CN220191402U

CN220191402U - Small-size tree planting earth boring machine

Info

Publication number: CN220191402U
Application number: CN202320738376.7U
Authority: CN
Inventors: 石兵; 程瑞; 尹思研; 郭栋; 李智卓
Original assignee: Dalian University of Technology
Current assignee: Dalian University of Technology
Priority date: 2023-04-06
Filing date: 2023-04-06
Publication date: 2023-12-19
Anticipated expiration: 2033-04-06

Abstract

The utility model provides a small-sized tree planting pit digger, which relates to the technical field of pit digger equipment and comprises a machine body, a crawler chassis assembly, a collision-preventing and falling-preventing device, a hydraulic lifting device and a tail drilling device; the utility model discloses a hydraulic lifting device, including engine, hydraulic lifting device, afterbody drilling device, crawler chassis assembly, engine body lower part is provided with, and the engine body front side is provided with the anti-collision anti-falling device, engine body front end upper portion is provided with the control room, is provided with GPS positioning receiving device and control system device in the control room, the control room downside is provided with battery room and automatically controlled room, be provided with engine, generator and hydraulic pump station in the power room, the oil tank sets up in power room one side, the hydraulic pump station sets up in the power room opposite side, hydraulic lifting device sets up in the engine body rear side, hydraulic lifting device links to each other with afterbody drilling device. The tail lifting device adopts the crank rocker and the double rocker mechanism, is simple in mechanism, convenient to maintain, high in operation accuracy, safe and reliable, and ensures that the drill bit is in a vertical state at any time in a single hinge point mode.

Description

Small-size tree planting earth boring machine

Technical Field

The utility model relates to the technical field of pit digging equipment, in particular to a small tree planting pit digger.

Background

Nowadays, trees are planted in rural areas or mountain areas, most of tree planting and pit digging adopt manpower to dig, a single person to walk or a tractor to drive a drill bit to dig, the pit digging work consumes labor, pit positioning needs people to find pit digging points according to experience or in advance, and the cost is high and the efficiency is low. Thus, earth boring machines have emerged to solve this technical problem.

The existing mechanical pit diggers in the market mainly take a walking type and a tractor driving type, and the walking type single or double walking is used for digging, so that the mechanical pit diggers are only suitable for small-scale pit digging, and the physical consumption is very high. The tractor drives formula though increasing the automation, but the hydraulic pump is located the engine position, and hydraulic line is longer, and the structure is compact inadequately, breaks down easily. Meanwhile, the hydraulic device is operated by adopting a manual rocker and a distributor to realize lifting of the crank, so that the operation is not agile enough, the judgment and the control are needed to be carried out manually, the lifting height is needed to be judged according to experience by personnel, the operation difficulty is high, and the experience requirement on an operator is high.

Disclosure of Invention

According to the technical problem that the intelligent of the pit digger is low, the intelligent pit digger can be automatically controlled. The utility model mainly utilizes the electromagnetic clutch to control the vehicle to stop and advance, the electromagnetic valve controls the rotation of the crank, and the crank rocker mechanism and the double rocker mechanism realize the lifting of the drill bit, thereby solving the problems of longer hydraulic pipeline and insufficient compact structure of the traditional mechanical pit digger.

The utility model adopts the following technical means:

a small-sized tree planting pit digger comprises a machine body, a crawler chassis assembly, a collision-preventing and falling-preventing device, a hydraulic lifting device and a tail drilling device;

the utility model discloses a crawler chassis assembly, including engine body, hydraulic lifting device, control room, power unit, engine, generator and hydraulic pump station, the engine body lower part is provided with crawler chassis assembly, the organism front side is provided with anti-collision anti-drop device, organism front end upper portion is provided with the control room, be provided with GPS positioning receiving device and control system device in the control room, the control room downside is provided with battery room and automatically controlled room, and the belonged automobile body middle part is provided with the power unit, be provided with engine, generator and hydraulic pump station in the power unit, the oil tank sets up in power unit one side, the hydraulic pump station sets up in the power unit opposite side, hydraulic lifting device sets up in the organism rear side, hydraulic lifting device links to each other with afterbody drilling equipment.

Further, the track assembly comprises a power unit in the middle and track units on two sides;

the power unit comprises an engine, a conveyor belt driving wheel, an electromagnetic clutch and a rear axle; the engine is connected with a driving wheel of the conveyor belt, the driving wheel of the conveyor belt is connected with an electromagnetic clutch for power transmission, and the electromagnetic clutch is connected with a rear axle for power transmission;

the crawler unit comprises a driving wheel, a band plate, a rotary log, a loading wheel and a guide wheel; the driving wheel is arranged on the front side of the inner part of the belt plate, the loading wheel is arranged on the lower side of the inner part of the belt plate, the rotation log is arranged on the upper side of the inner part of the belt plate, the guide wheel is arranged on the rear side of the inner part of the belt plate, and the driving wheel, the loading wheel and the guide wheel are meshed with the inner side of the belt plate.

Further, the collision-preventing and falling-preventing device comprises a spring, a bumper, a touch sensor, a wide-angle camera and a first distance sensor;

the front part of the chassis of the machine body is provided with a pin shaft shorter than a spring and is connected with the spring, the spring is connected with a bumper, a touch sensor is arranged behind the bumper, the front end of the bumper is provided with a wide-angle camera, and the lower end of the spring is provided with a first distance sensor.

Further, the wide-angle camera head sends a video signal to the remote control end, the first distance sensor sends a ground distance signal to the control system, when the bumper touches an obstacle, the bumper drives the spring to compress backwards, the bumper touches the touch sensor, the touch sensor sends a touch signal to the control system, and the control system receives the touch signal and then controls the pit digger to stop and switch to a remote control mode.

Further, the hydraulic lifting device comprises a hydraulic oil tank, a hydraulic oil pump, an electromagnetic valve and a bidirectional hydraulic cylinder;

the engine drives the hydraulic oil pump to pump hydraulic oil out of the hydraulic oil tank through belt transmission, and drives the bidirectional hydraulic cylinder to move left and right through electromagnetic valve control, and the piston of the hydraulic cylinder moves left and right to drive the drill lifting driving rod, so that the drill is driven to lift.

Further, the tail drilling device comprises a drill lifting driving rod, a first rocker, a connecting rod, a second rocker, a single hinge structure, a driving shaft, a middle shaft, a horizontal shaft, a bevel gear reducer, a drill and a second distance sensor;

the drill bit lifting driving rod, the first rocking rod and the connecting rod form a crank rocking rod mechanism, the first rocking rod and the second rocking rod form a double rocking rod mechanism, the first rocking rod rocks to drive the second rocking rod to rock, the drill bit is in a vertical state through a single hinge structure, the driving shaft is connected with the intermediate shaft, the two sides of the intermediate shaft are provided with cross universal couplings, the intermediate shaft is connected with the horizontal shaft, the horizontal shaft is connected with the bevel gear reducer, the lower end of the bevel gear reducer is provided with the drill bit, and the side face of the bevel gear reducer is provided with the second distance sensor.

Compared with the prior art, the utility model has the following advantages:

the crawler chassis structure is adopted, so that the crawler chassis structure can be well adapted to various terrains, the universalization degree is high, the crawler chassis is stable in operation, and the fixed-distance (pit distance) walking of the pit digger is realized through the electromagnetic clutch and the runner log.

The tail lifting device adopts a crank rocker and double rocker mechanism, the mechanism is simple, the maintenance is convenient, the operation accuracy is high, the safety and the reliability are high, and the drill bit is ensured to be in a vertical state at any time in a single hinge point mode. The power transmission adopts cross universal joint transmission, the steering adopts bevel gear reducer, the operation is stable, and the maintenance is convenient.

The control room GPS receiving system and the control system are located on the upper side and the front side of the engine room, are in composite ergonomics, are convenient to maintain and receive signals, the power distribution room is located on the front side and the lower side of the control room, power transmission is facilitated, the engine is located on the middle lower portion, stability of the whole machine is facilitated, and the drilling device is located on the tail portion of a vehicle, is convenient to control and maintain, and is beneficial to drilling operation. The hydraulic pump station is positioned on the right side of the vehicle body, the structure is compact, the electromagnetic valve controls the hydraulic cylinder piston to move, the efficiency is high, and the control is accurate.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present utility model, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.

Fig. 1 is a front view of the present utility model.

Fig. 2 is a top view of the present utility model.

Fig. 3 is a top view of the power unit of the present utility model.

Fig. 4 is a front view of the track unit of the present utility model.

Fig. 5 is a front view of the anti-collision and anti-falling device of the present utility model.

Fig. 6 is a top view of the anti-collision and anti-falling device of the utility model.

Fig. 7 is a schematic view of a hydraulic lifting device according to the present utility model.

FIG. 8 is a schematic view of a tail drilling apparatus according to the present utility model.

In the figure: 1. a driving wheel; 2. a loading wheel; 3. a guide wheel; 4. a band plate; 5. a rear axle; 6. an electromagnetic clutch; 7. a conveyor belt drive wheel; 8. rotating the log; 9. a spring; 10. a touch sensor; 11. a bumper; 12. a wide angle camera; 13. a first distance sensor; 14. a chassis front; 15. a hydraulic oil pump; 16. a hydraulic oil tank; 17. an electromagnetic valve; 18. a hydraulic cylinder; 19. a drill lifting driving rod; 20. a first rocker; 21. a connecting rod; 22. a second rocker; 23. a single hinge structure; 24. a drive shaft; 25. an intermediate shaft; 26. a horizontal axis; 27. a bevel gear reducer; 28. a drill bit; 29. a second distance sensor; 30. a body; 31. a crawler chassis assembly; 32. a collision-preventing and falling-preventing device; 33. a hydraulic lifting device; 34. tail drilling device; 35. a control room; 36. a battery compartment; 37. an electric control chamber; 38. a power chamber; 39. an engine; 40. a generator; 41. a hydraulic pump station; 42. and an oil tank.

Detailed Description

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments of the present utility model. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the utility model, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present utility model. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present utility model unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present utility model, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present utility model: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present utility model.

As shown in fig. 1 to 8, the present utility model provides a small-sized tree planting pit digger, comprising a machine body 30, a crawler chassis assembly 31, a collision-preventing and falling-preventing device 32, a hydraulic lifting device 33 and a tail drilling device 34; the whole machine comprises the following components: the crawler chassis assembly 30 adopts a conventional crawler assembly, and can realize a mountain walking function; the collision-preventing and falling-preventing device is used for preventing the pit digger from collision or falling; the control system comprises two modes of independent control and remote control, and the control core adopts an STM32F103R8T6 and AS01-ML01DP5 remote control module, so that pit digging operation can be realized, or pit digging operation can be carried out through a control end; the tail drilling device 34 is capable of retracting and drilling a drill bit.

The crawler belt type hydraulic lifting device is characterized in that a crawler belt chassis assembly 31 is arranged at the lower part of the machine body 30, a collision preventing and falling preventing device 32 is arranged at the front side of the machine body 30, a control room 35 is arranged at the upper part of the front end of the machine body 30, a GPS positioning receiving device and a control system device are arranged in the control room 35, a storage battery room 36 and an electric control room 37 are arranged at the lower side of the control room 35, a power room 38 is arranged at the middle part of the machine body, an engine 39, a generator 40 and a hydraulic pump station 41 are arranged in the power room 38, an oil tank 42 is arranged at one side of the power room 38, the hydraulic pump station 41 is arranged at the other side of the power room 38, a hydraulic lifting device 33 is arranged at the rear side of the machine body 30, and the hydraulic lifting device 33 is connected with a tail drilling device 34. The anti-collision and anti-falling device 32 is positioned in front of a car, a control chamber 35 for placing a GPS positioning receiving device and a control system device is arranged at the upper part of the front end of the car body, a storage battery chamber 36 and an electric control chamber 37 are arranged at the lower side of the control chamber, the storage battery provides power for the whole car body, and the electric control chamber 37 realizes the distribution management of the power; the middle of the vehicle body is a power chamber 38 which mainly comprises a diesel engine 39, a generator 40 and a hydraulic pump station 41, wherein the generator 40 and the hydraulic pump station 41 are powered by the diesel engine 39 through belt transmission, and the engine 39 is powered by the belt transmission conveyor belt driving wheel 7 to ensure the driving force of the whole vehicle; the oil tank 42 and the hydraulic pump station 41 are respectively positioned on the left side and the right side of the vehicle body, and the hydraulic lifting device 33 is positioned on the rear side of the vehicle body, so that the lifting work of the drill bit is realized.

The crawler assembly comprises a power unit in the middle and crawler units on two sides;

the power unit comprises an engine 39, a conveyor belt driving wheel 7, an electromagnetic clutch 6 and a rear axle 5; the engine 39 is connected with the conveyor belt driving wheel 7, the conveyor belt driving wheel 7 is connected with the electromagnetic clutch 6 for power transmission, and the electromagnetic clutch 6 is connected with the rear axle 5 for power transmission;

the crawler unit comprises a driving wheel 1, a band plate 4, a rotary log 8, a loading wheel 2 and a guide wheel 3; the driving wheel 1 is arranged on the front side of the inside of the belt plate 4, the bogie wheel 2 is arranged on the lower side of the inside of the belt plate 4, the rotation log 8 is arranged on the upper side of the inside of the belt plate 4, the guide wheel 3 is arranged on the rear side of the inside of the belt plate 4, and the driving wheel 1, the bogie wheel 2 and the guide wheel 3 are meshed with the inner side of the belt plate 4. The crawler chassis assembly 31 can realize the running of the whole vehicle body on the mountain, the power of the diesel engine 39 is transmitted to the chassis to drive the driving wheel 1 to rotate, and then the belt plate 4 is driven to drive, so that the running of the whole vehicle body on the steering is realized. The track chassis assembly 31 is driven as follows: the engine power passes through conveyer belt drive wheel 7, and power passes through electromagnetic clutch 6 and gets off power transmission, and electromagnetic clutch 6's control passes through electric cabinet 37 and realizes, and electromagnetic clutch 6 output power transmission is to rear axle 5, and rear axle 5 realizes turning to and final transmission through gear drive, and then drives drive wheel 1, and drive wheel 1 drives band plate 4 and removes. The rotation log 8 logs by the number of turns.

The collision-preventing and falling-preventing device 32 comprises a spring 9, a bumper 11, a touch sensor 10, a wide-angle camera 12 and a first distance sensor 13;

the chassis front portion 14 of organism 30 passes through spring 9 and links to each other with bumper 11, bumper 11 rear is provided with touch sensor 10, bumper 11 front end is provided with wide angle camera 12, spring 9 lower extreme is provided with first distance sensor 13. The first distance sensor 13 prevents the earth boring machine from falling off in a gully situation.

The wide-angle camera 12 sends a video signal to a remote control end, the first distance sensor 13 sends a ground distance signal to a control system, when the bumper 11 touches an obstacle, the bumper 11 drives the spring 9 to compress backwards, the bumper 11 touches the touch sensor 10, the touch sensor 10 sends a touch signal to the control system, and the control system receives the touch signal and then controls the pit digger to stop and switch to a remote control mode.

The hydraulic lifting device 33 comprises a hydraulic oil tank 16, a hydraulic oil pump 15, an electromagnetic valve 17 and a bidirectional hydraulic cylinder 18;

the engine 39 drives the hydraulic oil pump 15 to pump hydraulic oil out of the hydraulic oil tank 16 through belt transmission, and drives the bidirectional hydraulic cylinder 18 to move left and right under the control of the electromagnetic valve 17, and the piston of the hydraulic cylinder 18 moves left and right to drive the drill lifting driving rod 19, so as to drive the drill 28 to lift.

The tail drilling device 34 comprises a drill lifting driving rod 19, a first rocker 20, a connecting rod 21, a second rocker 22, a single hinge structure 23, a driving shaft 24, an intermediate shaft 25, a horizontal shaft 26, a bevel gear reducer 27, a drill 28 and a second distance sensor 29.

The drill bit lifting driving rod 19, the first rocking rod 20 and the connecting rod 21 form a crank rocking rod mechanism, the first rocking rod 20 and the second rocking rod 22 of the drill bit form a double rocking rod mechanism, the first rocking rod 20 rocks to drive the second rocking rod 22 to rock, the drill bit 28 is in a vertical state through the single hinge structure 23, the driving shaft 24 is connected with the middle shaft 25, the two sides of the middle shaft 25 are provided with cross universal couplings, the middle shaft 25 is connected with the horizontal shaft 26, the horizontal shaft 26 is connected with the bevel gear reducer 27, the lower end of the bevel gear reducer 27 is provided with the drill bit 28, and the side surface of the bevel gear reducer 27 is provided with the second distance sensor 29. The second distance sensor 29 is provided for two purposes, and is provided for maintaining the distance between the drill bit and the ground when the excavator is traveling, avoiding the contact of the drill bit with the ground, and determining the drilling depth.

The pit digging process of the utility model is as follows: after the diesel engine is started, the storage battery is charged, the storage battery meets the power requirement of the whole engine, and the electric control room 37 distributes power. The diesel engine drives the chassis transmission shaft, drives 1 track drive wheel to rotate, advances 3 meters (tree pit distance can be set), then electromagnetic clutch 6 disconnection parks, and solenoid valve 17 valve rod moves left, through slider-crank mechanism, and the piston moves right and drives the drive rod 19 of digging pit and rotate clockwise, and then promotes 22 rocker clockwise rotation, drives drill bit 28 and drills down, and when sensor 29 measured drilling depth (the value of setting), solenoid valve 17 valve rod moves right, and two-way pneumatic cylinder 18 moves left, drives 19 and upwards rotates, promotes drill bit 28 upwards to mention. The next tree pit is dug by repeating the actions.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.

Claims

1. A small-size tree planting earth boring machine, its characterized in that: comprises a machine body (30), a crawler chassis assembly (31), a collision-preventing and falling-preventing device (32), a hydraulic lifting device (33) and a tail drilling device (34);

the utility model discloses a crawler chassis assembly, including engine body (30), hydraulic lifting device (33), engine body (38), engine, generator (40) and hydraulic pump station (41) are provided with crawler chassis assembly (31) in organism (30) lower part, organism (30) front side is provided with anti-collision anti-falling device (32), organism (30) front end upper portion is provided with control room (35), be provided with GPS location receiving device and control system device in control room (35), control room (35) downside is provided with battery room (36) and automatically controlled room (37), it is provided with power room (38) to belong to the automobile body middle part, be provided with engine (39), generator (40) and hydraulic pump station (41) in power room (38), oil tank (42) set up in power room (38) one side, hydraulic pump station (41) set up in power room (38) opposite side, hydraulic lifting device (33) set up in organism (30) rear side, hydraulic lifting device (33) link to each other with afterbody drilling device (34).

2. The miniature tree planting hole digger of claim 1, wherein the track chassis assembly comprises a power unit in the middle and track units on both sides;

the power unit comprises an engine (39), a conveyor belt driving wheel (7), an electromagnetic clutch (6) and a rear axle (5); the engine (39) is connected with the conveyor belt driving wheel (7), the conveyor belt driving wheel (7) is connected with the electromagnetic clutch (6) for power transmission, and the electromagnetic clutch (6) is connected with the rear axle (5) for power transmission;

the crawler unit comprises a driving wheel (1), a band plate (4), a rotary log (8), a loading wheel (2) and a guide wheel (3); the driving wheel (1) is arranged on the front side inside the band plate (4), the loading wheel (2) is arranged on the lower side inside the band plate (4), the rotation log (8) is arranged on the upper side inside the band plate (4), the guide wheel (3) is arranged on the rear side inside the band plate (4), and the driving wheel (1), the loading wheel (2) and the guide wheel (3) are meshed with the inner side of the band plate (4).

3. The small tree planting hole digger according to claim 1, characterized in that the collision and drop preventing device (32) comprises a spring (9), a bumper (11), a touch sensor (10), a wide angle camera (12) and a first distance sensor (13);

the chassis front portion (14) of organism (30) have the round pin axle of being shorter than spring (9) and be connected with spring (9), and spring (9) link to each other with bumper (11), bumper (11) rear is provided with touch sensor (10), bumper (11) front end is provided with wide angle camera (12), spring (9) lower extreme is provided with first distance sensor (13).

4. The small tree planting hole digger according to claim 1, characterized in that the hydraulic lifting device (33) comprises a hydraulic oil tank (16), a hydraulic oil pump (15), a solenoid valve (17) and a bi-directional hydraulic cylinder (18);

the engine (39) drives the hydraulic oil pump (15) to pump hydraulic oil out of the hydraulic oil tank (16) through belt transmission, and drives the bidirectional hydraulic cylinder (18) to move left and right under the control of the electromagnetic valve (17), and the piston of the hydraulic cylinder (18) moves left and right to drive the drill lifting driving rod (19) so as to drive the drill (28) to lift.

5. The small tree planting hole digger of claim 4, characterized in that the tail drilling device (34) comprises a drill lift drive rod (19), a first rocker (20), a connecting rod (21), a second rocker (22), a single hinge structure (23), a drive shaft (24), an intermediate shaft (25), a horizontal shaft (26), a bevel gear reducer (27), a drill (28) and a second distance sensor (29);

the drill bit lifting driving rod (19), the first rocking rod (20) and the connecting rod (21) form a crank rocker mechanism, the first rocking rod (20) and the second rocking rod (22) form a double rocker mechanism, the first rocking rod (20) rocks to drive the second rocking rod (22) to rock, the drill bit (28) is in a vertical state through the single hinge structure (23), the driving shaft (24) is connected with the middle shaft (25), the two sides of the middle shaft (25) are provided with the cross universal couplings, the middle shaft (25) is connected with the horizontal shaft (26), the horizontal shaft (26) is connected with the bevel gear reducer (27), the drill bit (28) is arranged at the lower end of the bevel gear reducer (27), and the second distance sensor (29) is arranged on the side face of the bevel gear reducer (27).