8) in the current market: the grinding speed is increased to 550 mm/min from 450 mm/min, the dressing interval is increased to two parts from one part, and the service life of the grinding wheel is prolonged by 2 times.
Compared with the existing grinding wheel, the grinding speed can reach 550 mm/min, but the service life cannot be prolonged; the service life of the grinding wheel can be improved by 1 time only at the low grinding speed of 450 mm/min without replacing boron oxide with vanadium pentoxide.
EXAMPLE III
A nanometer ceramic bond cBN grinding wheel for universal joint ball track grinding comprises a base body and a grinding material layer. The abrasive layer comprises the following components in percentage by weight: cBN grit 47%, Al2O323% of abrasive, 22% of binding agent, 2% of alumina hollow sphere and 6% of epoxy resin.
The matrix is steel base, the grain diameter of the cBN abrasive is 100-120 mu m, and Al2O3The grain diameter of the abrasive is 70-90 μm, and the grain diameter of the alumina hollow sphere is 50-70 μm. The ceramic bond comprises SiO in percentage by weight2 53%，V2O5 25%，Al2O3 7%，Na2O 9%，K2O6 percent, and nano ZrO with the weight percentage of 5 percent is added2，ZrO2The particle size of (A) is 30 to 50 nm.
The process for preparing the grinding wheel is the same as that of the first embodiment.
When the prepared grinding wheel is used for processing a universal joint bell-shaped shell with the material of CF53, compared with the domestic grinding wheel (16.85 × 22.5 × M8) in the current market: the grinding speed is increased to 540 mm/min from 450 mm/min, the dressing interval is increased to two parts from one part, and the service life of the grinding wheel is prolonged by 1.5 times.
Compared with the existing grinding wheel, the grinding speed can reach 540 mm/min, but the service life cannot be prolonged; the service life of the grinding wheel can be improved by 1 time only at the low grinding speed of 450 mm/min without replacing boron oxide with vanadium pentoxide.
Example four
A nanometer ceramic bond cBN grinding wheel for universal joint ball track grinding comprises a base body and a grinding material layer. The abrasive layer comprises the following components in percentage by weight: cBN grit 47%, Al2O323% of abrasive, 22% of binding agent, 2% of alumina hollow sphere and 6% of epoxy resin.
The matrix is steel base, the grain diameter of the cBN abrasive is 100-120 mu m, and Al2O3The grain diameter of the abrasive is 70-90 μm, and the grain diameter of the alumina hollow sphere is 50-70 μm. The ceramic bond comprises SiO in percentage by weight2 48%，V2O5 28%，Al2O3 7%，Na2O 12%，K2O5 percent, and nano ZrO with the weight percentage of 6 percent is added2，ZrO2The particle size of (A) is 30 to 50 nm.
The process for preparing the grinding wheel is the same as that of the first embodiment.
When the prepared grinding wheel is used for processing the universal joint bell-shaped shell made of 20CrMnTi steel, compared with the domestic grinding wheel (16.85 × 22.5 × M8) in the current market: the grinding speed is increased to 580 mm/min from 450 mm/min, the dressing interval is increased to 4 pieces from 1 piece, and the service life of the grinding wheel is prolonged by 2.5 times.
Compared with the existing grinding wheel, the grinding speed can reach 580 mm/min without adding the ceramic bond grinding wheel prepared from zirconia, but the service life cannot be prolonged; the service life of the grinding wheel can be improved by 1.5 times only at the low grinding speed of 450 mm/min without replacing boron oxide with vanadium pentoxide.
EXAMPLE five
A nanometer ceramic bond cBN grinding wheel for universal joint ball track grinding comprises a base body and a grinding material layer. The abrasive layer comprises the following components in percentage by weight: cBN grit 55%, Al2O324% of abrasive, 15% of binding agent, 1% of alumina hollow sphere and 5% of epoxy resin.
The matrix is steel base, the grain diameter of the cBN abrasive is 100-120 mu m, and Al2O3The grain diameter of the abrasive is 70-90 μm, and the grain diameter of the alumina hollow sphere is 50-70 μm. The ceramic bond comprises SiO in percentage by weight2 55%，V2O5 23%，Al2O3 7%，Na2O 9%，K2O6 percent, and nano ZrO with the added weight percentage of 7 percent2，ZrO2The particle size of (A) is 30 to 50 nm.
The process for preparing the grinding wheel is the same as that of the first embodiment.
Compared with the prior domestic grinding wheel (17.56 × 22.5 × M8), when the nano ceramic bond cBN grinding wheel is used for processing the universal joint star-shaped sleeve made of CF53, the grinding wheel has the advantages that the correction interval is increased from 1 piece/repair to 4 pieces/repair under the same grinding speed of 600 mm/min, and the service life is prolonged by 3 times. When the grinding wheel is used for processing the universal joint star sleeve made of 20CrMnTi steel, compared with the grinding wheel (17.56M 8) made in China in the current market, the grinding speed is increased to 620 mm/min from 500 mm/min, and the service life is prolonged by 2 times. The service life of the grinding wheel prepared without adding zirconia can be prolonged only at a low grinding speed of 500 mm/min; the service life of the catalyst cannot be prolonged because vanadium pentoxide is not used for replacing boron oxide.
Claims (2)
1. A preparation method of a nanometer ceramic bond cBN grinding wheel for universal joint ball track grinding is characterized by comprising the following steps:
(1) combining a basic binder with nano-ZrO2Uniformly mixing, heating to 1500 ℃, rapidly cooling by water, performing ball milling for 3-5 hours, drying, sieving, and selecting powder of 600-800 meshes to obtain the nano ceramic bonding agent; the weight percentage of the basic binder is SiO2 45～60%、V2O5 20～30%、Al2O3 5～10%、Na2O 5～16%、K25-10% of O; the nano ZrO2The dosage of the basic binding agent is 5 to 8 percent of that of the basic binding agent;
(2) uniformly mixing the abrasive, the nano ceramic bonding agent, the pore-forming agent and the temporary bonding agent, drying, and sieving by a 120-mesh standard sieve to obtain a mixtureFeeding; the abrasive contains cBN; the weight percentage of the mixture is that the cBN abradant accounts for 40-60 percent, and Al2O320-30% of abrasive, 15-30% of nano ceramic bonding agent, 1-5% of pore-forming agent and 5-10% of temporary bonding agent
(3) Dry-pressing and molding the mixture to obtain a green body; carrying out heat treatment on the green body to obtain an abrasive layer;
(4) combining the abrasive layer with the substrate to obtain a nano ceramic binder cBN grinding wheel for universal joint ball track grinding;
the nano ZrO2The particle size of (A) is 30-50 nm; the grain size of the cBN abrasive is 100-120 mu m; the Al is2O3The grain size of the abrasive is 70-90 mu m; the particle size of the pore-forming agent is 50-70 mu m.
2. The method for manufacturing a nano-ceramic bond cBN grinding wheel for a universal joint ball track grinding according to claim 1, characterized in that the temporary bonding agent is epoxy resin.
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| CN112109004A (en) * | 2019-06-19 | 2020-12-22 | 衢州达宏砂轮制造有限公司 | Grinding wheel for grinding rubber shaft roller and manufacturing process thereof |
| CN112123221B (en) * | 2020-09-24 | 2022-02-11 | 苏州四砂致辅研磨材有限公司 | Silicon carbide grinding wheel binder and preparation method thereof |
| CN113511913B (en) * | 2021-04-27 | 2022-09-23 | 中国科学院兰州化学物理研究所 | Bionic fiber monolithic structure boron nitride high-temperature self-lubricating material and preparation method thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110509193B (en) | 2020-11-06 |
| CN110509193A (en) | 2019-11-29 |
| CN107042475A (en) | 2017-08-15 |
| CN107042475B (en) | 2019-11-05 |
| CN110605671A (en) | 2019-12-24 |
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