Optimization of sensor mounting position and pose in rotary kiln belt center measurement

To solve the problem that the measurement accuracy of the center of the wheel belt decreases during the adjustment of the center axis of the rotary kiln, a method of sensor installation position optimization based on dynamic simulation analysis and a simple small model is proposed and implemented in this paper. In this method, the coordinates of the laser points on the surface of the belt are obtained by using the sensor laser beam, and then the center position of the belt is obtained by fitting the coordinates of 6 laser points on the surface of the belt. Then V-rep dynamic simulation software is used to analyze the coordinates of the center position of the wheel under different sensor installation positions to find the sensor installation positions closest to the actual center of the wheel. Finally, the simulation results are verified by a simple small model. The experimental results show that this method can reduce the influence of belt deformation on the measurement of the center of the belt and find the most suitable sensor installation position. Taking the wheel with an ellipticity of 0.16% as an example, under the optimized sensor orientation, the error of the Y direction of the center of the wheel is 0.4 mm, and the error of the Z direction of the center of the wheel is 0.73 mm. By this method, the center accuracy of the existing measuring wheel is optimized from about 2 mm to less than 1 mm.