Self-adaptive leveling linkage protection type geotechnical engineering drilling machine

Abstract

The invention discloses a self-adaptive leveling linkage protection type geotechnical engineering drilling machine which comprises a control system 1, a rack cross beam 3, a walking mechanism 4 and a drilling mechanism 9. The walking mechanism 4 adopts a hydraulic drive two-stage telescopic mechanism 42 and is connected with a walking assembly 44 through a shock absorber 43, and a hydraulic steering mechanism 442 realizes steering of a walking wheel 444 by + / -45 degrees to adapt to movement in complex terrains. The high-rigidity springs 7 on the two sides of the equipment are connected with the positioning rods 5 and the outer-layer protection wall 941, and the transverse amplitude is restrained to be within 0.5 mm. Through mechanical-electrical-hydraulic integrated control, linkage of'dado lowering-support extension-vibration buffering 'is achieved, the drilling stability and safety are remarkably improved, manual intervention is reduced, the device is suitable for complex geotechnical engineering operation, the protection efficiency reaches 95%, and the average fault-free time of equipment is prolonged to 1000 hours or above.

Description

Technical Field

[0001] The present invention relates to the technical field of geotechnical engineering construction equipment, and particularly relates to a drilling mechanical equipment with a terrain adaptive leveling function and a mechanical linkage protection mechanism, which is especially suitable for drilling operations under complex geological conditions. Background Art

[0002] In geotechnical engineering construction, drilling machines are widely used as core equipment in scenarios such as foundation exploration and pile foundation construction. There are generally two major technical bottlenecks in existing drilling equipment: Firstly, insufficient terrain adaptability leads to poor stability - traditional equipment relies on manual adjustment of the leg height, and it is difficult to quickly level the equipment when facing uneven terrain, and there is a lack of vibration buffering mechanism. During the drilling process, due to equipment shaking, drilling deviation, drill tool wear, and even overturning accidents are likely to occur; Secondly, the protection function is single and lacks a linkage design - existing protection components are mostly fixed structures, unable to dynamically adjust the protection range according to the drilling depth, and not coordinated with the support mechanism. The soil and gravel generated during drilling are easily splashed onto key components of the equipment or operators, and at the same time, the vibration energy is not effectively absorbed, resulting in a shortened equipment lifespan.

[0003] In the prior art, although some equipment is equipped with telescopic legs or simple protective plates, the electro-mechanical-hydraulic integrated linkage control of "leveling - support - protection" has not been achieved. For example, the leveling process relies on manual observation of the level, with a lagging response and insufficient accuracy; the protective wall and the support legs act independently and require multiple manual adjustments, resulting in low operation efficiency. In addition, for complex geotechnical environments (such as gravel layers and soft soil foundations), the anti-vibration and anti-overturning capabilities of existing equipment are significantly insufficient, and there is an urgent need for a drilling equipment that can automatically adjust the support structure through sensor feedback and achieve dynamic protection through mechanical linkage. Summary of the Invention

[0004] The present invention aims to solve the following technical problems: 1. Achieve automatic leveling and stable support of the drilling machine under complex terrains. Existing equipment relies on manual adjustment of the leg height, with low leveling efficiency and poor accuracy when facing uneven terrains, and lacks a dynamic damping mechanism, resulting in easy shaking, tilting, and even overturning of the equipment during the drilling process.

[0005] 2. Solve the safety threats posed by the splashing of soil and gravel during drilling to the equipment and personnel. Traditional protection components are mostly fixed structures, unable to dynamically adjust the protection range with the drilling depth, and not linked with the support mechanism, resulting in the splashing of debris generated during drilling onto key components of the equipment (such as drive motors and control systems) or the operation area, posing risks of personnel injury and equipment wear.

[0006] 3. Improve the structural reliability and anti-fatigue performance of the drilling machine under high-frequency vibration conditions. The existing equipment lacks effective vibration buffering and structural reinforcement designs, and the vibration during drilling easily causes component loosening and connection failure, shortening the equipment life.

[0007] 4. Reduce manual intervention and achieve intelligent collaborative control of the equipment actions. The leveling, protection, feeding and other actions of traditional equipment require manual step-by-step operations, which are cumbersome and error-prone.

[0008] 5. Optimize the traveling mechanism to adapt to the movement and steering requirements on complex terrains. The existing equipment relies on external traction or simple traveling wheels during movement. When facing complex terrains such as slopes and gravel, its mobility is poor, and the lack of shock absorption design causes equipment damage during movement.

[0009] The above technical problems are all solved one by one through the core technical solutions such as the "adaptive leveling mechanism", "linkage protection system", "intelligent control module" and "multi-stage shock absorption structure" in the present invention, forming a systematic optimization plan for geotechnical engineering drilling operations. The present invention provides the following technical solutions: An adaptive leveling and linkage protection type geotechnical engineering drilling machine, comprising a control system 1, a frame cross beam 3, a traveling mechanism 4 and a drilling mechanism 9, characterized in that: the control system 1 is arranged above the frame cross beam 3 and is used for receiving feedback signals and sending control instructions; the traveling mechanism 4 is connected to the frame cross beam 3 and is used for realizing equipment movement and terrain adaptation; the drilling mechanism 9 is arranged below the frame cross beam 3 and includes a load-bearing housing 91, a driving motor 92, a spiral drill 93, a protection component 94, a telescopic linkage mechanism 95 and a support mechanism 96. The driving motor 92 is arranged inside the load-bearing housing 91 and is used for driving the spiral drill 93 to rotate. The protection component 94 is used for enclosing the soil and gravel generated by drilling. The telescopic linkage mechanism 95 connects the protection component 94 and the support mechanism 96 and is used for realizing the linkage actions of the two. The support mechanism 96 is used for providing stable support for the equipment and absorbing vibration.

[0010] In a preferred embodiment of the present invention, the traveling mechanism 4 includes a fixed base 41, a secondary telescopic mechanism 42, a shock absorber 43 and a traveling component 44. The fixed base 41 is connected to the frame cross beam 3. The secondary telescopic mechanism 42 is arranged below the fixed base 41 and is used for adjusting the height of the traveling component 44. The shock absorber 43 connects the secondary telescopic mechanism 42 and the traveling component 44 and is used for absorbing the vibration during movement. The traveling component 44 includes a slewing disc 441, a steering mechanism 442, a rotating shaft 443 and traveling wheels 444. The steering mechanism 442 is used for controlling the steering angle of the traveling wheels 444.

[0011] In a preferred embodiment of the present invention, the protection component 94 includes an outer protection wall 941, a limit card slot 942, a locking buckle 943, a movable inner protection wall 944, a limit barb 945, a rotating wheel 946 and a card interface 947. The outer protection wall 941 is arranged below the load-bearing housing 91 to form a cylindrical structure with an open lower end. The limit card slot 942 is arranged inside the outer protection wall 941. The locking buckle 943 is fixedly connected to the movable inner protection wall 944 and is slidably matched with the limit card slot 942. The limit barb 945 is connected to the outer protection wall 941 through the rotating wheel 946 and is used to lock or release the position of the movable inner protection wall 944. The card interface 947 is arranged at the upper end of the movable inner protection wall 944 and is matched with the limit barb 945.

[0012] In a preferred embodiment of the present invention, a plurality of anchor nails 10 are arranged at the lower end of the movable inner protection wall 944. The anchor nails 10 surround the movable inner protection wall 944 in a circle and are used to insert into the shallow soil of the ground to prevent the protection wall from sliding.

[0013] In a preferred embodiment of the present invention, the telescopic linkage mechanism 95 includes a connecting box body 951, a linkage block 952 and a telescopic transmission shaft 953. The connecting box body 951 is connected to the outer protection wall 941. The linkage block 952 is arranged inside the connecting box body 951 and is connected through the telescopic transmission shaft 953, and is used to realize the telescopic movement in the horizontal direction to push the support mechanism 96 to expand or contract.

[0014] In a preferred embodiment of the present invention, the support mechanism 96 includes a support box body 961, a cylinder 962, a buffer gasket 963 and a telescopic sleeve 964. The support box body 961 is connected to the telescopic linkage mechanism 95. The cylinder 962 is arranged inside the support box body 961 and is used to push the buffer gasket 963 and the telescopic sleeve 964 to move up and down. The buffer gasket 963 is made of a high-elastic material and is used to absorb the high-frequency vibration during drilling. The lower end of the telescopic sleeve 964 extends outside the support box body 961 and is used to contact the ground and provide a supporting force.

[0015] In a preferred embodiment of the present invention, the control system 1 includes a central controller 101, a cylinder telescopic control unit 102, an inner wall telescopic control unit 103 and a limit barb rotation control module 104. The central controller 101 is respectively connected to the cylinder telescopic control unit 102, the inner wall telescopic control unit 103 and the limit barb rotation control module 104, and is used to overall plan and coordinate the work of each component. The cylinder telescopic control unit 102 is used to control the telescopic movement of the cylinder 962. The inner wall telescopic control unit 103 is used to control the height of the movable inner protection wall 944. The limit barb rotation control module 104 is used to control the rotation angle of the limit barb 945.

[0016] In a preferred embodiment of the present invention, it further includes a high-rigidity spring 7 and a reinforcement bracket 8. The high-rigidity springs 7 are symmetrically arranged left and right. One end is connected to the positioning rod 5, and the other end is connected to the protection assembly 94, which is used to absorb the lateral vibration during drilling. The reinforcement brackets 8 are symmetrically arranged left and right below the frame crossbeam 3 and connect the positioning rod 5 and the load-bearing housing 91 to enhance the structural rigidity of the equipment.

[0017] In a preferred embodiment of the present invention, the telescopic sleeve 964 has a three-stage nested structure, and an anti-slip rubber pad is provided at the lower end. A pressure sensor is installed on the anti-slip rubber pad to feedback the ground support force signal to the control system 1 to automatically adjust the telescopic amount of the cylinder 962.

[0018] In a preferred embodiment of the present invention, the limiting barb 945 has an L-shaped structure. The horizontal section is clamped in the clamping interface 947 at the top of the movable inner retaining wall 944, and the vertical section is hinged to the rotating shaft on the inner side of the outer protective wall 941 through a rotating wheel 946. The rotating wheel 946 is driven by a limiting barb rotation control module 104 to realize the upward or downward buckling action of the limiting barb 945.

[0019] Through the systematic innovation of "adaptive leveling + linkage protection + intelligent control + multi-stage shock absorption", the present invention fundamentally solves the technical problems of poor stability, low protection efficiency, and more manual intervention of existing geotechnical engineering drilling machines, significantly improves the operation safety, reliability, and efficiency under complex geological conditions, and has broad engineering application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings.

[0021] Figure 1 It is a model view of a drilling machine for geotechnical engineering provided in this embodiment; Figure 2 It is a schematic structural diagram of the control system in a drilling machine for geotechnical engineering provided in this embodiment; Figure 3 It is a schematic structural diagram of A in a drilling machine for geotechnical engineering provided in this embodiment; Figure 4 It is a schematic structural diagram of B in a drilling machine for geotechnical engineering provided in this embodiment; Figure 5 It is a cross-sectional view of the protection assembly in a drilling machine for geotechnical engineering provided in this embodiment; Figure 6Partial schematic diagram of a protective component in a drilling machine for geotechnical engineering provided in this embodiment; Figure 7 Partial top view of a protective component in a drilling machine for geotechnical engineering provided in this embodiment.

[0022] Description of reference numerals: 1, control system; 2, fastening bolt; 3, frame cross beam; 4, traveling mechanism; 5, positioning rod; 6, primary telescopic mechanism; 7, high-rigidity spring; 8, reinforcement bracket; 9, drilling mechanism; 10, anchor nail; 101, central controller; 102, cylinder telescopic control unit; 103, inner wall telescopic control unit; 104, limit barb rotation control unit; 41, fixed base; 42, secondary telescopic mechanism; 43, shock absorber; 44, traveling assembly; 441, rotary disk; 442, steering mechanism; 443, rotating shaft; 444, traveling wheel; 91, load-bearing housing; 92, drive motor; 93, auger; 94, protective component; 95, telescopic linkage mechanism; 96, support mechanism; 941, outer protective wall; 942, limit card slot; 943, locking buckle; 944, movable inner protective wall; 945, limit barb; 946, rotating wheel; 947, card interface; 951, connection box; 952, linkage block; 953, telescopic transmission shaft; 961, support box; 962, cylinder; 963, buffer gasket; 964, telescopic sleeve. Detailed implementation manners

[0023] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0024] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0025] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0026] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more, unless otherwise specifically defined.

[0027] To better understand the above technical solution, the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings of the specification and the specific embodiments.

[0028] As Figures 1 to 7 shown, a drilling machine for geotechnical engineering provided by the present invention includes a control system 1, a frame crossbeam 3, a traveling mechanism 4, a positioning rod 5, a first-level telescopic mechanism 6, and a drilling mechanism 9. The control system 1, as the "brain" of the device, is connected to the following actuating mechanisms through precise control lines. It is arranged above the frame crossbeam 3, and one end of the control system 1 extends below the frame crossbeam 3, facilitating real-time reception of feedback signals from the drilling mechanism 9 and sending control instructions. The frame crossbeam 3, as the core load-bearing structure of the device, is provided with fastening bolts 2 above it. The fastening bolts 2 are symmetrically arranged left and right and can be used to connect external auxiliary devices or for modular assembly of the frame, ensuring rigid connection of each component during the drilling process. The traveling mechanism 4 is connected to the frame crossbeam 3 in a left-right symmetrical layout by bolts or welding. This symmetrical design can balance the force during the movement of the device. The second-level telescopic mechanism 42 inside it can adjust the height of the traveling assembly 44 according to the terrain, and cooperate with the shock absorber 43 to effectively buffer the vibration during the movement (for the specific structure, see the disassembly description of the traveling mechanism 4). The positioning rods 5 are symmetrically arranged left and right, and the positioning rods 5 are fixedly connected to the frame crossbeam 3 by welding or bolts. Their vertically downward extending structure provides a vertical positioning reference for the device and is elastically connected to the following protective component 94 through high-rigidity springs 7, which can effectively absorb lateral vibration during drilling. The first-level telescopic mechanism 6, as a key transmission component connecting the control system 1 and the drilling mechanism 9, is arranged below the control system 1, and one end of the control system 1 extends into the first-level telescopic mechanism 6. Its upper end is rigidly connected to the telescopic control module of the control system 1. The control system 1 precisely adjusts the telescopic length of the first-level telescopic mechanism 6 through the internal cylinder telescopic control unit 102 (see Figure 2 ) to drive the following drilling mechanism 9 to perform a vertical feeding motion. The drilling mechanism 9 is arranged below the first-level telescopic mechanism 6 and is detachably connected by a flange or a pin shaft, facilitating later maintenance and replacement.

[0029] Furthermore, the connection relationship between the control system 1 and the first-level telescopic mechanism 6 is as follows: The central controller 101 is electrically connected to the drive motor inside the first-stage telescopic mechanism 6 via a data cable. It receives real-time telescopic length data from the displacement sensor of the first-stage telescopic mechanism 6 and sends instructions to the cylinder telescopic control unit 102 based on the required drilling depth, precisely adjusting the vertical feed speed of the first-stage telescopic mechanism 6. The upper end of the first-stage telescopic mechanism 6 is fixedly connected to the control system 1 below the frame crossbeam 3 via a flange, and the lower end is rigidly connected to the load-bearing housing 91 of the drilling mechanism 9 via bolts, forming a stable power transmission path.

[0030] The drilling mechanism 9 comprises a load-bearing housing 91, a drive motor 92, an auger 93, a protective assembly 94, a telescopic linkage mechanism 95, and a support mechanism 96. The load-bearing housing 91, serving as the main support of the drilling mechanism 9, is located below the primary telescopic mechanism and bolted to its lower end. Its internal hollow structure provides mounting space for the drive motor 92. The drive motor 92 is housed within the load-bearing housing 91 and connected to the upper end of the auger 93 via a coupling. This transmits the motor's rotational power to the auger 93, enabling it to cut rock and soil at high speed. (The start, stop, and speed regulation of the drive motor 92 are uniformly controlled by the central controller 101 of the control system 1.) The auger 93 is located below the drive motor 92. Its upper end extends into the load-bearing housing 91 and is radially positioned by bearings, while its lower end extends into the protective assembly 94. This design effectively limits radial runout of the auger 93 during high-speed rotation. Furthermore, the protective assembly 94 serves to contain soil and gravel generated during the drilling process. The telescopic linkage mechanism 95 is symmetrically arranged on the left and right, and is connected to the protection component 94 ; the support mechanism 96 is symmetrically arranged on the left and right, and the support mechanism 96 is fixedly connected to the telescopic linkage mechanism 95 .

[0031] like Figure 1As shown in the figure, a drilling machine for geotechnical engineering provided in this embodiment. Further, the protection component 94 includes an outer protection wall 941, a limit card slot 942, a locking buckle 943, a movable inner protection wall 944, a limit barb 945, a rotating wheel 946, and a card interface 947. The outer protection wall 941 serves as the external framework of the protection component 94 and is arranged below the load-bearing housing 91 and fixed to the lower part of the load-bearing housing 91 by welding to form a cylindrical structure with an open lower end. The limit card slot 942 is arranged inside the outer protection wall 941 and extends in the vertical direction. The locking buckle 943 is connected to the limit card slot 942, and the locking buckle 943 is fixedly connected to the movable inner protection wall 944, and the two form a sliding fit, enabling the movable inner protection wall 944 to slide up and down along the limit card slot 942 (the sliding process is driven by the inner wall telescopic control unit 103 of the control system 1). The limit barb 945 is arranged inside the outer protection wall 941. One side of the rotating wheel 946 is connected to the outer protection wall 941, and the other side is connected to the limit barb 945. The rotating wheel 946 is driven by the limit barb rotation control module 104 (see Figure 2 ), and the upward or downward buckling action of the limit barb 945 can be realized. When the movable inner protection wall 944 needs to move downward, the limit barb 945 rises to release the lock. When the protection wall reaches the designated position, the limit barb 945 buckles downward to clamp the card interface 947 at the top of the protection wall to achieve position locking. The card interface 947 is arranged at the upper end of the movable inner protection wall 944. It also includes anchor nails 10. A plurality of the anchor nails 10 are arranged at the lower end of the inner wall and surround the inner wall in a circle. When the protection wall moves downward and contacts the ground, they can be inserted into the shallow soil on the ground surface to prevent the protection wall from sliding by increasing the friction force, thereby enhancing the stability during the drilling process.

[0032] Preferably, the limit barb 945 has an L-shaped structure. Its horizontal section is clamped to the card interface 947 at the top of the movable inner protection wall 944, and the vertical section is hinged to the rotating shaft inside the outer protection wall 941 through the rotating wheel 946. When the limit barb rotation control module 104 drives the rotating wheel 946 to rotate clockwise, the limit barb 945 rises and disengages from the card interface 947 to release the lock of the protection wall. When rotating counterclockwise, the limit barb 945 buckles downward to clamp the card interface 947 to achieve the fixed position of the protection wall. The locking buckle 943 is a T-shaped slider structure and forms a dovetail groove fit with the limit card slot 942 inside the outer protection wall 941. The movable inner protection wall 944 is fixed inside the locking buckle 943 by welding to ensure that there is no lateral shaking during the lifting and lowering process of the protection wall.

[0033] The telescopic linkage mechanism 95 includes a connecting box body 951, a linkage block 952, and a telescopic transmission shaft 953. The connecting box body 951 is arranged on both sides of the outer protective wall 941 and is connected to the outer protective wall 941 by bolts. The linkage block 952 is arranged inside the connecting box body 951, and the telescopic transmission shaft 953 is used to connect the linkage block 952. The transmission shaft is powered by the cylinder telescopic control unit 102 of the control system 1 and can realize telescopic movement in the horizontal direction. This linkage design enables the telescopic linkage mechanism 95 to synchronously push out the support mechanism 96 when the movable inner protective wall 944 moves downward, and vice versa for retraction.

[0034] The support mechanism 96 includes a support box body 961, a cylinder 962, a buffer gasket 963, and a telescopic sleeve 964. The support box body 961 is sleeved on one side of the connecting box body 951 to form a sliding fit. The cylinder 962 is arranged inside the support box body 961. The buffer gasket 963 is arranged below the cylinder 962. The telescopic sleeve 964 is arranged below the buffer gasket 963, and the lower end of the telescopic sleeve 964 extends outside the support box body 961. The cylinder 962 pushes the buffer gasket 963 and the telescopic sleeve 964 downward, so that the lower end of the telescopic sleeve 964 contacts the ground and provides a supporting force. The buffer gasket 963 is made of a high-elasticity material and can absorb high-frequency vibrations during drilling. The telescopic length of the cylinder 962 is adjusted in real time by the control system 1 to ensure that the equipment can maintain horizontal stability on different terrains. The entire support process realizes automatic leveling and stable support before drilling through the linkage mechanism of "protective wall moves down → linkage pushes out → support leg lands", without manual intervention.

[0035] Further, the collaborative working mode of the support mechanism 96 and the telescopic linkage mechanism 95 is as follows: The telescopic transmission shaft 953 of the telescopic linkage mechanism 95 is a bidirectional threaded rod, and both ends are respectively matched with the internal threaded holes of the left and right linkage blocks 952. When the control system 1 drives the motor to drive the transmission shaft to rotate, the linkage blocks 952 move synchronously to both sides or the center, pushing the support box body 961 of the support mechanism 96 to slide along the guide rail on the outside of the outer protective wall 941. The buffer gasket 963 is made of polyurethane elastic material and is pasted between the end of the piston rod of the cylinder 962 and the upper end face of the telescopic sleeve 964, and can absorb more than 90% of the energy of high-frequency vibrations during drilling, avoiding damage to the equipment caused by rigid impacts. The telescopic sleeve 964 is a three-stage nested structure, and an anti-slip rubber pad is arranged at the lower end. When contacting the ground, it feeds back to the control system 1 through a pressure sensor, and automatically adjusts the telescopic amount of the cylinder 962 to keep the equipment horizontal.

[0036] During operation, the drive motor 92 starts as a power source. After the stator winding inside it is energized, a rotating magnetic field is generated. The rotor starts to rotate under the action of the rotating magnetic field and transmits the rotational power to the auger 93 through the coupling. At this time, the auger 93 rotates. Meanwhile, the first-level telescopic mechanism 6 starts to work under the command issued by the control system. The driving components such as hydraulic cylinders or electric push rods inside it push the first-level telescopic mechanism 6 to move downward, thereby driving the connected auger 93 to drill downward.

[0037] At this time, in order to prevent soil and stones from splashing everywhere during the drilling process, the limit barbs 945 in the protection component 94 rise under the drive of the limit barb rotation control module. The limit barb rotation control module drives the rotating wheel 946 through a precise motor, and the rotating wheel 946 drives the limit barbs 945 to perform a circular motion to achieve the rising action. After the limit barbs 945 rise, the locking between the movable inner retaining wall 944 and the outer protective wall 941 is released. The movable inner retaining wall 944 moves downward along the limit card slot 942 under the action of gravity or a driving device controlled by the control system. The limit card slot 942 provides precise guidance for the movement of the movable inner retaining wall 944, ensuring the straightness and stability of its movement. The movable inner retaining wall 944 keeps moving until the anchor nails 10 below land. The anchor nails 10 are inserted into the shallow soil on the ground, and the movable inner retaining wall 944 is prevented from sliding by increasing the friction force. At this time, the movable inner retaining wall 944 stops moving. The movable inner retaining wall 944 forms a surrounding structure, blocking the soil, sand, and gravel generated during the drilling process inside, preventing them from splashing everywhere, effectively ensuring the safety of the equipment, and avoiding the erosion of other components of the equipment by the soil, sand, and gravel and the pollution of the surrounding environment.

[0038] And when the movable inner retaining wall 944 moves downward, through its connection structure with the telescopic linkage mechanism 95, it drives the telescopic linkage mechanisms 95 on both sides to act. The telescopic drive shaft 953 in the telescopic linkage mechanism 95 rotates under the control of the control system, pushing the linkage block 952 to move inside the connection box 951, thereby pushing the support box 961 to move outward. After reaching a certain extent, the cylinder 962 in the support box 961 starts to operate. The piston inside the cylinder 962 moves downward under the action of air pressure, driving the buffer gasket 963 connected to the piston to move downward. At this time, the inner tube of the telescopic sleeve 964 located below the buffer gasket 963 will move downward as the buffer gasket 963 moves downward. Until the inner tube lands, the cylinder 962 stops supplying air, and the telescopic sleeve 964 stops working. In this way, the support mechanisms 96 at both ends can ensure the stability of the equipment during operation by contacting the ground and providing support force. And because of the existence of the cylinder 962, the cylinder 962 has a certain buffering and shock-absorbing function, which can further reduce the pressure brought by the drilling vibration and protect the structure and components of the equipment from being damaged by excessive vibration.

[0039] After the drilling of the equipment is completed, the cylinder 962 works again. The control system controls the cylinder 962 to intake air in the reverse direction, causing the piston to contract upward, driving the telescopic sleeve 964 below to also contract. Then, as it contracts to a certain position, the telescopic linkage mechanism 95 moves inward under the control of the control system. Its telescopic transmission shaft 953 rotates in the reverse direction, driving the linkage block 952 to move in the reverse direction within the connecting box body 951. And the movable inner wall protection 944 in the protection component 94 will move upward under the action of the driving device controlled by the control system. After reaching a certain position, the limit barb 945 will buckle downward under the drive of the limit barb rotation control module, locking the position of the movable inner wall protection 944; in this way, the problem of the movable inner wall protection 944 falling when the equipment moves can be avoided.

[0040] In this way, the operation of the equipment can be guaranteed, and the protection component 94, the telescopic linkage mechanism 95 and the support mechanism 96 are adopted; the equipment and personnel can be better protected, and it will not cause injuries to personnel or damage to the equipment due to flying stones and mud. The protection component 94 prevents the splashing of soil and sand through the enclosure function of the movable inner wall protection 944. The telescopic linkage mechanism 95 realizes the linkage action between the movable inner wall protection 944 and the support mechanism 96. The support mechanism 96 provides stable support for the equipment and reduces vibration. The three work together to form a complete safety protection and stable support system, ensuring the efficient and safe operation of the drilling machine for geotechnical engineering during the working process.

[0041] As Figure 1 and Figure 2 shown, a drilling machine for geotechnical engineering provided in this embodiment. Further, the control system 1, as the core control hub of the entire drilling machine, undertakes the key task of coordinating the orderly work of each component. It includes a central controller 101, a cylinder telescopic control unit 102, an inner wall telescopic control unit 103 and a limit barb 945 rotation control module 104. From the perspective of the connection relationship of the components, the central controller 101 is separately connected to the cylinder telescopic control unit 102, the inner wall telescopic control unit 103 and the limit barb 945 rotation control module 104 respectively. This separate connection method ensures the independence and accuracy of information transmission between each control unit and the central controller 101, avoiding signal interference. And the cylinder telescopic control unit 102 is connected to the cylinder 962 through a dedicated control line. The inner wall telescopic control unit 103 is connected to the movable inner wall protection 944 by means of a driving mechanism. The limit barb 945 rotation control module 104 is connected to the rotating wheel through a transmission component. These connection relationships enable each control unit to accurately control the corresponding components.

[0042] The main function of the cylinder telescopic control unit 102 is to control the telescopic movement of the cylinder 962 in real time. Its working principle is based on the coordinated operation of sensor feedback and the instructions of the central controller 101. When the cylinder telescopic control unit 102 obtains the length information of the cylinder 962 through the displacement sensor installed on the cylinder 962, it will send this information to the central controller 101 in the form of digital signals. As the intelligent decision-making center, after receiving the information, the central controller 101 will analyze and process the information according to the preset program and the current working state, and convey the telescopic information to the cylinder telescopic control unit 102 in the form of precise control instructions. Then, the cylinder telescopic control unit 102 will finely adjust the telescopic length of the cylinder 962 by adjusting the air pressure and flow rate of the air supply system to ensure that the cylinder 962 can accurately reach the specified position.

[0043] The function of the inner wall telescopic control unit 103 is to control the telescopic movement of the height of the movable inner wall protection 944 in real time. Its working process is similar to that of the cylinder telescopic control unit 102. When the movable inner wall protection 944 telescopic control module 103 obtains the height information of the movable inner wall protection 944 through the height sensor, it will send this information to the central controller 101. After analysis and judgment, the central controller 101 will convert the height information into control instructions and convey them to the inner wall telescopic control unit 103. The inner wall telescopic control unit 103 will adjust the height of the movable inner wall protection 944 by controlling the rotation direction and speed of the driving motor, so that it can accurately rise or fall according to the working requirements.

[0044] The function of the limit barb 945 rotation control module 104 is to control the angle of the rotating limit barb 945 in real time. When the limit barb 945 rotation control module 104 obtains the rotation information of the limit barb 945 through the angle sensor, it will send this information to the central controller 101. After receiving the information, the central controller 101 will, according to the actual working conditions, convey the information of rising or buckling to the limit barb 945 rotation control module 104 in the form of control signals. Then, the limit barb 945 rotation control module 104 will adjust the rising or buckling of the limit barb 945 by controlling the motor to drive the rotating wheel to ensure that the limit barb 945 can accurately perform the function of locking or unlocking the movable inner wall protection 944.

[0045] During operation, the central controller 101 controls the operation of the control system 1. According to the pre-written programs and algorithms, it overall plans and coordinates the working process of the entire drilling machine. When the driving motor 92 operates, the stator winding inside the driving motor 92 is energized to generate a rotating magnetic field, driving the rotor to rotate, and then driving the spiral drilling tool 93 to rotate. At the same time, the first-level telescopic mechanism 6 cooperates to drill the ground. During this process, the rotation control module 104 of the limit barb 945 monitors the initial angle information of the limit barb 945 in real time through an angle sensor and conveys this information to the central controller 101. The central controller 101 determines that the limit barb 945 needs to be lifted according to the current working stage, and then sends the change information to the rotation control module 104 of the limit barb 945 in the form of an electrical signal. After receiving the instruction, the rotation control module 104 of the limit barb 945 controls the driving motor to drive the rotating wheel to rotate, causing the limit barb 945 to lift, so that the movable inner retaining wall 944 can move.

[0046] At this time, the inner wall telescopic control unit 103 obtains the initial height information of the movable inner retaining wall 944 through a height sensor and conveys this information to the central controller 101. According to the working requirements, the central controller 101 conveys the telescopic information to the inner wall telescopic control unit 103. The inner wall telescopic control unit 103 controls the driving motor to drive the transmission device, causing the movable inner retaining wall 944 to move downward until the lower anchor pin 10 touches the ground. At this time, the pressure sensor installed on the anchor pin 10 feeds back a pressure signal to the inner wall telescopic control unit 103, and the inner wall telescopic control unit 103 stops moving the movable inner retaining wall 944.

[0047] At this time, the cylinder telescopic control units 102 at both ends obtain the initial position information of the cylinder 962 through displacement sensors and convey this information to the central controller 101. According to the current stability requirements, the central controller 101 conveys the change information to the cylinder telescopic control units 102. The cylinder telescopic control units 102 control the gas supply system to supply gas to the cylinder 962, causing the cylinder 962 to press downward, and at this time the telescopic sleeve 964 moves downward as the cylinder 962 presses downward until the lower part of the telescopic sleeve 964 touches the ground. When the pressure sensor installed at the bottom of the telescopic sleeve 964 detects that the supporting force of the ground reaches the set value, it feeds back a signal to the cylinder telescopic control units 102, indicating that the equipment has reached a stable state. At this time, the cylinder telescopic control units 102 stop controlling the cylinder 962. In this way, through the control of the central controller 101 on different control modules, better control of the equipment is achieved.

[0048] And after the operation of the device ends, the cylinder telescopic control unit 102, the inner wall telescopic control unit 103, and the limit barb 945 rotation control module 104 respectively contract the cylinder 962, move the movable inner wall protection wall 944 upward, and then lower the limit barb 945 through the above operations. Specifically, the cylinder telescopic control unit 102 first obtains the current position information of the cylinder 962 through the displacement sensor, sends it to the central controller 101, the central controller 101 issues a contraction instruction to the cylinder telescopic control unit 102, and the cylinder telescopic control unit 102 controls the air supply system to change the air pressure to contract the cylinder 962. Similarly, the inner wall telescopic control unit 103 obtains the current height information of the movable inner wall protection wall 944, the central controller 101 issues an upward movement instruction, and the inner wall telescopic control unit 103 controls the driving motor to reverse to move the movable inner wall protection wall 944 upward. The limit barb 945 rotation control module 104 obtains the current angle information of the limit barb 945, the central controller 101 issues a lower buckling instruction, and the limit barb 945 rotation control module 104 controls the rotating wheel to reverse to lower the limit barb 945, thus completing a series of operations to complete the drilling task.

[0049] As Figure 1 and Figure 3 shown, a drilling machine for geotechnical engineering provided in this embodiment. Further, the traveling mechanism 4, as a key component for the drilling machine to achieve the moving function, includes a fixed base 41, a secondary telescopic mechanism 42, a shock absorber 43, and a traveling assembly 44. From the perspective of the component connection relationship, the fixed base 41 is firmly arranged below the frame cross beam 3 by bolts or welding, providing a stable installation foundation for the entire traveling mechanism 4. The secondary telescopic mechanism 42 adopts a nested or hydraulic drive structural form and is arranged below the fixed base 41. One end of it is connected to the fixed base 41 through mechanical connection or a hydraulic interface, and the other end extends into the internal part of the shock absorber 43 below. This connection method enables the secondary telescopic mechanism 42 to transmit the telescopic movement to the shock absorber 43, thereby adjusting the height of the traveling assembly 44. The shock absorber 43 usually adopts a structure of a spring-damper combination and is fixedly connected to the traveling assembly 44 below through bolts. Its function is to absorb and buffer the vibration and impact from the ground during the movement of the drilling machine, protecting the equipment components from damage.

[0050] Optionally, the secondary telescopic mechanism 42 adopts a hydraulic drive mode. The internal piston cylinder is connected to the hydraulic pump of the control system 1 through an oil pipe, and can automatically adjust the height of the walking assembly 44 according to the ground slope. The shock absorber 43 is a spring-damper composite structure. The upper end is nested at the end of the piston rod of the secondary telescopic mechanism 42, and the lower end is fixed to the upper surface of the slewing disc 441 by bolts, and can absorb more than 80% of the road surface vibration energy. The steering mechanism 442 includes a hydraulic steering cylinder, and both ends thereof are respectively hinged to the slewing disc 441 and the rotating shaft 443. By adjusting the telescopic amount of the cylinder through the steering control module of the control system 1, the steering angle adjustment of the walking wheel 444 of ±45° is realized, ensuring the flexible movement of the equipment in a narrow site.

[0051] The walking assembly 44 includes a slewing disc 441, a steering mechanism 442, a rotating shaft 443 and walking wheels 444. The slewing disc 441 is arranged below the shock absorber 43 through a bearing or a rotary joint, and is rotatably connected to the shock absorber 43, so that the walking assembly 44 can rotate around the central axis of the slewing disc 441. The steering mechanism 442 generally adopts a hydraulic steering or an electric steering mode, and is arranged below the slewing disc 441, and is connected to the rotating shaft 443 through a connecting rod or a gear transmission. The walking wheels 444 and the steering mechanism 442 are connected through the rotating shaft 443, and the steering mechanism 442 can realize the steering function of the walking wheels 444 by controlling the rotation direction of the rotating shaft 443.

[0052] During operation, arranging two walking mechanisms 4 on the left and right can better help the equipment move without the need to use other equipment for transportation, greatly reducing the cost expenditure. This is because the left and right symmetrical walking mechanisms 4 can provide balanced driving force and supporting force, enabling the drilling machine to move to the working position by itself. Moreover, the secondary telescopic mechanism 42 and the shock absorber 43 in the walking mechanism 4 can reduce the impact caused by equipment vibration to a certain extent. The secondary telescopic mechanism 42 can be telescopically adjusted according to the unevenness of the ground, so that the walking wheels 444 always maintain good contact with the ground, reducing the generation of vibration. The shock absorber 43 converts the vibration energy into heat energy and consumes it through the elastic deformation of the spring and the energy-consuming effect of the damper, thereby reducing the impact on the equipment. The lower steering mechanism 442 and the walking wheels 444 can better help the equipment turn and move in all directions, which is very convenient and labor-saving. The steering mechanism 442 can accurately control the steering angle of the walking wheels 444, enabling the drilling machine to flexibly change the moving direction and adapt to different working sites and construction requirements.

[0053] Such as Figure 1As shown, a drilling machine for geotechnical engineering provided in this example further includes high-stiffness springs 7. The high-stiffness springs 7 are placed symmetrically left and right. One end of the high-stiffness spring 7 is tightly connected to the positioning rod 5 through a hook or a card slot, and the other end is connected to the protection component 94 in the same way. The high-stiffness spring 7 has a high elastic modulus and can generate a large elastic force under small deformation.

[0054] During operation, the high-stiffness springs 7 are arranged on both sides of the drilling mechanism 9 and are tightly attached to the positioning rod 5 and the outer cover assembly. This can greatly reduce the vibration generated by the equipment during drilling and can relieve the pressure when the equipment moves. During the drilling process, the drilling mechanism 9 will generate strong vibrations. The high-stiffness springs 7 absorb and store the vibration energy through their own elastic deformation and then slowly release it, thereby reducing the impact of the vibration on other components of the equipment. When the equipment moves, the high-stiffness springs 7 can buffer the impact force from the ground and protect the equipment structure from damage.

[0055] As Figure 1 shown, a drilling machine for geotechnical engineering provided in this example further includes a reinforcement bracket 8. The reinforcement brackets 8 are arranged symmetrically left and right and are arranged below the frame cross beam 3. The reinforcement bracket 8 is usually made of high-strength steel and has good bending and torsion resistance. One end of the reinforcement bracket 8 is connected to the positioning rod 5 by welding or bolting, and the other end is also connected to the load-bearing housing 91 by a reliable connection method.

[0056] During operation, the reinforcement bracket 8 is arranged between the positioning rod 5 and the load-bearing housing 91, and the reinforcement bracket 8 is welded to the equipment by welding to ensure the stability of the equipment. Welding connection can make the reinforcement bracket 8 form an integral body with the positioning rod 5 and the load-bearing housing 91, enhancing the structural stiffness of the equipment. During the drilling process, the reinforcement bracket 8 can effectively disperse the acting force generated by the drilling mechanism 9, prevent the equipment from deforming or shaking, and ensure that the drilling machine can work stably.

[0057] Furthermore, the structural strengthening effects of the high-stiffness spring 7 and the reinforcement bracket 8 are as follows: Both ends of the high-stiffness spring 7 are connected to the boss in the middle of the positioning rod 5 and the ear plate on the outer protective wall 941 of the protection component 94 through U-shaped buckles. The spring axis is perpendicular to the feeding direction of the drilling mechanism 9, which can effectively suppress the lateral vibration of the equipment. After actual measurement, the lateral amplitude during drilling can be controlled within 0.5 mm. The reinforcement bracket 8 is a triangular truss structure, welded with Q345B steel. Its upper end is connected to the stiffening rib plate below the frame cross beam 3 by bolts, and its lower end is fixed to the support plates on both sides of the load-bearing housing 91 by welding, increasing the connection stiffness between the frame cross beam 3 and the drilling mechanism 9 by more than 3 times and significantly enhancing the overall anti-overturning ability of the equipment.

[0058] The present invention has the following technical effects: Terrain adaptive leveling and dynamic stable support. Through the coordinated control of the secondary telescopic mechanism 42, shock absorber 43, cylinder 962 and pressure sensor, the equipment can automatically adjust the height of the traveling component 44 and the telescopic amount of the support mechanism 96 within the slope range of ±15°, achieving rapid leveling within 30 seconds, with the efficiency increased by more than 5 times compared to traditional manual leveling. When the anti-slip rubber pad at the lower end of the telescopic sleeve 964 contacts the ground, it feeds back to the control system 1 through the pressure sensor, automatically adjusting the telescopic amount of the cylinder to make the level error of the equipment less than 0.3°, effectively suppressing the shaking caused by uneven terrain during the drilling process, controlling the lateral amplitude within 0.5 mm, significantly improving the drilling verticality (deviation ≤ 0.5%) and the drill tool life (wear reduction by 40%).

[0059] Integrated linkage protection and debris enclosure. The movable inner retaining wall 944 is matched with the dovetail groove of the limit card slot 942 of the outer protective wall 941 through the T-shaped locking buckle 943, and dynamically rises and falls with the drilling depth (adjustment range 0.5 - 3 m). The lower end anchor nails 10 are inserted into the shallow soil layer of the ground surface to form a closed enclosure space, controlling the splashing range of the soil and gravel generated by drilling within the inner side of the protective wall, avoiding debris impact on key components such as the drive motor 92 and the traveling wheel 444. The measured protection efficiency reaches more than 95%. At the same time, when the retaining wall is lowered, the support mechanism 96 is synchronously expanded through the telescopic linkage mechanism 95's bidirectional threaded rod, forming a linkage protection of "retaining wall enclosure - support leg reinforcement", increasing the anti-overturning moment of the equipment by 2.5 times, especially suitable for easily collapsible working conditions such as soft soil foundations.

[0060] Multi-stage vibration buffering and structure strengthening. The high-rigidity spring 7 is connected to the positioning rod 5 and the outer protective wall 941 through a U-shaped buckle, absorbing more than 60% of the lateral vibration energy, and cooperating with the polyurethane buffer gasket 963 in the support mechanism 96 to absorb 90% of the high-frequency vibration, forming a three-stage shock absorption system of "spring pre-tightening - hydraulic buffering - elastic gasket", reducing the vibration acceleration of the key components of the equipment (such as the control system 1 and the drive motor 92) by 60%, significantly reducing faults such as bolt loosening and poor line contact, and increasing the mean time between failures (MTBF) of the equipment to more than 1000 hours. In addition, the triangular truss structure of the reinforcement bracket 8 is welded to the load-bearing housing 91, increasing the connection rigidity between the frame cross beam 3 and the drilling mechanism 9 by 3 times, with a wind resistance of up to level 10, effectively coping with the structural fatigue problems under complex working conditions.

[0061] Intelligent linkage control throughout the entire process. The central controller 101 integrates the cylinder extension and retraction control unit 102, the inner wall extension and retraction control unit 103, and the limit hook rotation control module 104 via a data cable. Based on real-time feedback from displacement and angle sensors, it achieves fully automated linkage of "drilling feed - wall guard lifting and lowering - support leg extension and retraction - and steering adjustment." For example, before drilling, the wall guard is automatically lowered and the support legs deployed (taking ≤ 2 minutes). After drilling is completed, the wall guard and support legs are simultaneously retracted without manual intervention. During travel, the hydraulic steering mechanism 442 achieves 444±45° steering of the travel wheels. Combined with the terrain-adaptive adjustment of the secondary extension and retraction mechanism 42, the equipment's movement speed on complex terrain such as gravel roads and slopes is increased by 30%, and the turning radius is reduced to 1.5m, significantly improving construction efficiency.

[0062] Modular design and easy maintenance. The travel mechanism 4 and drilling mechanism 9 are quickly assembled and disassembled via bolts to the frame crossbeam 3, with individual component replacement time ≤ 30 minutes. The removable inner protective wall 944 of the protective assembly 94 is slidably connected to the outer protective wall 941 via a retaining slot 942. These walls can be replaced individually if worn, reducing maintenance costs by 50% compared to traditional integrated protective structures. Furthermore, the fault diagnosis module of the control system 1 monitors the status of each control unit in real time, indicating abnormal locations (such as cylinder oil leakage or sensor signal interruption) on the display, further shortening maintenance time.

[0063] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An adaptive leveling linkage protection type geotechnical engineering drilling machine, comprising a control system (1), a frame cross beam (3), a traveling mechanism (4) and a drilling mechanism (9), characterized in that: The control system (1) is arranged above the frame crossbeam (3) and is used for receiving feedback signals and sending control instructions; the traveling mechanism (4) is connected to the frame crossbeam (3) and is used for realizing equipment movement and terrain adaptation; the drilling mechanism (9) is arranged below the frame crossbeam (3) and includes a load-bearing housing (91), a driving motor (92), a screw drill (93), a protection component (94), a telescopic linkage mechanism (95) and a support mechanism (96). The driving motor (92) is arranged inside the load-bearing housing (91) and is used for driving the screw drill (93) to rotate. The protection component (94) is used for enclosing the soil and gravel generated by drilling. The telescopic linkage mechanism (95) connects the protection component (94) and the support mechanism (96) and is used for realizing the linkage action of the two. The support mechanism (96) is used for providing stable support for the equipment and absorbing vibrations.

2. The adaptive leveling linkage protection type geotechnical engineering drilling machine according to claim 1, characterized in that: The traveling mechanism (4) includes a fixed base (41), a secondary telescopic mechanism (42), a shock absorber (43) and a traveling component (44). The fixed base (41) is connected to the frame crossbeam (3). The secondary telescopic mechanism (42) is arranged below the fixed base (41) and is used for adjusting the height of the traveling component (44). The shock absorber (43) connects the secondary telescopic mechanism (42) and the traveling component (44) and is used for absorbing the vibrations during movement. The traveling component (44) includes a slewing disc (441), a steering mechanism (442), a rotating shaft (443) and traveling wheels (444). The steering mechanism (442) is used for controlling the steering angle of the traveling wheels (444).

3. The adaptive leveling linkage protection type geotechnical engineering drilling machine according to claim 1, characterized in that: The protection component (94) includes an outer protection wall (941), a limit card slot (942), a locking buckle (943), a movable inner protection wall (944), a limit barb (945), a rotating wheel (946) and a card interface (947). The outer protection wall (941) is arranged below the load-bearing housing (91) to form a cylindrical structure with an open lower end. The limit card slot (942) is arranged inside the outer protection wall (941). The locking buckle (943) is fixedly connected to the movable inner protection wall (944) and is in sliding fit with the limit card slot (942). The limit barb (945) is connected to the outer protection wall (941) through the rotating wheel (946) and is used for locking or unlocking the position of the movable inner protection wall (944). The card interface (947) is arranged at the upper end of the movable inner protection wall (944) and cooperates with the limit barb (945).

4. The adaptive leveling linkage protection type geotechnical engineering drilling machine according to claim 3, wherein: A plurality of anchor nails (10) are arranged at the lower end of the movable inner protection wall (944). The anchor nails (10) surround the movable inner protection wall (944) in a circle and are used for inserting into the shallow soil of the ground surface to prevent the protection wall from sliding.

5. The adaptive leveling linkage protection type geotechnical engineering drilling machine according to claim 1, wherein: The telescopic linkage mechanism (95) includes a connecting box body (951), a linkage block (952), and a telescopic transmission shaft (953). The connecting box body (951) is connected to the outer protective wall (941). The linkage block (952) is arranged inside the connecting box body (951) and is connected by the telescopic transmission shaft (953) to achieve telescopic movement in the horizontal direction to push the support mechanism (96) to expand or contract.

6. The adaptive leveling linkage protection type geotechnical engineering drilling machine according to claim 1, characterized in that: The support mechanism (96) includes a support box body (961), a cylinder (962), a buffer gasket (963), and a telescopic sleeve (964). The support box body (961) is connected to the telescopic linkage mechanism (95). The cylinder (962) is arranged inside the support box body (961) to push the buffer gasket (963) and the telescopic sleeve (964) to move up and down. The buffer gasket (963) is made of a high-elasticity material to absorb high-frequency vibrations during drilling. The lower end of the telescopic sleeve (964) extends outside the support box body (961) to contact the ground and provide a supporting force.

7. The adaptive leveling linkage protection type geotechnical engineering drilling machine according to claim 1, characterized in that: The control system (1) includes a central controller (101), a cylinder telescopic control unit (102), an inner wall telescopic control unit (103), and a limit barb rotation control module (104). The central controller (101) is respectively connected to the cylinder telescopic control unit (102), the inner wall telescopic control unit (103), and the limit barb rotation control module (104) to overall plan and coordinate the work of each component. The cylinder telescopic control unit (102) is used to control the telescopic movement of the cylinder (962). The inner wall telescopic control unit (103) is used to control the height of the movable inner protective wall (944). The limit barb rotation control module (104) is used to control the rotation angle of the limit barb (945).

8. The adaptive leveling linkage protection type geotechnical engineering drilling machine according to claim 1, wherein: It also includes high-rigidity springs (7) and reinforcement brackets (8). The high-rigidity springs (7) are symmetrically arranged on the left and right. One end is connected to the positioning rod (5), and the other end is connected to the protection component (94) to absorb lateral vibrations during drilling. The reinforcement brackets (8) are symmetrically arranged under the frame cross beam (3) on the left and right, connecting the positioning rod (5) and the load-bearing shell (91) to enhance the structural rigidity of the equipment.

9. The adaptive leveling linkage protection type geotechnical engineering drilling machine according to claim 6, characterized in that: The telescopic sleeve (964) has a three-stage nested structure, and an anti-slip rubber pad is arranged at the lower end. A pressure sensor is installed on the anti-slip rubber pad to feedback the ground supporting force signal to the control system (1) to automatically adjust the telescopic amount of the cylinder (962).

10. The adaptive leveling linkage protection type geotechnical engineering drilling machine according to claim 3, characterized in that: The limit barb (945) has an L-shaped structure. The horizontal section is clamped in the clamping interface (947) at the top of the movable inner protective wall (944). The vertical section is hinged to the rotating shaft on the inner side of the outer protective wall (941) through a rotating wheel (946). The rotating wheel (946) is driven by the limit barb rotation control module (104) to realize the upward or downward buckling action of the limit barb (945).

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