大口径钢管圆度测量系统及评定算法研究  

Research on Roundness Measurement System and Evaluation Algorithm of Large-caliber Steel Pipe

作　　者：许高齐 陈玉 邓启超 郭俊 李艳军 XU Gaoqi;CHEN Yu;DENG Qichao;GUO Jun;LI Yanjun(School of Mechanical and Automotive Engineering,Anhui Polytechnic University,Wuhu 241000,China;Wuhu Anpu Robot Industry Technology Research Institute Co.Ltd,Wuhu 241000,China)

机构地区：[1]安徽工程大学机械与汽车工程学院,安徽芜湖241000 [2]芜湖安普机器人产业技术研究院有限公司,安徽芜湖241000

出　　处：《安徽工程大学学报》2020年第4期42-51,共10页Journal of Anhui Polytechnic University

基　　金：芜湖市重点研发计划基金资助项目(2019YF43)。

摘　　要：针对大直径钢管截面的圆度测量在多数企业中仍采用人工作业的不足,为提高工作效率及降低人工成本,设计了一套大口径钢管圆度测量系统。该系统以工业机器人作为载体,利用高精度激光位移传感器实现对大口径钢管截面圆度的非接触式测量,同时为解决激光位移传感器沿钢管轴线平行方向测量的问题提出机器人测量姿态调整方案。针对传统方法求解圆度误差较为困难及评定精度不高的问题,提出将鲸鱼优化算法应用于圆度误差评定,根据最小区域原则建立鲸鱼优化算法得到目标函数,并论述了该圆度误差评定的原理及步骤。试验结果表明,该系统的测量方法能够实现钢管的圆度测量,同时也验证了鲸鱼优化算法在圆度误差评定中的有效性。For the roundness measurement of large-diameter steel pipe sections,manual measurement is still used in most enterprises.In order to improve efficiency and reduce labor costs,a large-caliber steel pipe roundness measurement system is designed.This system uses industrial robots as carriers and uses high-precision laser displacement sensor to realize non-contact measurement of roundness of large-diameter steel pipe section.At the same time,in order to solve the problem of laser displacement sensor measurement along the parallel axis of the steel pipe,a robot measurement attitude adjustment scheme is proposed.It is difficult to solve the roundness error for the traditional method.In order to solve the problems in measuring difficulties and low accuracy,the whale optimization algorithm is applied to roundness error evaluation.The whale optimization algorithm is established based on the principle of minimum area to obtain the objective function.The principle and steps of the roundness error evaluation are analysed.The experimental results show that the system's measuring method can realize the roundness measurement of steel pipes,and it also verifies that the whale optimization algorithm can be better applied to the roundness error evaluation.

关 键 词：非接触式 欧拉角 鲸鱼优化算法 圆度评定 最小区域 

分 类 号：TB92[一般工业技术—计量学]