Study On Constant Force Belt Polishing Robot Technology Of Gun-receiver Surface

The gun-receiver is one of the key components of a scattergun, connecting thebarrel, magazine and other components, whose work surface consist of plane, curvedsurface and blending surface. It is indispensable for the gun-receiver polishing processfor its polishing precision may affect the performance of the whole gun, includingassembly and shooting performance. The traditional receiver polishing processingmethods in China is a lot of manual grinding. The method is time-consuming andlaborious, and hard to guarantee the surface consistency. Worse still, the workingenvironment and conditions are poor and lots of own skilled technical and richexperience workers are required. The abrasive belt grinding is a kind of compositeprocessing technology with the grinding, lapping and polishing. Industrial robots areused in many industries, and have a unique advantage. Therefore, the processingmethod of combine abrasive belt grinding technology with the robot is an effectiveway to solve the problem of gun-receiver surface polishing.With the workpiece of gun-receiver as the research object, the following work iscarried out from theory and experiment aspects in this paper:1) According to the manual polishing status of gun-receiver and the robot control isposition control, proposed the constant force abrasive belt polishing method. With thepolishing process analysis of the gun-receiver surface, determined the constant forceabrasive belt polishing machine principle and gun-receiver casing cutting way. With thefunction and the technique index analysis of robot polishing system, designed theoverall scheme of robot constant force belt polishing system.2) The constant force belt polishing system was designed through the roboticpolishing process analysis. And put forward the constant force control system controlmethod with the fuzzy controller of the abrasive belt polishing machine. Therefore,research on the mathematical models of all components in the system was conducted toobtain the open-loop transfer function.3) Through the design of fuzzy controller of constant force abrasive belt polishingsystem, established a fuzzy control rule table, formulated the fuzzy variable assignmenttable, and determined the method of defuzzification method. With the construction offuzzy inference system and modeling and simulation by Matlab, observed the outputcurve of unit step signal and white noise interference to verify the stability of constant force abrasive belt grinding control system.4) The robot polishing experimental study was conducted. Firstly, the processingtest on grinding parameters was conducted. Orthogonal tests on abrasive belt grindingspeed, pressure and abrasive type were conducted with abrasive belt grinding ofgun-receiver material to do research on material removal rate and surface roughness.The best parameter combination to the optimization design was obtained by using greyrelational analysis method. And conducted the robot constant force polishingexperiments on gun-receiver surface to observe whether the surface roughness of afterpolishing meet the requirement of0.8.