Multi-attitude dip angle grounding detection device for drilling system rack

Abstract

The invention relates to a drilling system rack multi-attitude dip angle grounding detection device, and belongs to the field of deep space exploration. Comprising a universal joint nut block, four universal joint shafts, a universal joint upper plate, a universal joint lower plate, a bottom cover, a bottom cover bottom plate, a ground contact spring, a bottom cover inner cover plate, a trigger rod, a trigger pressure spring, a trigger nut, a first ground contact switch and a second ground contact switch. A pure mechanical mechanism is used to adapt to the ground contact action of a drilling system rack under the multi-attitude inclination angle, and ground contact signal feedback is completed through a switch signal line. The mechanical structure is simple and reliable, the weight is light, and mechanical connection and electric connection interfaces are convenient; the device is simple and reliable in mechanical structure, light in weight, convenient in mechanical connection and electric connection interface, capable of adapting to complex and severe environments, capable of bearing launch loads of spacecrafts and capable of being repeatedly used.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of deep space exploration and relates to a multi-attitude angle touch-down detection device for a drilling system rack. BACKGROUND

[0002] With the continuous development and expansion of domestic space industry, more requirements are put forward in the field of deep space exploration, and the exploration is deeper; from surface detection to profile detection, from remote sensing detection to in-situ environmental resource detection. How to realize in-situ environmental resource detection of profile, drilling system equipment and technology will become the key important equipment and technology in the field of deep space exploration.

[0003] Since it is difficult, costly and risky for personnel to participate in drilling and sampling in space environment, an automatic intelligent drilling system can effectively solve the safety and economic problems of personnel participation. However, in space environment, many factors are uncertain, and many data are blank, so it is more difficult for the drilling system to achieve the ideal vertical drilling attitude. How to obtain the touch-down signal of each attitude angle in advance is a technical problem in the field. SUMMARY

[0004] The technical problem solved by the application is to overcome the shortcomings of the prior art and provide a multi-attitude angle touch-down detection device for a drilling system rack, which has simple and reliable mechanical structure, light weight, convenient mechanical and electrical connection interfaces, can adapt to complex and harsh environments, can carry the launch load of a spacecraft, and can be repeatedly used.

[0005] The technical solution of the application is as follows:

[0006] A multi-attitude angle touch-down detection device for a drilling system rack, comprising a universal joint nut block, four universal joint shafts, a universal joint upper plate, a universal joint lower plate, a bottom cover, a bottom cover bottom plate, a touch-down spring, a bottom cover inner cover plate, a trigger rod, a trigger compression spring, a trigger nut, an alpha touch-down switch and a beta touch-down switch.

[0007] The universal joint nut block is a horizontal hexahedron structure; a through hole is arranged at the vertical axis of the universal joint nut block for accommodating a switch signal line; each side of the universal joint nut block has a cylindrical countersunk threaded hole, and the four holes are centrally symmetrically distributed; the cylindrical countersunk part is matched with the shaft hole of the corresponding universal joint shaft, and the threaded part is used for screwing the universal joint shaft with a screw for fixed connection; the universal joint shaft is a stepped shaft structure, the upper stepped part has a large diameter and is matched with the shaft hole of the universal joint upper plate or the universal joint lower plate for connection to provide relative rotation motion envelope; the lower stepped part of the universal joint shaft has a small diameter and is matched with the shaft hole of the universal joint nut block for connection to realize connection limiting action.

[0008] The universal joint upper plate and the universal joint lower plate are provided with two symmetrical holes; the universal joint upper plate and the universal joint lower plate are vertically crossed, and the two symmetrical holes on the universal joint upper plate and the universal joint lower plate correspond to the two cylindrical countersunk threaded holes on the side of the universal joint nut block; the upper end of the bottom cover is connected and fixed with the universal joint lower plate through screws, and the lower end of the bottom cover is connected and fixed with the bottom cover bottom plate through screws; the ground-touching spring is sleeved on the outer wall of the bottom cover and is located between the universal joint upper plate and the bottom cover bottom plate; the bottom cover inner cover plate is fixedly connected at the lower surface of the top step of the bottom cover bottom plate; the center of the bottom cover inner cover plate is provided with a through hole; the trigger rod is coaxially arranged in the through hole of the bottom cover inner cover plate; the trigger nut is sleeved at the bottom end of the trigger rod; the trigger compression spring is sleeved on the outer wall of the trigger rod, and the top of the trigger nut and the bottom of the bottom cover inner cover plate limit the trigger compression spring at both ends; the alpha ground-touching switch and the beta ground-touching switch are fixedly connected at the lower end of the inner cavity of the bottom cover.

[0009] In the above-mentioned drill system rack multi-posture inclination ground-touching detection device, the universal joint nut block, the universal joint shaft, the universal joint upper plate and the four universal joint lower plates are connected and fixed to form a universal joint mechanism, so as to adapt to different directions and different angles of inclination postures.

[0010] In the above-mentioned drill system rack multi-posture inclination ground-touching detection device, the four threaded holes on the bottom surface of the universal joint upper plate are mechanical interfaces, which are connected and fixed with the rack, and different mechanical interfaces are adapted according to different racks and different structures; the four threaded holes on the bottom surface of the universal joint lower plate are connected and fixed with the bottom cover through screws; the boss of the universal joint upper plate limits the ground-touching spring; the universal joint upper plate and the universal joint lower plate are both provided with through holes to accommodate the switch signal lines.

[0011] In the above-mentioned drill system rack multi-posture inclination ground-touching detection device, the bottom cover inner cover plate is connected and fixed with the bottom cover bottom plate, thereby providing a relative up-down sliding movement space for the trigger rod and a limiting space for the trigger compression spring; the trigger nut bottom part realizes ground-touching; the trigger compression spring provides power for the up-down sliding movement of the trigger rod, so as to realize the triggering and resetting actions of the up-down sliding movement of the trigger rod.

[0012] In the above-mentioned drill system rack multi-posture inclination ground-touching detection device, the ground-touching spring is installed between the universal joint upper plate and the bottom cover bottom plate, so as to keep the vertical state of the device and adapt to multi-posture inclinations, thereby preventing the universal joint from swinging at will without being constrained.

[0013] In the above-mentioned drill system frame multi-pose angle touch ground detection device, the same kind of insulation connecting fast is used for the touch ground switch A and the touch ground switch B; wherein the touch trigger piece A is used for the touch ground switch A corresponding insulation connecting fast; the touch trigger piece B is used for the touch ground switch B; the touch trigger piece A and the touch trigger piece B are connected and fixed with the insulation connecting fast through screws, and output switch power signal through terminals; the insulation connecting fast is also connected and fixed with the bottom cover bottom plate, providing limit for the trigger piece trigger.

[0014] In the above-mentioned drill system frame multi-pose angle touch ground detection device, in the initial state, the touch ground spring is installed between the universal joint upper plate and the bottom cover bottom plate, and the touch ground detection device always keeps vertical state; the trigger compression spring is sleeved on the trigger rod, located between the trigger nut and the bottom cover inner cover plate; due to the pressure of the trigger compression spring, the upper end of the trigger rod is tightly attached to the bottom cover inner cover plate, so that the trigger rod is disconnected with the trigger pieces in the touch ground switch A and the touch ground switch B, and the touch ground switch A and the touch ground switch B give out non-touch ground signal due to the disconnected state.

[0015] In the above-mentioned drill system frame multi-pose angle touch ground detection device, with the downward movement of the frame, the touch ground detection device moves downward, and the trigger nut first contacts the ground; under the pressure of downward movement, the trigger nut gives a reverse supporting force and pushes the trigger rod to slide along the hole position of the bottom cover inner cover plate; limited by the hole position, the trigger rod moves in the determined direction, and stops after the trigger nut contacts the bottom cover inner cover plate, at the same time, the trigger rod contacts the trigger pieces in the touch ground switch A and the touch ground switch B, so that the positive and negative power supply of the two touch switches are turned on, thereby giving out touch ground signal.

[0016] Due to the difference between the trigger pieces in the touch ground switch A and the touch ground switch B, the touch trigger piece A and the touch trigger piece B are ensured to be in paired installation state during installation and assembly, so as to ensure that the trigger arms of the two trigger pieces are located in the movement envelope space of the trigger rod, realize the contact between the trigger rod and the two trigger pieces, and output touch ground signal.

[0017] In the above-mentioned drill system frame multi-pose angle touch ground detection device, when there is an angle state in one direction, the bottom cover bottom plate is further attached to the ground; due to the unevenness of the ground or the inclination of the frame, the bottom surface of the bottom cover bottom plate and the bottom surface of the universal joint upper plate are relatively inclined, but under the action of the universal joint and the touch ground spring, as shown in the accompanying Figure 8 , the device indirectly controls that the overall frame does not incline, thereby ensuring the vertical movement state of the drilling tool during drilling.

[0018] In the above-mentioned drill system frame multi-pose angle touch ground detection device, when the drill tool finishes drilling and the frame as a whole moves upward, the bottom surface of the bottom plate of the bottom cover is separated from the ground; the universal joint returns to the vertical state under the pressure of the touch spring; at the same time, the trigger nut loses the supporting force on the trigger rod after being separated from the ground, and the trigger rod restores the state of being attached to the inner cover plate of the bottom cover under the pressure of the trigger spring; the A touch ground switch and the B touch ground switch also lose the conduction state of the trigger rod and the two trigger pieces, and output the non-touch ground signal; the touch spring and the trigger spring provide power to restore the touch ground detection device to the initial state, and have the ability to trigger the state of the next touch ground switch and the multi-pose angle adaptive state action.

[0019] The beneficial effects of the present application compared with the prior art are:

[0020] (1) The present application has the advantages of simple and reliable structure, the device is mainly composed of a universal joint, a spring and a position switch, and has the functions of dust prevention, bearing the launch mechanical environment load of aerospace products, bearing the gravity load, adapting to high and low temperature environment, adapting to vacuum environment and the like;

[0021] (2) The present application can adapt to the depression of multi-pose angle and has the self-righting function, the universal joint is responsible for the adaptation of multi-pose angle, the spring provides pressure to make the device always maintain the vertical state, in the process of depression, the device is self-adapted to multi-pose angle under stress, and returns to the vertical state after stopping depression;

[0022] (3) The present application has reliable signal feedback function, two position switches are connected to the positive and negative poles of the power supply respectively, after the trigger rod is depressed and triggered, the two switches are turned on, the touch ground signal is fed back, and vice versa, the touch ground signal is not displayed, which can effectively eliminate signal interference and the like. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a radial sectional view of the drill system frame multi-pose angle touch ground detection device of the present application.

[0024] Figure 2 It is an axonometric view of the drill system frame multi-pose angle touch ground detection device of the present application.

[0025] Figure 3 It is an axial sectional view of the drill system frame multi-pose angle touch ground detection device of the present application.

[0026] Figure 4 It is a schematic view of the A trigger piece and the B trigger piece of the present application.

[0027] Figure 5 It is a touch ground state schematic view of the drill system frame multi-pose angle touch ground detection device of the present application.

[0028] Figure 6This is a schematic diagram of the tilt state of the multi-posture tilt angle ground contact detection device of the drilling system frame of the present invention;

[0029] Figure 7 This is a simulation diagram of the tilt state of the multi-posture tilt angle ground contact detection device of the drilling system frame of the present invention;

[0030] Figure 8 This is a schematic diagram showing the connection between the multi-posture tilt angle ground contact detection device of the drilling system frame and the frame system of the present invention. Detailed Implementation

[0031] The present invention will be further described below with reference to the embodiments.

[0032] This invention provides a multi-attitude tilt angle ground contact detection device for a drilling system frame. It utilizes a purely mechanical mechanism to adapt to ground contact actions under various tilt angles of the drilling system frame and provides ground contact signal feedback via a switch signal line. Due to its simple and reliable mechanical structure, light weight, convenient mechanical and electrical connection interfaces, it can adapt to complex and harsh environments, bear spacecraft launch payloads, and is reusable.

[0033] Drilling system frame multi-position tilt angle ground contact detection device, such as Figure 1 As shown, it specifically includes a universal joint nut block 1, four universal joint shafts 2, a universal joint upper plate 3, a universal joint lower plate 4, a bottom cover 5, a bottom cover base plate 6, a ground contact spring 7, a bottom cover inner cover plate 8, a trigger rod 9, a trigger compression spring 10, a trigger nut 11, a ground contact switch A 12, and a ground contact switch B 13. The universal joint nut block 1 is a horizontally placed hexahedral structure. A through hole is provided at the vertical axis of the universal joint nut block 1 to accommodate the switch signal line. Each of the four sides of the universal joint nut block 1 has a cylindrical countersunk threaded hole, which are symmetrically distributed around each other. Each cylindrical countersunk portion mates with the shaft hole of a corresponding universal joint shaft 2, and the threaded portion is used for screwing the universal joint shaft 2. The universal joint shaft 2 is a stepped shaft structure. The upper stepped portion has a larger diameter and mates with the shaft hole of the upper universal joint plate 3 or the lower universal joint plate 4 to provide a relative rotational motion envelope. The lower stepped portion of the universal joint shaft 2 has a smaller diameter and mates with the shaft hole of the universal joint nut block 1 to achieve a connection limiting function.

[0034] In this invention, the universal joint nut block 1 has a hexahedral structure, as shown in the attached figure. Figure 3 As shown, there is a through hole from the top to the bottom surface to accommodate the switch signal line; there is a cylindrical countersunk threaded hole on each of the four sides, which are symmetrically distributed around each other, for a total of four cylindrical countersunk threaded holes. The cylindrical countersunk part mates with the shaft hole of the universal joint shaft 2, and the threaded part is used for screws to fix the universal joint shaft 2.

[0035] The universal joint upper plate 3 and the universal joint lower plate 4 are provided with two symmetrical holes; the universal joint upper plate 3 and the universal joint lower plate 4 are vertically crossed, and the two symmetrical holes on the universal joint upper plate 3 and the universal joint lower plate 4 correspond to the two cylindrical countersunk threaded holes on the side of the universal joint nut block 1; the upper end of the bottom cover 5 is connected and fixed with the universal joint lower plate 4 through a screw, and the lower end of the bottom cover 5 is connected and fixed with the bottom cover bottom plate 6 through a screw; the ground spring 7 is sleeved on the outer wall of the bottom cover 5, and the ground spring 7 is located between the universal joint upper plate 3 and the bottom cover bottom plate 6; the bottom cover inner cover plate 8 is fixedly connected at the lower surface of the top step of the bottom cover bottom plate 6; the center of the bottom cover inner cover plate 8 is provided with a through hole; the trigger rod 9 is coaxially arranged in the through hole of the bottom cover inner cover plate 8; the trigger nut 11 is sleeved on the bottom end of the trigger rod 9; the trigger compression spring 10 is sleeved on the outer wall of the trigger rod 9, and the top of the trigger nut 11 and the bottom of the bottom cover inner cover plate 8 limit the trigger compression spring 10 at both ends; the alpha ground switch 12 and the beta ground switch 13 are fixedly connected at the lower end of the inner cavity of the bottom cover 5.

[0036] After the universal joint nut block 1, the universal joint shaft 2, the universal joint upper plate 3 and the four universal joint lower plates 4 are connected and fixed, a universal joint mechanism is formed, and different directions and different angles of inclination postures are adapted.

[0037] The four threaded holes on the bottom surface of the universal joint upper plate 3 are mechanical interfaces, which are connected and fixed with the rack, and at the same time, different mechanical interfaces are adapted according to different racks and different structures; the four threaded holes on the bottom surface of the universal joint lower plate 4 are connected and fixed with the bottom cover 5 through a screw; the boss of the universal joint upper plate 3 limits the ground spring 7; the universal joint upper plate 3 and the universal joint lower plate 4 are both provided with through holes in the center, which realize the accommodation of the switch signal line.

[0038] The bottom cover inner cover plate 8 is connected and fixed with the bottom cover bottom plate 6, at the same time, provides a relative up-down sliding movement space for the trigger rod 9 and a limiting space for the trigger compression spring 10; the bottom of the trigger nut 11 realizes grounding; the trigger compression spring 10 provides a up-down sliding power for the trigger rod 9, realizes the trigger and reset actions of the up-down sliding of the trigger rod 9. The ground spring 7 is installed between the universal joint upper plate 3 and the bottom cover bottom plate 6, realizes the vertical state of the holding device, at the same time, adapts to the multi-posture inclination angle, and prevents the universal joint from swinging randomly without constraint.

[0039] The alpha ground switch 12 and the beta ground switch 13 use the same kind of insulation connecting fast 14; among them, the alpha ground switch 12 uses the alpha trigger piece 15 for the corresponding insulation connecting fast 14; the beta ground switch 13 uses the beta trigger piece 16, as shown in Figure 4 The alpha trigger piece 15 and the beta trigger piece 16 are connected and fixed with the insulation connecting fast 14 through a screw, and output the switch power signal through the terminal; the insulation connecting fast 14 is also connected and fixed with the bottom cover bottom plate 6, which provides a limit for the trigger of the trigger piece.

[0040] The entire motion process of the drilling system frame multi-attitude tilt angle ground contact detection device is as follows:

[0041] (1) Initial state

[0042] The initial state of this device is as shown in the attached figure. Figure 1 and attached Figure 2 As shown, the ground contact spring 7 is installed between the upper plate 3 of the universal joint and the bottom plate 6 of the base cover to keep the device in a vertical position. Because the universal joint mechanism will swing freely without pressure support, it may be damaged in the launch mechanics or transportation environment of aerospace products. The pressure of the spring to maintain the verticality of the device can effectively prevent damage to the mechanism. The trigger spring 10 is installed in the trigger rod 9, located between the trigger nut 11 and the inner cover plate 8 of the base cover. Due to the pressure of the trigger spring 10, the upper end of the trigger rod 9 is tightly pressed against the inner cover plate 8 of the base cover, causing it to disconnect from the trigger plates in the ground contact switch 12 and the ground contact switch 13. The ground contact switches, being in the open state, give a non-ground contact signal.

[0043] (2) Grounding switch trigger state

[0044] As the frame moves downwards, as shown in the attached image Figure 5 As shown, the device moves downwards and contacts the ground first. Since the trigger nut 11 is the most protruding part, it is the first to contact the ground. Under the pressure of the downward movement, the trigger nut 11 provides a reverse supporting force and pushes the trigger rod 9 to slide along the hole in the inner cover plate 8 of the base. Limited by the hole, the trigger rod 9 moves in a predetermined direction and stops after the trigger nut 11 contacts the inner cover plate 8. Simultaneously, the trigger rod 9 contacts the trigger plates in the A ground switch 12 and B ground switch 13, connecting the positive and negative power supplies of the two position switches, thus providing a grounding signal. Specifically, since the trigger plates in the A ground switch 12 and B ground switch 13 are different, during installation and assembly, it is necessary to ensure that the A trigger plate 15 and B trigger plate 16 are in a paired installation state, ensuring that the trigger arms of the two trigger plates are located within the movement envelope space of the trigger rod 9. Only when the trigger rod 9 contacts the two trigger plates can the grounding signal be reliably provided.

[0045] (3) Multi-attitude tilt angle adaptation state

[0046] During the downward movement of the frame, due to the tilt of the related mechanical structures within the frame platform and the complexity of the ground it contacts, the bottom surface of the device cannot be completely guaranteed to remain relatively horizontal when in contact with the ground. Simultaneously, the drilling tool has high requirements for relative verticality during drilling. Therefore, the drilling tool will prioritize maintaining vertical drilling movement while sacrificing the verticality of the frame. Thus, the frame must have the ability to adapt to multiple tilt angles. (See attached...) Figure 6 and attached Figure 7As shown, in the action state of the device in the one-direction inclination state, the bottom cover bottom plate 6 is further attached to the ground under the pressure of downward movement. Due to the unevenness of the ground or the inclination of the rack, the bottom surface of the bottom cover bottom plate (6) is relatively inclined with the bottom surface of the universal joint upper plate 3, but under the action of the universal joint and the ground contact spring 7, as shown in the figure, the device indirectly controls the whole rack to not be inclined, thereby ensuring the vertical movement state of the drilling tool during drilling. Figure 8

[0047] (4) Action ending and returning to normal state

[0048] The device needs to have the ability to return to normal after the related action ends in order to have the function of repeated use. When the rack as a whole moves upward after the drilling tool finishes drilling, the bottom surface of the bottom cover bottom plate 6 is detached from the ground, and the universal joint returns to the vertical state under the pressure of the ground contact spring 7. At the same time, the trigger nut 11 loses the supporting force on the trigger rod 9 after being detached from the ground, and the trigger rod 9 restores the state of being attached to the bottom cover inner cover plate 8 under the pressure of the trigger compression spring 10. The alpha ground contact switch 12 and the beta ground contact switch 13 also lose the conduction state of the two trigger pieces with the trigger rod 9, thereby giving an off-ground signal. After the related action ends, the ground contact spring 7 and the trigger compression spring 10 provide power to make the device return to the initial state and have the ability to trigger the state of the ground contact switch and the action of the multi-attitude inclination state.

[0049] The drilling system rack multi-attitude inclination ground contact detection device of the present application realizes the functions of multi-attitude inclination self-adaptation and self-returning to normal of the drilling system rack by using the combination of springs and universal joints. The combination of springs and limit switches realizes the functions of reliable detection and multiple detection of the multi-attitude inclination ground contact of the drilling system rack. The combination of springs, universal joints and limit switches realizes the function of multi-attitude inclination ground contact detection of the drilling system rack.

[0050] Although the present application has been disclosed with the above preferred embodiments, it is not intended to limit the present application, and any person skilled in the art can make possible changes and modifications to the technical solutions of the present application by using the disclosed methods and technical contents without departing from the spirit and scope of the present application. Therefore, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present application, which does not deviate from the technical solutions of the present application, belongs to the protection scope of the technical solutions of the present application.​

Claims

1. A multi-attitude tilt angle ground contact detection device for a drilling system frame, characterized in that: Includes universal joint nut block (1), 4 universal joint shafts (2), universal joint upper plate (3), universal joint lower plate (4), bottom cover (5), bottom cover bottom plate (6), ground contact spring (7), bottom cover inner cover plate (8), trigger rod (9), trigger compression spring (10), trigger nut (11), ground contact switch A (12) and ground contact switch B (13); Among them, the universal joint nut block (1) is a horizontally placed hexahedral structure; the universal joint nut block (1) has a through hole at the vertical axis to accommodate the switch signal line; each of the four sides of the universal joint nut block (1) has a cylindrical countersunk threaded hole, which is symmetrically distributed around each other; each cylindrical countersunk part is engaged with the shaft hole of a corresponding universal joint shaft (2), and the threaded part is used for screwing the universal joint shaft (2) for screwing and fixing; the universal joint shaft (2) is a stepped shaft structure, the upper stepped part has a large diameter and is engaged with the shaft hole of the upper plate (3) or the lower plate (4) of the universal joint to provide a relative rotational motion envelope; the lower stepped part of the universal joint shaft (2) has a small diameter and is engaged with the shaft hole of the universal joint nut block (1) to achieve the connection limit function; Both the upper plate (3) and lower plate (4) of the universal joint have two symmetrical holes; the upper plate (3) and lower plate (4) of the universal joint are arranged perpendicularly, and the two symmetrical holes on the upper plate (3) and lower plate (4) of the universal joint correspond to the two cylindrical countersunk threaded holes on the side of the universal joint nut block (1); the upper end of the bottom cover (5) is connected and fixed to the lower plate (4) of the universal joint by screws, and the lower end of the bottom cover (5) is connected and fixed to the bottom plate (6) of the bottom cover by screws; the ground spring (7) is fitted on the outer wall of the bottom cover (5), and the ground spring (7) is located on the upper plate (3) of the universal joint. Between the base cover (5) and the bottom plate (6); the inner cover plate (8) is fixedly connected to the lower surface of the top step of the base cover plate (6); the center of the inner cover plate (8) is provided with a through hole; the trigger rod (9) is coaxially set in the through hole of the inner cover plate (8); the trigger nut (11) is fitted on the bottom end of the trigger rod (9); the trigger spring (10) is fitted on the outer wall of the trigger rod (9), and the top of the trigger nut (11) and the bottom of the inner cover plate (8) limit the two ends of the trigger spring (10); the A ground switch (12) and the B ground switch (13) are fixedly connected to the lower end of the inner cavity of the base cover (5).

2. The drilling system frame multi-attitude tilt angle ground contact detection device according to claim 1, characterized in that: After the universal joint nut block (1), universal joint shaft (2), universal joint upper plate (3), and four universal joint lower plates (4) are connected and fixed, a universal joint mechanism is formed to achieve the ability to adapt to tilting postures in different directions and at different angles.

3. The drilling system frame multi-attitude tilt angle ground contact detection device according to claim 1, characterized in that: The four threaded holes on the bottom surface of the upper plate (3) of the universal joint are mechanical interfaces for connecting and fixing to the frame. At the same time, different mechanical interfaces can be adapted according to different frames and structures. The four threaded holes on the bottom surface of the lower plate (4) of the universal joint are connected and fixed to the bottom cover (5) by screws. The boss of the upper plate (3) of the universal joint plays a limiting role for the ground contact spring (7). Both the upper plate (3) and the lower plate (4) of the universal joint have through holes in their centers to accommodate switch signal lines.

4. The drilling system frame multi-attitude tilt angle ground contact detection device according to claim 3, characterized in that: While the inner cover plate (8) of the bottom cover is connected and fixed to the bottom plate (6) of the bottom cover, it provides a relative up-and-down sliding space for the trigger rod (9) and a limiting space for the trigger spring (10); the bottom of the trigger nut (11) touches the ground; the trigger spring (10) provides the power for the up-and-down sliding of the trigger rod (9) to realize the triggering and resetting action of the up-and-down sliding of the trigger rod (9).

5. The drilling system frame multi-attitude tilt angle ground contact detection device according to claim 4, characterized in that: The ground contact spring (7) is installed between the upper plate (3) of the universal joint and the bottom plate (6) of the bottom cover to maintain the vertical state of the device, while adapting to multiple tilt angles and preventing the universal joint from swinging arbitrarily without restraint.

6. The drilling system frame multi-attitude tilt angle ground contact detection device according to claim 5, characterized in that: The grounding switch (12) and the grounding switch (13) use the same type of insulating connecting block (14); wherein, the insulating connecting block (14) corresponding to the grounding switch (12) adopts the trigger piece (15); the grounding switch (13) uses the trigger piece (16); the trigger piece (15) and the trigger piece (16) are respectively connected and fixed to the insulating connecting block (14) by screws, and output switching power signals through terminals; the insulating connecting block (14) is also connected and fixed to the bottom plate (6) of the base cover to provide a limit for the trigger piece to be triggered.

7. The drilling system frame multi-attitude tilt angle ground contact detection device according to claim 6, characterized in that: In the initial state, the ground contact spring (7) is installed between the upper plate of the universal joint (3) and the bottom plate of the base cover (6), and the ground contact detection device always remains in a vertical state; the trigger spring (10) is fitted on the trigger rod (9) and is located between the trigger nut (11) and the inner cover plate (8) of the base cover; due to the pressure of the trigger spring (10), the upper end of the trigger rod (9) is tightly attached to the inner cover plate (8) of the base cover, so that the trigger rod (9) is disconnected from the trigger piece in the ground contact switch (12) and the ground contact switch (13), and the ground contact switch (12) and the ground contact switch (13) give a non-ground contact signal because they are in the open state.

8. The drilling system frame multi-attitude tilt angle ground contact detection device according to claim 7, characterized in that: As the frame moves downward, the ground contact detection device moves downward, and the trigger nut (11) contacts the ground first. Under the pressure of the downward movement, the trigger nut (11) provides a reverse support force and pushes the trigger rod (9) to slide along the hole in the inner cover plate (8) of the bottom cover. Limited by the hole, the trigger rod (9) moves in a predetermined direction and stops after the trigger nut (11) contacts the inner cover plate (8) of the bottom cover. At the same time, the trigger rod (9) contacts the trigger piece in the ground contact switch (12) and the ground contact switch (13), so that the positive and negative power supplies of the two position switches are connected, thereby giving a ground contact signal. Since the trigger pieces in the grounding switch A (12) and the grounding switch B (13) are different, during installation and assembly, ensure that the trigger piece A (15) and the trigger piece B (16) are in a paired installation state, and ensure that the trigger arms of the two trigger pieces are located in the motion envelope space of the trigger rod (9), so that the trigger rod (9) contacts the two trigger pieces and outputs a grounding signal.

9. The drilling system frame multi-attitude tilt angle ground contact detection device according to claim 8, characterized in that: When there is an angle in one direction, the bottom plate (6) of the bottom cover is further in contact with the ground. Due to the unevenness of the ground or the tilt of the frame, the bottom surface of the bottom plate (6) of the bottom cover is at an angle to the bottom surface of the universal joint upper plate (3). However, under the action of the universal joint and the ground contact spring (7), as shown in Figure 8, this device indirectly controls the overall frame to not tilt, thereby ensuring that the drill bit maintains a vertical movement state during drilling.

10. A drilling system frame multi-attitude tilt angle ground contact detection device according to claim 9, characterized in that: When the drilling is completed and the frame moves upward, the bottom surface of the bottom plate (6) of the base cover is no longer in contact with the ground. Under the pressure of the ground contact spring (7), the universal joint returns to the vertical state. At the same time, after the trigger nut (11) is no longer in contact with the ground, it loses its supporting force on the trigger rod (9). Under the pressure of the trigger compression spring (10), the trigger rod (9) returns to the state of being in contact with the inner cover plate (8) of the base cover. The ground contact switch (12) and the ground contact switch (13) also lose the conduction state between the trigger rod (9) and the two trigger plates, and output a non-ground contact signal. The ground contact spring (7) and the trigger compression spring (10) provide power to restore the ground contact detection device to its initial state and have the ability to operate in the next ground contact switch trigger state and multi-posture tilt angle adaptation state.

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