A nuclear engineering intelligent drilling device

Abstract

The present invention relates to a drilling device, specifically a nuclear engineering intelligent drilling device. The device comprises a support system, an adjustment system, a drilling system, a visual camera, a connecting flange, a pitching robot arm, a swing mechanism, a connecting plate, a pitching mechanism, a detection system, and a cross-joint frame. The support system and the adjustment system are connected by a ball joint and located below them, and the drilling system is connected to the adjustment mechanism via a movable joint. The present invention significantly improves the efficiency and quality of drilling operations compared to existing drilling equipment, while reducing the labor intensity of workers.

Description

Technical Field

[0001] The invention belongs to a drilling device, and in particular relates to an intelligent drilling device for nuclear engineering. Background Art

[0002] With the rapid development of science and technology, more and more practical machines have been created by humans to provide

[0003] It provides great convenience for life. A lot of manpower is replaced by machines, which effectively reduces the labor intensity of workers and makes production and construction more efficient.

[0004] Before installing nuclear engineering supports and equipment, holes must be drilled and expansion bolts secured at the installation locations. Traditional drilling tools, primarily impact drills and suction cup drills, are heavy, requiring operators to lift the drill during drilling, a labor-intensive task. When drilling at high altitudes, scaffolding must be erected below the designated drilling location and removed after drilling, resulting in inefficient drilling. The drilling process requires operators to manually maneuver the drill for positioning and advance the drill rod. Poor visibility can easily lead to positioning errors, resulting in a high rate of failed holes. Drilling also generates significant dust, posing potential risks to operators and equipment. Summary of the Invention

[0005] Aiming at the defects of the prior art, the present invention provides an intelligent drilling device for nuclear engineering.

[0006] The present invention is implemented as follows: a nuclear engineering intelligent drilling device, which includes a support system, an adjustment system, a drilling system, a visual camera, a connecting flange, a pitching robot arm, a swing mechanism, a connecting plate, a pitching mechanism, a detection system, and a cross-joint frame. The support system is connected to the adjustment system through a ball joint and is located below it. The drilling system is connected to the adjustment mechanism through a moving pair. The visual camera faces the drilling direction and is fixed on the adjustment mechanism. The connecting flange is fixed to one end of the rectangular pitching robot arm, and the annular end is connected to the connecting plate and the pitching mechanism in turn through a rotating pair. The horizontal end of the cross-joint frame is connected to the support system and the connecting plate in turn through a rotating pair, and the vertical end is connected to the pitching robot arm through a rotating pair.

[0007] The above-mentioned intelligent drilling device for nuclear engineering, wherein the support system includes a linear module, a bracket, and a compensating electric cylinder, two sets of the linear modules are respectively fixed on both sides of the upper half of the bracket, and the compensating electric cylinder is installed inside the bracket.

[0008] The linear module bears most of the load of the device, and its structure adopts side sliders and double slide rails to make it slide more stably and have greater bearing capacity.

[0009] In the intelligent drilling device for nuclear engineering as described above, the compensating electric cylinder provides power for the linear module and can control the adjustment mechanism to move along the X-axis.

[0010] A nuclear engineering intelligent drilling device as described above, wherein the adjustment system includes a Z-axis module, a vertical module support, a Y-axis module, a horizontal module support, a drilling rig linear module, an electric cylinder, a balancing assembly, a special-shaped connecting plate, a vacuum suction cup, and a joint shaft. The drilling rig linear module is installed above the horizontal module support, and is connected to the Y-axis module on the side through a moving pair. The Y-axis module is fixed on the side of the vertical module support and is connected to the Z-axis module located below through a moving pair. The Z-axis module is connected to the top of the joint shaft, and is connected to the special-shaped connecting plate below through a moving pair. The vacuum suction cup is connected to the wall direction, and two sets of the balancing assemblies are installed in the opposite direction of the wall. One set of the balancing assembly is installed on each side of the special-shaped connecting plate, and is connected to the support system below through a moving pair.

[0011] The nuclear engineering intelligent drilling device as described above, wherein the joint shaft and the special-shaped connecting plate are connected by a ball joint,

[0012] The balancing component can compensate for the deflection of the vacuum suction cup around the joint axis fulcrum in any direction, so that the vacuum suction cup and the wall are in the best fit state, thereby maximizing the adsorption success rate;

[0013] The electric cylinder provides power for the drilling rig linear module, Y-axis module, and Z-axis module.

[0014] In the above-mentioned intelligent drilling device for nuclear engineering, the drilling rig linear module adopts a double slide rail mechanism.

[0015] The above-mentioned intelligent drilling device for nuclear engineering, wherein the vacuum suction cup includes a vacuum suction interface, a vacuum groove, a base plate, a suction cup, and a vacuum pressure sensor interface. The base plate is connected to the joint shaft, and the suction cup is fixed on the surface of the base plate facing the drilling direction. The vacuum suction interface is provided at the center of the suction cup, and the vacuum groove is embedded in the surface of the suction cup. The two vacuum pressure sensor interfaces are installed on both sides of the center of the suction cup surface.

[0016] The vacuum suction interface can be connected to an air pipe and a vacuum pump. When the vacuum suction cup is pressed against the wall, the air inside the vacuum groove is sucked out, so that the vacuum suction cup is adsorbed on the wall.

[0017] In the above-mentioned intelligent drilling device for nuclear engineering, a vacuum sensor connector can be inserted into the vacuum pressure sensor interface to externally monitor the vacuum pressure value in the suction cup.

[0018] In the above-mentioned intelligent drilling device for nuclear engineering, the vacuum suction cup is made of all-aluminum alloy material.

[0019] The above-mentioned intelligent drilling device for nuclear engineering, wherein the drilling system includes a hollow drill rod, a drilling rig, a drilling rig support, and a water collector system.

[0020] The drilling rig support plays a supporting role, the upper end is connected to the drilling rig by bolts, and the lower end is hinged to the drilling rig linear module, so that the drilling rig can move along with the drilling rig linear module.

[0021] As described above, a nuclear engineering intelligent drilling device, wherein the water collector system includes a water pipe, a water collector, a water collector bracket, and an electric push rod, the upper and lower ends of the water collector bracket are respectively connected to the water collector and the electric push rod, the water collector is sleeved on the hollow drill rod, one end of the water pipe is connected to the water collector, and the other end of the pipe head faces downward to connect to the water pipe.

[0022] In the above-mentioned intelligent drilling device for nuclear engineering, the electric push rod can move the water collector along the hollow drill rod. Before the drilling rig starts working, the water collector needs to be moved to the top of the hollow drill rod and fit into the wall.

[0023] The water collector can collect cooling water flowing out from the top of the hollow drill rod during the drilling operation, return it to the water tank through the water pipe, remove dust and filter it before reuse, and form a cooling water circulation system for the drilling operation.

[0024] The above-mentioned intelligent drilling device for nuclear engineering, wherein the detection system includes an inclination sensor and a laser sensor, the inclination sensor is fixed on the joint shaft, and the laser sensor is installed below the support mechanism, one on each side.

[0025] The inclination sensor can detect the inclination of the joint axis in real time.

[0026] The laser sensor is used to monitor the real-time distance between the two ends of the vacuum suction cup and the wall.

[0027] In the intelligent drilling device for nuclear engineering as described above, the laser sensor can monitor the drilling depth in real time during the drilling process and adjust the drilling speed and thrust according to the resistance to reduce the wear and sticking of the drill rod.

[0028] As described above, a nuclear engineering intelligent drilling device, wherein the device can be bolted to the mechanical arms of different types of work vehicles through the connecting flange, and thus can become an actuator for drilling of various intelligent drilling work vehicles. The nuclear engineering intelligent drilling device can be operated by a remote control, and according to the instructions sent by the control system installed on the work vehicle, it performs precise positioning during drilling and completes the drilling operation at the corresponding positions of the top wall and the side wall. The nuclear engineering intelligent drilling device is also installed with the detection system to monitor the status of the device during drilling in real time to ensure the safety of the drilling operation. The nuclear engineering intelligent drilling device has accurate positioning, safe and reliable operation, humanized operation, and high versatility.

[0029] The significant effect of this invention is that, compared to existing drilling equipment, the use of this nuclear engineering intelligent drilling device for drilling can improve the efficiency and quality of drilling operations and reduce the labor intensity of workers. The intelligent drilling device is equipped with corresponding sensors to monitor the posture of the work vehicle's mechanical arm in real time, ensuring the safety of workers. The device can be used with transportation equipment of different specifications, is easy to install, and is applicable to various work environments, with high versatility. The present invention has the advantages of reasonable design, convenient operation, excellent performance, safety and reliability, and high versatility, providing an intelligent drilling device for nuclear island plant drilling operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 :Intelligent punching device structure diagram

[0031] Figure 2 :yes Figure 1 Front view

[0032] Figure 3 :Support system structure diagram

[0033] Figure 4 :yes Figure 3 Front view

[0034] Figure 5 :Regulation system structure diagram

[0035] Figure 6 :yes Figure 5 Front view

[0036] Figure 7 :Vacuum system structure diagram

[0037] Figure 8 :Drilling system structure diagram

[0038] Figure 9 :Structural diagram of water collector system

[0039] Figure 10 : The connection between the opposite connecting plate and the supporting mechanism ball joint

[0040] Figure 11 :Cross joint frame structure diagram

[0041] Figure 12 :Joint axis structure diagram

[0042] Figure 13 :Detection mechanism components diagram

[0043] In the figure: 1-support system; 2-adjustment system; 3-drilling system; 4-visual camera; 5-connecting flange; 6-pitch robot arm; 7-swing mechanism; 8-connecting plate; 9-pitch mechanism; 10-detection system; 11-cross joint frame; 12-linear module; 13-bracket; 14-compensating electric cylinder; 21-Z-axis module; 22-vertical module support; 23-Y-axis module; 24-horizontal module support; 25-drilling rig linear module; 26-electric cylinder; 27- Balancing assembly; 28-special-shaped connecting plate; 29-vacuum suction cup; 30-jointed shaft; 291-vacuum suction interface; 292-vacuum groove; 293-base plate; 294-suction cup; 295-vacuum pressure sensor interface; 31-hollow drill rod; 32-drilling rig; 33-drilling rig support; 34-water collector system; 341-water guide pipe; 342-water collector; 343-water collector bracket; 344-electric push rod; 101-tilt sensor; 102-laser sensor DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0045] The innovative feature of the intelligent nuclear engineering drilling device described in the present invention is that it includes a support system 1, an adjustment system 2, a drilling system 3, a visual camera 4, a connecting flange 5, a pitching robot arm 6, a swing mechanism 7, a connecting plate 8, a pitching mechanism 9, a detection system 10, and a cross-joint frame 11. The support system 1 is connected to the adjustment system 2 via a ball joint and is located below it. The drilling system 3 is connected to the adjustment mechanism 2 via a moving joint. The visual camera 4 faces the drilling direction and is fixed to the adjustment mechanism 2. The connecting flange 5 is fixed to one rectangular end of the pitching robot arm 6, and the annular end is connected to the connecting plate 8 and the pitching mechanism 8 in turn via a revolute joint. The horizontal end of the cross-joint frame 11 is connected to the support system 1 and the connecting plate 8 in turn via a revolute joint, and the vertical end is connected to the pitching robot arm 6 via a revolute joint.

[0046] The support system 1 includes a linear module 11, a bracket 12, and a compensating electric cylinder 13. Two sets of the linear modules 11 are fixed on both sides of the upper half of the bracket 12, and the compensating electric cylinder 13 is installed inside the bracket.

[0047] The linear module 11 bears most of the load of the device. Its structure adopts side sliders and double slide rails, which makes it slide more stably and has greater bearing capacity.

[0048] Furthermore, the compensation electric cylinder 13 provides power for the linear module and can control the adjustment system 2 to move along the X-axis.

[0049] The adjustment system includes a Z-axis module 21, a vertical module support 22, a Y-axis module 23, a horizontal module support 24, a drilling rig linear module 25, an electric cylinder 26, a balancing assembly 27, a special-shaped connecting plate 28, a vacuum suction cup 29, and a joint shaft 2 (10). The drilling rig linear module 25 is installed above the horizontal module support 24, and is connected to the Y-axis module 23 on the side through a moving pair. The Y-axis module 23 is fixed to the side of the vertical module support 22, and is connected to the Z-axis module 21 located below through a moving pair. The joint shaft 2 (10) is connected to the Z-axis module 21 on the top, and is connected to the special-shaped connecting plate 28 on the bottom through a moving pair. The vacuum suction cup 29 is connected to the wall direction, and two sets of the balancing assembly 27 are installed in the opposite direction of the wall. A set of the balancing assembly 27 is installed on each side of the special-shaped connecting plate 28, and is connected to the support system 1 on the bottom through a moving pair.

[0050] When the vacuum cup 29 engages the wall, the electric cylinder 26 is controlled to adjust the Y-axis module 23 and the vertical module support 22 connected to it via a moving pair to slide along the Y-axis. Because the vertical module support 22 is connected to the Z-axis module 21, the Z-axis module 21 also moves along the Y-axis. Furthermore, because the transverse module support 24 is connected to the Z-axis module 21 via a moving pair, the transverse module support 24 also moves along the Y-axis. Simultaneously, controlling the electric cylinder 26 causes the Z-axis module 21 and the transverse module support 24 connected to it via a moving pair to move along the Z-axis. The transverse module support 24 drives the drilling rig linear module 25 and the drilling system 3 connected to it via a moving pair to move along the Z-axis. The adjustment system 2 enables adjustment of the drilling system 1 in the X, Y, and Z directions.

[0051] The joint shaft 2 (10) and the special-shaped connecting plate 28 are connected by a ball joint, and the angle can be fine-tuned, which is conducive to the suction of the vacuum suction cup 29 to the wall.

[0052] The balancing component 27 can compensate for the deflection of the vacuum suction cup 29 around the fulcrum of the joint shaft 2 (10) in any direction, so that the vacuum suction cup 29 and the wall are in the best fit state, thereby maximizing the success rate of adsorption;

[0053] The electric cylinder 26 provides power for the drilling rig linear module 25 , the Y-axis module 23 , and the Z-axis module 21 .

[0054] Furthermore, the drilling rig linear module 25 adopts a double slide rail mechanism, which can make the drilling system 3 more stable during drilling operation.

[0055] The vacuum suction cup includes a vacuum suction interface 291, a vacuum groove 292, a base plate 293, a suction cup 294, and a vacuum pressure sensor interface 295. The base plate 293 is connected to the joint shaft 2 (10), and the suction cup 294 is fixed on the surface of the base plate 293 facing the punching direction. The vacuum suction interface 291 is provided in the center of the suction cup 294, and the vacuum groove 292 is embedded in the surface of the suction cup 294. Two vacuum pressure sensor interfaces 292 are installed on both sides of the center of the surface of the suction cup 294.

[0056] The vacuum suction interface 291 can be connected to an air pipe and a vacuum pump. When the vacuum suction cup 29 is pressed against the wall, the air inside the vacuum groove 292 is sucked out, so that the vacuum suction cup 29 is adsorbed on the wall.

[0057] Furthermore, a vacuum sensor connector can be inserted into the vacuum pressure sensor interface 295 to externally monitor the vacuum pressure value in the suction cup to ensure the safety of the drilling operation.

[0058] Furthermore, the vacuum suction cup 29 is made of aluminum alloy to ensure its high strength and high corrosion resistance.

[0059] The drilling system 3 includes a hollow drill rod 31 , a drilling rig 32 , a drilling rig support 33 , and a water collector system 34 .

[0060] The drilling rig support 33 plays a supporting role. The upper end is connected to the drilling rig 32 by bolts, and the lower end is hinged to the drilling rig linear module 25, so that the drilling rig 32 can move along with the drilling rig linear module 25.

[0061] The water collector system 34 includes a water pipe 341, a water collector 342, a water collector bracket 343, and an electric push rod 344. The upper and lower ends of the water collector bracket 343 are connected to the water collector 342 and the electric push rod 344, respectively. The water collector 342 is mounted on the hollow drill rod 32. One end of the water pipe 341 is connected to the water collector 342, and the other end is facing downward to facilitate connection to the water pipe.

[0062] The electric push rod 344 can move the water collector 342 along the hollow drill rod 32. Before the drilling rig 32 starts working, the water collector 342 needs to be moved to the top of the hollow drill rod 32 and fit into the wall.

[0063] The water collector 342 can collect the cooling water flowing out from the top of the hollow drill rod 32 during the drilling operation, and return it to the water tank through the water pipe 341 for reuse after dust removal and filtration, thereby forming a cooling water circulation system for the drilling operation.

[0064] Furthermore, the electric push rod 344 can be operated by an operator using a handheld remote controller.

[0065] The detection system 10 comprises an inclination sensor 101 and a laser sensor 102. The inclination sensor 101 is fixed on the joint shaft 2 (10), and the laser sensor 102 is installed below the support mechanism 1, one on each side.

[0066] The tilt sensor 101 can detect the tilt of the joint shaft 2 (10) in real time, and then understand the entire machine, thereby ensuring the effectiveness and safety of the drilling operation.

[0067] The laser sensor 102 is used to monitor the real-time distance between the two ends of the vacuum suction cup 29 and the wall, and can determine whether the vacuum suction cup 29 is parallel to the wall by the difference in the distance between the two ends and the wall.

[0068] Furthermore, the laser sensor 102 can monitor the drilling depth in real time during the drilling process and adjust the drilling speed and thrust according to the resistance to reduce the wear and sticking of the drill rod.

[0069] During implementation, the intelligent drilling device is first connected to the work vehicle via the connecting flange 5, the water collector assembly 34 is connected to the circulating water tank in the work vehicle, the work vehicle is driven to the appropriate drilling position, the work vehicle's robotic arm is controlled to transport the intelligent drilling device to the vicinity of the drilling location, and the remote control is used to control the Y-axis module 23 and the Z-axis module 21 to move the drilling system 3, and the hollow drill rod 31 is roughly aligned with the drilling location. The vacuum suction cup 29 is manipulated to engage the wall, and then the drilling rig linear module 25 is controlled to move the drilling system 3 toward the wall, stopping it approximately 1 cm from the wall. Fine-tune the Y-axis module 23 and the Z-axis module 21 to move the punching system 3 to align with the punching point, remotely turn on the electric push rod 344 to move the water collector 342 forward and contact the wall, press the water supply and punching buttons on the remote control in succession to start the drilling rig 32. After the drilling is completed, turn off the water supply and control the electric push rod 344 to return the water collector 342 to the root of the hollow drill rod 31, control the drilling rig linear module 25 to retract the punching system 3 backward, and complete a single punching.

[0070] The above description is only an embodiment of the present invention and does not limit the scope of the invention.

[0071] Any equivalent structural or equivalent process transformations made in the description of the present invention, or direct or indirect applications in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A nuclear engineering intelligent drilling device, characterized by: It includes a support system, an adjustment system, a punching system, a visual camera, a connecting flange, a pitching robot arm, a swing mechanism, a first connecting plate, a second connecting plate, a pitching mechanism, a detection system, and a cross-joint frame. The support system is connected to the adjustment system through a ball joint and is located below it. The punching system is connected to the adjustment system through a moving pair. The visual camera faces the punching direction and is fixed to the adjustment system. The connecting flange is fixed to one rectangular end of the pitching robot arm, and the annular end is connected to the second connecting plate and the pitching mechanism in sequence through a rotating pair. The horizontal end of the cross-joint frame is connected to the support system and the first connecting plate in sequence through a rotating pair, and the vertical end is connected to the pitching robot arm through a rotating pair. The swing mechanism is arranged on the first connecting plate, The support system includes a linear module, a bracket, and a compensation electric cylinder. Two sets of the linear modules are respectively fixed on both sides of the upper half of the bracket, and the compensation electric cylinder is installed inside the bracket. The linear module bears most of the load of the device. The structure adopts side sliders and double slide rails, which makes it slide more stably and has greater bearing capacity. The compensation electric cylinder provides power to the linear module and can control the adjustment system to move along the X-axis; The adjustment system includes a Z-axis module, a vertical module support, a Y-axis module, a horizontal module support, a drilling rig linear module, an electric cylinder, a balancing assembly, a special-shaped connecting plate, a vacuum suction cup, and a joint shaft. The drilling rig linear module is installed above the horizontal module support, and is linked to the Y-axis module on the side through a moving pair. The Y-axis module is fixed to the side of the vertical module support and is linked to the Z-axis module located below through a moving pair. The Z-axis module is connected to the top of the joint shaft, and is linked to the special-shaped connecting plate below through a moving pair. The vacuum suction cup is connected to the wall direction, and two sets of the balancing assemblies are installed in the opposite direction of the wall. One set of the balancing assembly is installed on each side of the special-shaped connecting plate, and is linked to the support system below through a moving pair. The joint shaft and the special-shaped connecting plate are connected by a ball joint. The balancing component can compensate for the deflection of the vacuum suction cup around the joint axis fulcrum in any direction, so that the vacuum suction cup and the wall are in the best fit state, thereby maximizing the adsorption success rate; The electric cylinder provides power for the drilling rig linear module, Y-axis module, and Z-axis module.

2. The nuclear engineering intelligent drilling device according to claim 1, characterized in that: The drilling rig linear module adopts a double slide rail mechanism.

3. The nuclear engineering intelligent drilling device according to claim 2, characterized in that: The vacuum suction cup includes a vacuum suction interface, a vacuum groove, a base, a suction cup, and a vacuum pressure sensor interface. The base is connected to the joint shaft, and the suction cup is fixed on the surface of the base facing the punching direction. The vacuum suction interface is provided in the center of the suction cup, and the vacuum groove is embedded in the surface of the suction cup. The two vacuum pressure sensor interfaces are installed on both sides of the center of the suction cup surface. The vacuum suction interface can be connected to an air pipe and a vacuum pump. When the vacuum suction cup is pressed against the wall, the air inside the vacuum groove is sucked out, so that the vacuum suction cup is adsorbed on the wall.

4. The nuclear engineering intelligent drilling device according to claim 3, characterized in that: The vacuum sensor connector can be inserted into the vacuum pressure sensor interface to monitor the vacuum pressure value inside the suction cup externally.

5. The nuclear engineering intelligent drilling device according to claim 4, characterized in that: The vacuum suction cup is made of all-aluminum alloy material.

6. The nuclear engineering intelligent drilling device according to claim 5, characterized in that: The drilling system includes a hollow drill rod, a drilling rig, a drilling rig support, and a water collector system. The drilling rig support plays a supporting role, the upper end is connected to the drilling rig by bolts, and the lower end is hinged to the drilling rig linear module, so that the drilling rig can move along with the drilling rig linear module.

7. The nuclear engineering intelligent drilling device according to claim 6, characterized in that: The water collector system includes a water pipe, a water collector, a water collector bracket, and an electric push rod. The upper and lower ends of the water collector bracket are respectively connected to the water collector and the electric push rod. The water collector is sleeved on the hollow drill rod. One end of the water pipe is connected to the water collector, and the other end of the pipe head faces downward to connect to the water pipe.

8. The nuclear engineering intelligent drilling device according to claim 7, characterized in that: The electric push rod can move the water collector along the hollow drill rod. Before the drilling rig starts working, the water collector needs to be moved to the top of the hollow drill rod and fit into the wall. The water collector can collect cooling water flowing out from the top of the hollow drill rod during the drilling operation, return it to the water tank through the water pipe, remove dust and filter it before reuse, and form a cooling water circulation system for the drilling operation.

9. The nuclear engineering intelligent drilling device according to claim 8, characterized in that: The detection system includes an inclination sensor and a laser sensor. The inclination sensor is fixed on the joint shaft, and the laser sensor is installed below the support system, one on each side. The inclination sensor can detect the inclination of the joint axis in real time. The laser sensor is used to monitor the real-time distance between the two ends of the vacuum suction cup and the wall.

10. The nuclear engineering intelligent drilling device according to claim 9, characterized in that: The laser sensor can monitor the drilling depth in real time during the drilling process and adjust the drilling speed and thrust according to the resistance to reduce the wear and tear of the drill rod and the problem of the drill rod being stuck.

11. The nuclear engineering intelligent drilling device according to claim 10, characterized in that: The device can be bolted to the mechanical arms of different types of work vehicles through the connecting flange, and thus can become an actuator for drilling of various intelligent drilling work vehicles. The nuclear engineering intelligent drilling device can be operated by a remote control, and according to the instructions sent by the control system installed on the work vehicle, it can perform precise positioning during drilling and complete the drilling operation at the corresponding positions of the top wall and side wall. The nuclear engineering intelligent drilling device is also equipped with the detection system to monitor the status of the device in real time during drilling to ensure the safety of the drilling operation. The nuclear engineering intelligent drilling device has accurate positioning, safe and reliable operation, humanized operation and high versatility.

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