Drilling positioning device of mine drilling machine

Abstract

The invention relates to the technical field of drilling positioning, and discloses a mine drilling machine drilling positioning device which comprises a supporting mechanism, the supporting mechanism comprises a moving frame, the bottom of the moving frame is fixedly connected with a first connecting shaft, and the end, away from the moving frame, of the first connecting shaft is fixedly connected with a universal wheel. A sliding frame is arranged at the bottom of the movable frame, a groove is formed in the outer wall of the top of the movable frame, a first through hole is formed in the outer wall of the bottom of the movable frame, and when drilling operation is carried out in a mine, the bottom of the movable frame is supported through a supporting mechanism, so that the stability of the drilling mechanism during drilling operation is improved; the drilling position deviation possibly caused by movement of the moving frame in the drilling process is prevented, and in the drilling process, when the drill bit encounters a soft rock stratum, the drill rod is positioned through the fixing shaft, so that drilling displacement is avoided.

Description

[0001] This application is a divisional application with the application date of September 20, 2024, application number CN202411311583.X, and the invention name is "A drilling positioning device for a mining drill." Technical Field

[0002] The invention relates to the technical field of drilling positioning, in particular to a drilling positioning device for a mine drilling rig. Background Art

[0003] In mining, the drilling positioning of mining drills plays a vital role. Whether it is ore mining, tunnel excavation or geological exploration, mining production cannot be separated from drilling operations. Accurate drilling positioning can ensure that the drill hole reaches the predetermined target position, laying a reliable foundation for subsequent blasting, mining and other work.

[0004] The patent application with application number CN202410444383.5 discloses a drilling positioning device for a mining drill rig, including: a movable frame, on which a limit plate is provided, a rotating block is rotatably provided on the limit plate, a drill rod is provided in the rotating block, and the rotation of the rotating block can drive the drill rod to rotate synchronously around the central axis of the rotating block. Ratchets are connected to both ends of the rotating block, and the two ratchets rotate in opposite directions; a sliding plate, which is slidably connected to a limit plate, and a first return spring is provided between the sliding plate and the limit plate, and a slot that can cooperate with the ratchet is opened on the side wall of the sliding plate.

[0005] To sum up, when drilling operations are carried out in mines, the movable frame is prone to vibrate and move under the reaction force of drilling during the drilling process, which may cause deviation in the drilling position. In addition, the geological structure of the mine is diverse and uncertain, such as the development of rock joints and cracks, and the large differences in hardness of different rock layers. During the drilling process, when the drill bit encounters a weak rock layer, it may deflect, causing the drill hole to shift.

[0006] Therefore, we propose a drilling positioning device for a mining drill. Summary of the Invention

[0007] In view of the deficiencies in the prior art, the present invention provides a drilling positioning device for a mining drill to solve the problems raised in the above background technology.

[0008] To achieve the above-mentioned object, the present invention provides the following technical solution: a drilling positioning device for a mining drill, comprising a support mechanism, wherein the support mechanism comprises a mobile frame, a first connecting shaft is fixedly connected to the bottom of the mobile frame, a universal wheel is fixedly connected to the end of the first connecting shaft away from the mobile frame, a sliding frame is provided at the bottom of the mobile frame, a groove is formed on the top outer wall of the mobile frame, and a first through hole is formed on the bottom outer wall of the mobile frame, and further comprising:

[0009] The adjusting mechanism includes a first rotating frame slidably connected to the outer wall of the top of the movable frame, the inner wall of the first rotating frame is fixedly connected to the first driving motor, the output end of the first driving motor is fixedly connected to the driving wheel, the driving wheel is rotatably connected on the inner wall of the groove, the top outer wall of the first rotating frame is fixedly connected to the first fixed block, the inner wall of the first fixed block is slidably connected to the sliding block, the inner wall of the first fixed block is provided with a second through hole, the inner wall of the first rotating frame is fixedly connected to the first connecting rod, the inner wall of the first rotating frame is fixedly connected to the first hydraulic rod, and a drilling mechanism is provided on the top of the first rotating frame.

[0010] According to the above technical solution, the number of the first connecting rods is four, and the four first connecting rods are symmetrically arranged with the central axis of the first rotating frame as the center. The outer wall of the first connecting rod away from the first rotating frame is fixedly connected to the second connecting shaft, the outer surface of the second connecting shaft is slidably connected to the inner wall of the first through hole, and the end of the second connecting shaft away from the first connecting rod is fixedly connected to the second protrusion, and the second protrusion is slidably connected to the first protrusion. After the second protrusion squeezes the first protrusion downward, the sliding frame moves downward.

[0011] According to the above technical solution, there are two first hydraulic rods, and the two first hydraulic rods are symmetrically arranged with the central axis of the first rotating frame as the center. The outer wall of the end of the first hydraulic rod away from the first fixed block is fixedly sleeved with a second connecting rod, and the end of the second connecting rod away from the first hydraulic rod is fixedly connected to the first rotating frame. The output end of the first hydraulic rod is fixedly connected to the third connecting rod, and the first hydraulic rod causes the sliding block to slide along the inner wall of the first fixed block through the third connecting rod.

[0012] According to the above technical solution, the outer wall of the sliding block is fixedly connected to a third connecting rod, the number of the third connecting rods is two, and the two third connecting rods are symmetrically arranged with the sliding block as the center. The inner wall of the sliding block is fixedly connected to a second drive motor, and the output end of the second drive motor is fixedly connected to a second fixed block. The third connecting rod is used to assist the sliding of the sliding block.

[0013] According to the above technical solution, the inner wall of the second fixed block is fixedly connected to the first dual-axis motor, the output end of the first dual-axis motor passes through the second fixed block and is fixedly connected to the first rotating rod, the inner wall of the first rotating rod at one end away from the first dual-axis motor is fixedly connected to the second dual-axis motor, the output end of the second dual-axis motor passes through the first rotating rod and is fixedly connected to the second rotating rod, the end of the second rotating rod away from the second dual-axis motor is fixedly connected to the third drive motor, the number of the second rotating rods is two, and the two second rotating rods are symmetrically arranged with the second dual-axis motor as the center.

[0014] According to the above technical solution, the drilling mechanism includes a second rotating frame fixedly connected to the output end of the third driving motor, the outer wall of the second rotating frame is fixedly connected to the second hydraulic rod, the outer surface of the second hydraulic rod on the side away from the second rotating frame is fixedly sleeved with the first fixed rod, the outer wall of the first fixed rod on the side away from the second hydraulic rod is fixedly connected to the second rotating frame, the output end of the second hydraulic rod is fixedly connected to the connecting frame, the number of the second hydraulic rods is two, and the two second hydraulic rods are symmetrically arranged with the second rotating frame as the center.

[0015] According to the above technical solution, the outer wall of one end of the connecting frame away from the second hydraulic rod is fixedly connected to the second fixed rod, the outer wall of the connecting frame on one side away from the second fixed rod is fixedly connected to the servo motor, the output end of the servo motor is fixedly connected to the drill rod, the outer wall of the servo motor on one side away from the drill rod is fixedly connected to the fixing frame, the outer wall of the fixing frame on one side away from the connecting frame is fixedly connected to the fixed shaft, the outer surface of the fixed shaft is slidably connected to the inner wall of the second rotating frame, and the fixed shaft is used to improve the stability of the drill rod during drilling operation.

[0016] According to the above technical solution, the inner wall of the sliding frame is slidably connected to the first connecting shaft, the outer wall of the sliding frame close to the mobile frame is fixedly connected to the first protrusion, the top outer wall of the sliding frame is fixedly connected to the spring, and the end of the spring away from the sliding frame is fixedly connected to the mobile frame, and the spring is used for resetting the sliding frame.

[0017] Compared with the prior art, the present invention provides a drilling positioning device for a mining drill, which has the following beneficial effects:

[0018] 1. The present invention provides a drilling positioning device for a mining drill rig. When drilling operations are performed in a mine, a support mechanism is used to support the bottom of a movable frame, thereby increasing the stability of the drilling mechanism during the drilling operation and preventing drilling position deviations that may be caused by the movement of the movable frame during the drilling process. Moreover, during the drilling process, when the drill bit encounters a soft rock formation, the drill rod is positioned by a fixed axis, thereby avoiding displacement of the drill hole.

[0019] 2. The present invention sets a support mechanism, and the first drive motor drives the first rotating frame to slide along the top outer wall of the mobile frame through the drive wheel. During the deflection of the first rotating frame, the second protrusion at the bottom of the first connecting rod applies an extrusion force to the first protrusion at the top of the sliding frame, causing the sliding frame to slide downward, thereby increasing the contact area between the bottom of the mobile frame and the ground, thereby improving the stability during drilling operations.

[0020] 3. The present invention provides an adjustment mechanism, uses a second drive motor to drive the second fixed block to rotate, uses a first dual-axis motor to drive the first rotating rod to rotate, uses a second dual-axis motor to rotate the second rotating rod, and at the same time, uses a third drive motor to adjust and position the second rotating frame, thereby improving the accuracy of the drilling operation.

[0021] 4. The present invention sets up a drilling mechanism. After the drilling position is positioned, the second hydraulic rod is used to push the connecting frame toward the drilling position. The servo motor performs the drilling operation through the drill rod. The fixed shaft improves the stability of the connecting frame during movement through the fixed frame. At the same time, the fixed shaft can prevent the drill rod from deviating when encountering soft rock formations. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall front structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the overall front cross-sectional structure of the present invention;

[0024] Figure 3 It is a schematic structural diagram of the support mechanism of the present invention;

[0025] Figure 4 Schematic diagram of the structure of the regulating mechanism of the present invention;

[0026] Figure 5 It is a schematic structural diagram of the regulating mechanism of the present invention;

[0027] Figure 6 It is a structural schematic diagram of the drilling mechanism of the present invention;

[0028] Figure 7 For the present invention Figure 1 Schematic diagram of the enlarged structure of A;

[0029] Figure 8 For the present invention Figure 2 Schematic diagram of the enlarged structure of B.

[0030] In the figure: 1. Support mechanism; 101. Moving frame; 102. Groove; 103. First through hole; 104. First connecting shaft; 105. Universal wheel; 106. Sliding frame; 107. First protrusion; 108. Spring; 2. Adjustment mechanism; 201. First rotating frame; 202. First driving motor; 203. Driving wheel; 204. First connecting rod; 205. Second connecting shaft; 206. Second protrusion; 207. First hydraulic rod; 208. Second connecting rod; 209. First fixed block; 210. Second through hole ; 211. Sliding block; 212. Second drive motor; 213. Second fixed block; 214. First dual-axis motor; 215. First rotating rod; 216. Second dual-axis motor; 217. Second rotating rod; 218. Third drive motor; 219. Third connecting rod; 3. Drilling mechanism; 301. Second rotating frame; 302. Second hydraulic rod; 303. First fixed rod; 304. Connecting frame; 305. Second fixed rod; 306. Servo motor; 307. Fixed frame; 308. Fixed shaft; 309. Drill rod. DETAILED DESCRIPTION

[0031] 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.

[0032] Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but are not to be construed as limiting the present invention.

[0033] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0034] Example 1: See Figure 1-Figure 3The present invention provides a technical solution: a drilling positioning device for a mining drill, comprising a support mechanism 1, the support mechanism 1 comprising a mobile frame 101, a first connecting shaft 104 fixedly connected to the bottom of the mobile frame 101, a universal wheel 105 fixedly connected to the end of the first connecting shaft 104 away from the mobile frame 101, a sliding frame 106 provided at the bottom of the mobile frame 101, a groove 102 provided on the top outer wall of the mobile frame 101, a first through hole 103 provided on the bottom outer wall of the mobile frame 101, and further comprising:

[0035] The adjustment mechanism 2 includes a first rotating frame 201 slidably connected to the top outer wall of the mobile frame 101, a first driving motor 202 is fixedly connected to the inner wall of the first rotating frame 201, an output end of the first driving motor 202 is fixedly connected to a driving wheel 203, and the driving wheel 203 is rotatably connected to the inner wall of the groove 102, a first fixed block 209 is fixedly connected to the top outer wall of the first rotating frame 201, a sliding block 211 is slidably connected to the inner wall of the first fixed block 209, a second through hole 210 is opened on the inner wall of the first fixed block 209, and the inner wall of the first rotating frame 201 is fixedly connected to There is a first connecting rod 204, and the inner wall of the first rotating frame 201 is fixedly connected with a first hydraulic rod 207. A drilling mechanism 3 is provided on the top of the first rotating frame 201. When drilling operations are carried out in the mine, the supporting mechanism 1 supports the bottom of the mobile frame 101, thereby improving the stability of the drilling mechanism 3 during drilling operations, avoiding the movement of the mobile frame 101 during the drilling process and the possible deviation of the drilling position. In addition, during the drilling process, when the drill bit encounters a weak rock formation, the drill rod 309 is positioned with the help of the fixed shaft 308 to prevent the drilling hole from being displaced.

[0036] The inner wall of the sliding frame 106 is slidably connected to the first connecting shaft 104, and the outer wall of the sliding frame 106 close to the moving frame 101 is fixedly connected to the first protrusion 107, and the top outer wall of the sliding frame 106 is fixedly connected to the spring 108, and the spring 108 is used for the reset of the sliding frame 106. The end of the spring 108 away from the sliding frame 106 is fixedly connected to the moving frame 101, and the first driving motor 202 drives the driving wheel 203, so that the first rotating frame 201 slides on the top outer wall of the moving frame 101. When the first rotating frame 201 is deflected, the second protrusion 206 at the bottom of the first connecting rod 204 will squeeze the first protrusion 107 on the top of the sliding frame 106, prompting the sliding frame 106 to slide downward, thereby increasing the contact area between the bottom of the moving frame 101 and the ground, thereby improving the stability during the drilling operation.

[0037] The working principle of this embodiment is as follows: when drilling operations are carried out in a mine, first, the first drive motor 202 drives the drive wheel 203, prompting the first rotating frame 201 to slide along the top outer wall of the mobile frame 101. When the first rotating frame 201 is deflected, the second protrusion 206 at the bottom of the first connecting rod 204 applies an extrusion force to the first protrusion 107 at the top of the sliding frame 106, causing the sliding frame 106 to slide downward. During this process, the second connecting shaft 205 slides on the inner wall of the first through hole 103, making the movement of the sliding frame 106 more stable, thereby increasing the contact area between the bottom of the mobile frame 101 and the ground. At the same time, the universal wheel 105 at the bottom of the mobile frame 101 enables the mobile frame 101 to move.

[0038] Example 2: Please refer to Figure 4-Figure 5 On the basis of the first embodiment, the present invention provides a technical solution: the number of the first connecting rods 204 is four, and the four first connecting rods 204 are symmetrically arranged with the central axis of the first rotating frame 201 as the center. The outer wall of the first connecting rod 204 on the side away from the first rotating frame 201 is fixedly connected with the second connecting shaft 205, and the outer surface of the second connecting shaft 205 is slidably connected to the inner wall of the first through hole 103. The end of the second connecting shaft 205 away from the first connecting rod 204 is fixedly connected with the second protrusion 206, and the second protrusion 206 is slidably connected to the first protrusion 107. After the second protrusion 206 squeezes the first protrusion 107 downward, the sliding frame 106 moves downward.

[0039] There are two first hydraulic rods 207, and the two first hydraulic rods 207 are symmetrically arranged with the central axis of the first rotating frame 201 as the center. The outer wall of the end of the first hydraulic rod 207 away from the first fixed block 209 is fixedly sleeved with a second connecting rod 208, and the end of the second connecting rod 208 away from the first hydraulic rod 207 is fixedly connected to the first rotating frame 201. The output end of the first hydraulic rod 207 is fixedly connected to the third connecting rod 219, and the first hydraulic rod 207 causes the sliding block 211 to slide along the inner wall of the first fixed block 209 through the third connecting rod 219.

[0040] The outer wall of the sliding block 211 is fixedly connected to a third connecting rod 219. There are two third connecting rods 219, and the two third connecting rods 219 are symmetrically arranged with the sliding block 211 as the center. The third connecting rod 219 is used to assist the sliding of the sliding block 211. The inner wall of the sliding block 211 is fixedly connected to a second drive motor 212, and the output end of the second drive motor 212 is fixedly connected to a second fixed block 213.

[0041] A first dual-axis motor 214 is fixedly connected to the inner wall of the second fixed block 213. The output end of the first dual-axis motor 214 passes through the second fixed block 213 and is fixedly connected to a first rotating rod 215. A second dual-axis motor 216 is fixedly connected to the inner wall of the end of the first rotating rod 215 away from the first dual-axis motor 214. The output end of the second dual-axis motor 216 passes through the first rotating rod 215 and is fixedly connected to a second rotating rod 217. There are two second rotating rods 217, which are symmetrically arranged around the second dual-axis motor 216. A third driving motor 218 is fixedly connected to the end of the second rotating rod 217 away from the second dual-axis motor 216. The second fixed block 213 is rotated by the second driving motor 212, the first rotating rod 215 is rotated by the first dual-axis motor 214, and the second rotating rod 217 is rotated by the second dual-axis motor 216. At the same time, the third driving motor 218 adjusts and positions the second rotating frame 301 to improve the accuracy of the drilling operation.

[0042] The working principle of this embodiment is as follows: when performing drilling operations, the first drive motor 202 drives the drive wheel 203, so that the first rotating frame 201 can rotate at a moving angle. At the same time, the sliding block 211 is pushed along the inner wall of the first fixed block 209 by the first hydraulic rod 207. In addition, the second drive motor 212 drives the second fixed block 213 to rotate, the first dual-axis motor 214 drives the first rotating rod 215 to rotate, and the second dual-axis motor 216 drives the second rotating rod 217 to rotate. At the same time, the third drive motor 218 adjusts the angle of the second rotating frame 301. Through these operations, the accuracy of the drilling operation can be improved.

[0043] Example 3: Please refer to Figure 6-Figure 8 On the basis of the first and second embodiments, the present invention provides a technical solution: the drilling mechanism 3 includes a second rotating frame 301 fixedly connected to the output end of the third drive motor 218, the outer wall of the second rotating frame 301 is fixedly connected to the second hydraulic rod 302, the number of the second hydraulic rod 302 is two, and the two second hydraulic rods 302 are symmetrically arranged with the second rotating frame 301 as the center, the outer surface of the second hydraulic rod 302 away from the second rotating frame 301 is fixedly sleeved with a first fixed rod 303, the outer wall of the first fixed rod 303 away from the second hydraulic rod 302 is fixedly connected to the second rotating frame 301, and the output end of the second hydraulic rod 302 is fixedly connected to the connecting frame 304.

[0044] The outer wall of one end of the connecting frame 304 away from the second hydraulic rod 302 is fixedly connected to the second fixed rod 305, the outer wall of the side of the connecting frame 304 away from the second fixed rod 305 is fixedly connected to the servo motor 306, the output end of the servo motor 306 is fixedly connected to the drill rod 309, the outer wall of the side of the servo motor 306 away from the drill rod 309 is fixedly connected to the fixed frame 307, the outer wall of the side of the fixed frame 307 away from the connecting frame 304 is fixedly connected to the fixed shaft 308. After the drilling position is positioned, the second hydraulic rod 302 is used to advance the connecting frame 304 to the drilling position, and the servo motor 306 performs the drilling operation through the drill rod 309. The fixed shaft 308 improves the stability of the connecting frame 304 during movement through the fixed frame 307. At the same time, the fixed shaft 308 can prevent the drill rod 309 from deflecting when encountering soft rock formations. The outer surface of the fixed shaft 308 is slidably connected to the inner wall of the second rotating frame 301, and the fixed shaft 308 is used to improve the stability of the drill rod 309 during drilling operation.

[0045] The working principle of this embodiment is as follows: when performing drilling operations, the second rotating frame 301 is first flipped and positioned by the third driving motor 218. After positioning is completed, the second hydraulic rod 302 is used to push the connecting frame 304 to the drilling position. Then, the servo motor 306 drives the drill rod 309 to perform drilling operations. During the drilling process, the outer wall of the drill rod 309 is assisted in positioning by the second fixed rod 305. At the same time, the fixed shaft 308 uses the fixed frame 307 to improve the stability of the connecting frame 304 during movement, and the fixed shaft 308 can prevent the drill rod 309 from deviating when encountering weak rock formations, thereby ensuring the accuracy and stability of the drilling operation. The third driving motor 218 accurately controls the positioning of the second rotating frame 301, the second hydraulic rod 302 accurately pushes the connecting frame 304, the servo motor 306 efficiently drives the drill rod 309, and the fixed shaft 308 and the second fixed rod 305 jointly ensure the stable operation of the drill rod 309.

[0046] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0047] Finally, it should be noted that the above descriptions 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 substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A drilling positioning device for a mining drill, comprising a support mechanism (1), wherein the support mechanism (1) comprises a mobile frame (101), a first connecting shaft (104) is fixedly connected to the bottom of the mobile frame (101), a universal wheel (105) is fixedly connected to one end of the first connecting shaft (104) away from the mobile frame (101), a sliding frame (106) is provided at the bottom of the mobile frame (101), a groove (102) is provided on the top outer wall of the mobile frame (101), and a first through hole (103) is provided on the bottom outer wall of the mobile frame (101), characterized in that: Also included are: The adjusting mechanism (2) comprises a first rotating frame (201) slidably connected to the outer wall of the top of the moving frame (101), a first driving motor (202) being fixedly connected to the inner wall of the first rotating frame (201), a driving wheel (203) being fixedly connected to the output end of the first driving motor (202), the driving wheel (203) being rotatably connected to the inner wall of the groove (102), a first fixed block (209) being fixedly connected to the outer wall of the top of the first rotating frame (201), a sliding block (211) being slidably connected to the inner wall of the first fixed block (209), a second through hole (210) being provided on the inner wall of the first fixed block (209), a first connecting rod (204) being fixedly connected to the inner wall of the first rotating frame (201), a first hydraulic rod (207) being fixedly connected to the inner wall of the first rotating frame (201), and a drilling mechanism (3) being provided on the top of the first rotating frame (201); The inner wall of the sliding frame (106) is slidably connected to the first connecting shaft (104); the outer wall of the sliding frame (106) on one side close to the mobile frame (101) is fixedly connected to a first protrusion (107); the top outer wall of the sliding frame (106) is fixedly connected to a spring (108); and the end of the spring (108) away from the sliding frame (106) is fixedly connected to the mobile frame (101); The number of the first connecting rods (204) is four, and the four first connecting rods (204) are symmetrically arranged with the central axis of the first rotating frame (201) as the center. The outer wall of the first connecting rod (204) away from the first rotating frame (201) is fixedly connected to the second connecting shaft (205), the outer surface of the second connecting shaft (205) is slidably connected to the inner wall of the first through hole (103), and the end of the second connecting shaft (205) away from the first connecting rod (204) is fixedly connected to the second protrusion (206), and the second protrusion (206) is slidably connected to the first protrusion (107); There are two first hydraulic rods (207), and the two first hydraulic rods (207) are symmetrically arranged with the central axis of the first rotating frame (201) as the center. The outer wall of one end of the first hydraulic rod (207) away from the first fixed block (209) is fixedly sleeved with a second connecting rod (208), and one end of the second connecting rod (208) away from the first hydraulic rod (207) is fixedly connected to the first rotating frame (201), and the output end of the first hydraulic rod (207) is fixedly connected to the third connecting rod (219); The outer wall of the sliding block (211) is fixedly connected to a third connecting rod (219), the number of the third connecting rods (219) is two, and the two third connecting rods (219) are symmetrically arranged with the sliding block (211) as the center; the inner wall of the sliding block (211) is fixedly connected to a second driving motor (212), and the output end of the second driving motor (212) is fixedly connected to a second fixed block (213); The inner wall of the second fixed block (213) is fixedly connected to a first dual-axis motor (214); the output end of the first dual-axis motor (214) passes through the second fixed block (213) and is fixedly connected to a first rotating rod (215); the inner wall of one end of the first rotating rod (215) away from the first dual-axis motor (214) is fixedly connected to a second dual-axis motor (216); the output end of the second dual-axis motor (216) passes through the first rotating rod (215) and is fixedly connected to a second rotating rod (217); the end of the second rotating rod (217) away from the second dual-axis motor (216) is fixedly connected to a third drive motor (218); The drilling mechanism (3) comprises a second rotating frame (301) fixedly connected to the output end of the third drive motor (218); a second hydraulic rod (302) is fixedly connected to the outer wall of the second rotating frame (301); a first fixed rod (303) is fixedly sleeved on the outer surface of the second hydraulic rod (302) away from the second rotating frame (301); an outer wall of the first fixed rod (303) away from the second hydraulic rod (302) is fixedly connected to the second rotating frame (301); and an output end of the second hydraulic rod (302) is fixedly connected to a connecting frame (304). ), the outer wall of one end of the connecting frame (304) away from the second hydraulic rod (302) is fixedly connected to the second fixed rod (305), the outer wall of one side of the connecting frame (304) away from the second fixed rod (305) is fixedly connected to the servo motor (306), the output end of the servo motor (306) is fixedly connected to the drill rod (309), the outer wall of one side of the servo motor (306) away from the drill rod (309) is fixedly connected to the fixing frame (307), and the outer wall of one side of the fixing frame (307) away from the connecting frame (304) is fixedly connected to the fixed shaft (308).

Images