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锚杆钻机水钻 rig 的碰撞检测方法。 （注：这里原文中“water drilling rig”直接保留英文未翻译，可能是特定的专业设备名称，按照要求原样呈现，可根据实际情况进一步确认其准确中文表述）

Collision detection method for anchor digging machine water drilling rig.

作者信息

Liu Zhi-Xiang, Yan Shu-Tong, Zou Kang, Xie Miao

机构信息

School of Mechanical Engineering, Liaoning Technical University, Fuxin, 123000, Liaoning, China.

Institute of Mineral Resources Exploitation and Utilization Technology and Equipment, Liaoning Technical University, Fuxin, 123000, Liaoning, China.

出版信息

Sci Rep. 2025 Jan 3;15(1):726. doi: 10.1038/s41598-024-81640-3.

DOI:10.1038/s41598-024-81640-3
PMID:39753607
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC11699198/
Abstract

Loading water drilling rig on the anchor digging machine can effectively increase the tunneling efficiency. In order to avoid the interference between the water drilling rig and the anchor machine in the working process, it is necessary to calculate the joint variables of the drilling rig accurately. Using the robot kinematics analysis method, the kinematics model of the system is established. At the same time, combined with bounding box collision detection technology, the key parts of the equipment are mathematically modeled. A method for collision detection of onboard water exploration and drainage drilling rig of anchor digging machine is proposed. The simulation results show : The designed collision detection method can be used to guide the attitude adjustment of the equipment during the drilling operation of the equipment, and can accurately analyze the interference characteristics and collision detection of the equipment. It provides a theoretical basis for the automatic excavation of the research object and the automatic control of drilling. The azimuth adjustment range of the water drilling rig for the experiment is : ± 15°, and the pitch angle adjustment range is : + 5° to -10°.

摘要

在锚杆钻机上搭载水井钻机可有效提高掘进效率。为避免水井钻机与锚杆机在工作过程中相互干扰，需精确计算钻机的关节变量。采用机器人运动学分析方法，建立系统的运动学模型。同时，结合包围盒碰撞检测技术，对设备关键部件进行数学建模。提出一种锚杆钻机车载探水排水钻机碰撞检测方法。仿真结果表明：所设计的碰撞检测方法可用于指导设备钻进作业过程中的姿态调整，能准确分析设备的干涉特性及碰撞检测情况。为研究对象的自动挖掘及钻孔自动控制提供了理论依据。实验中水井钻机的方位角调整范围为：±15°，俯仰角调整范围为：+5°至 -10°。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8594/11699198/3e9a9df87e04/41598_2024_81640_Fig17_HTML.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8594/11699198/01723107111c/41598_2024_81640_Fig7_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8594/11699198/57f4444453ae/41598_2024_81640_Fig8_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8594/11699198/0c1282b68f84/41598_2024_81640_Fig9_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8594/11699198/0dfff3c6ecba/41598_2024_81640_Fig10_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8594/11699198/0a3503f05812/41598_2024_81640_Fig11_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8594/11699198/b9ff55ba3dcf/41598_2024_81640_Fig12_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8594/11699198/248c607556c3/41598_2024_81640_Fig13_HTML.jpg
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