CN113187382B - Multi-stroke drilling and digging device based on bionics principle - Google Patents

Abstract

The invention relates to a multi-stroke drilling and digging device based on a bionics principle, which comprises a mechanical control hand, a connecting rod, a telescopic film, a compressor, a vibrator, a vertical control part and a drill bit which are sequentially connected, wherein the mechanical control hand comprises a central control part and an external working part, the connecting rod is used for connecting the mechanical control hand with drilling equipment below the mechanical control hand, the connecting vibrator and the compressor are connected, the compressor is used for controlling the volume of gas in the telescopic film, the vibrator is used for loosening soil around the drill bit, and the vertical control part is used for controlling the drill bit to keep vertical drilling in the drilling and digging process. The tunneling step of the device is simple, is suitable for tunneling in loose soil and is not suitable for hard rocks. The main components of the device are a mechanical control hand, a connecting rod, a telescopic film, a compressor, a vibrator, a vertical control part and a drill bit. The method mainly comprises the following steps: tunneling, vibrating, inflating and extruding, mechanically controlling hand opening, exhausting and continuing tunneling.

Description

A multi-stroke drilling device based on the principle of bionics

technical field

The invention relates to the technical field of drilling devices, in particular to a multi-stroke drilling device based on the principle of bionics, which is suitable for drilling with relatively little disturbance in soils with low strength and low water content.

Background technique

In large-scale geotechnical engineering, drill bits are often used for excavation. However, during the excavation process, the soil will be compacted, which will lead to greater energy consumption, higher cost and greater difficulty after the excavation, which will affect the sustainability of the equipment. In the traditional drilling process, the "strong" method is usually adopted to forcibly squeeze the soil out by increasing the strength and power of the drill bit, so as to complete the drilling. However, this drilling method has high cost and high energy consumption, and the life of the drill bit is not long. More importantly, this kind of drilling method is likely to cause a lot of disturbance, which may cause damage to the surrounding underground infrastructure. Therefore, there is an urgent need in the market for a drilling device with low energy consumption, low disturbance and high sustainability, and this device is designed based on this.

Contents of the invention

The technical problem to be solved by the present invention is to overcome some of the deficiencies in the existing drilling technology and provide a multi-stroke drilling device based on the principle of bionics, the purpose of which is to perform continuous drilling in conventional soil. It has the characteristics of reducing construction cost, speeding up project progress, reducing environmental disturbance, and being safer and greener.

In order to solve the above technical problems, the technical solution provided by the present invention is: a multi-stroke drilling device based on the principle of bionics, including mechanical control hands, connecting rods, telescopic membranes, compressors, vibrators, and vertical control parts connected in sequence , The drill bit, the mechanical control hand includes a central control part and an external working part. The central control part is responsible for controlling the movement of the entire mechanical control hand. The built-in control system is used to receive instructions from the ground command part. When entering the recovery device, the drill bit stops working and the central control The part is responsible for sending corresponding instructions to let the external working part generate a booster force to complete the recovery of the entire device. The external working part is responsible for anchoring the device and playing a control role when the device turns, providing a lateral boosting force at the back , so that the device turns in the direction of the command. The connecting rod is responsible for connecting the mechanical control hand and the drilling equipment below, connecting the vibrator and the compressor. The middle part is composed of ribs and membrane. The ribs are composed of glass fiber ribs, carbon fiber ribs and aramid fiber ribs. The membrane is made of high-density polyethylene, polyvinyl chloride and materials with good stretchability. The membrane is divided into four air chambers. When the direction needs to be changed, a certain air chamber will not expand, and the soil in this direction will not be squeezed and deformed, so that the drill bit will be deflected to complete the rotation, and the compressor will be responsible for Control the volume of the gas in the telescopic membrane. The vibrator is responsible for loosening the soil around the drill bit. The vertical control part is responsible for controlling the drill bit to maintain vertical drilling during the drilling process. The drill bit is a PDC bit or a roller cone bit.

Further, the central control part includes a sensor, a motor and a single-chip microcomputer, and a hollow groove is installed on the upper part of the central control part, which is responsible for gathering the external working part, and a revolving steel groove is installed between the hollow groove and the central control part to make it Mutual rotation occurs, so that the direction of the external working part of the mechanical control hand is changed to achieve the effect of steering. The external working part is composed of a sensor, a motor, a single-chip microcomputer, and a rotating shaft.

Further, the connecting rod is a force transmission component and a sleeve component, the middle part of the connecting rod is a rigid sleeve, and the two ends are made of elastic rubber rings, and a pressure sensor is installed inside the rubber ring, which is responsible for The signal is transmitted upward to the control computer, and the connecting rod is covered with soil layer or cement layer.

Further, the compressor adopts a flexible-driven piezoelectric piston gas compressor, including a square piezoelectric vibrator, a vibrator bracket, a piston, a piston sleeve, a pump body, an air outlet valve, an air intake valve, and an intermediate bracket. Hollow design, fix its four corners on the vibrator bracket, reduce the vibration constraints of the vibrator and concentrate the deformation during the vibration process in the hollow area, the piezoelectric ceramic is pasted on the geometric center of the metal substrate, and the four corners of the piezoelectric vibrator are fixed Constraint, the upper and lower surfaces of the piezoelectric ceramics are used as electrodes and an alternating driving voltage is applied to the square piezoelectric vibrator to produce periodic reciprocating motion under the action of a sine wave voltage, and the driving frequency is adjusted to be equal to the natural frequency of the compressor system, so that The compressor moves under the action of resonance; when the alternating electric field acts on the piezoelectric ceramics, the piezoelectric vibrator amplifies its own deformation and then outputs displacement and force outward; the gas reciprocating pump chamber is constructed by the dynamic sealing effect of the piston and the piston sleeve , to reduce the dry friction damping between the piston and the piston sleeve; when the piston moves upward, the gas pressure in the pump chamber decreases and drives the inlet valve to open and the outlet valve to close, at this time the gas flows into the pump chamber through the inlet; when the piston moves down When moving, the gas pressure in the pump chamber increases and the inlet valve is closed and the outlet valve is opened. At this time, the gas is discharged from the pump chamber through the outlet, so that the continuous driving of the gas is realized.

Further, the control circuit of the vibrator includes a DC power supply, a control switch, a speed sensor, a vibration generating element and a fixed value resistor. When the drill bit is normally driving downwards, the switch is always kept off, and the speed sensor has a control function. Once it senses that the speed drops to 0, it will automatically close the control switch and disconnect it after a period of time. Compared with the connecting rod, the shell of the vibrator has more elastic rubber.

Further, the vertical control part includes a mounting plate, the side of the mounting plate close to the drilling hole is fixedly connected with a spring air bag, the inside of the spring air bag is fixedly connected with a push rod, and the end of the push rod is fixedly connected with a push rod. An oil chamber is slidably connected to the periphery of the push plate, a water pipe is provided on the side of the oil chamber, a chute is fixedly connected to the side of the water pipe away from the oil chamber, and a slide block is slidably connected to the inside of the chute , the end face of the slider is fixedly connected with a rack, the end of the rack far away from the slider is fixedly connected with a return spring, the side of the rack is engaged with a transmission gear, and the side of the rack far away from the rack is engaged There is a slide bar, the end of the slide bar is fixedly connected with a pressure plate, the inside of the slide bar is fixedly connected with a positioning rod, the end of the positioning rod is fixedly connected with a metal contact, and the side of the mounting plate is fixedly connected There is a buzzer. When the equipment finishes drilling in one direction and is ready to change direction, the vertical control part stops working, and at the same time the airbag is deflated, and the buzzer is powered off.

The present invention has the following advantages:

1. Combining traditional geotechnical engineering with the principles of bionics, and by learning the excavation methods of other organisms, a new type of drilling equipment that is safer, more energy-saving, less disturbing, and more friendly to the environment has been manufactured, which has changed the previous purely relying on " Strong" single solution provides new ideas and solutions for the improvement of rock drilling equipment in the future.

2. The method of controlling the gas volume is adopted. By using a high-power compressor and a stretchable film with good stretchability, the volume of the excavated soil can be maximized and the resistance of the soil can be reduced as much as possible.

3. At the end, a mechanical control hand is used to control the direction and prevent slipping. It can completely isolate the drill bit from the connected wires, freeing the drill bit from the wires, greatly reducing production costs, and at the same time miniaturizing the drill bit and improving tunneling efficiency.

The invention manufactures a more efficient drilling robot by imitating a series of processes such as inflating, extruding, and soil-discharging in nature by imitating certain organisms. The traditional excavation method places too much emphasis on the power of the drill bit, but does not pay attention to the change of the soil environment. As the drill bit goes deeper, the surrounding soil will become more and more solid, and the difficulty of excavation will become greater and greater. In addition, because the further back the excavation is, the more difficult it is, and the more energy consumption is required. The traditional "powerful" drill bit will cause a huge disturbance to the surrounding environment, causing adverse effects on nearby personnel and buildings. Changing the traditional excavation method can not only save costs and reduce energy consumption, but also reduce the disturbance to the surrounding environment. The excavation steps of the device are relatively simple, and are suitable for excavation in loose soil, but not for hard rock.

Description of drawings

Fig. 1 is a schematic diagram of the device structure of the present invention.

Fig. 2 is a control diagram of the vibrator circuit in the present invention.

Fig. 3 is a structural schematic diagram of the mechanical control hand in the present invention.

Fig. 4 is a top view of the stretchable film structure in the present invention.

Fig. 5 is a schematic diagram of the working flow of the mechanical control hand in the present invention.

Fig. 6 is a structural schematic diagram of the compressor in the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the examples.

When the present invention is actually implemented, the multi-stroke drilling device designed based on the principle of bionics mainly includes seven parts: a mechanical control hand, a connecting rod, a telescopic membrane, a compressor, a vibrator, a vertical control part, and a drill bit. The seven parts are connected to each other by sleeve components, among which the sleeve has the characteristics of good sealing, corrosion resistance and good connection.

The mechanical control hand is an important part of the whole device, not only responsible for steering control, but also responsible for anchoring to prevent device slippage and ineffective drilling. In addition, the mechanical control hand also plays an important role in the underground recovery process of the device. The mechanical control hand consists of the following parts: (1C) central control part (including power supply, control circuit, etc.), (1B) external working part (two mechanical control hands, sensors). Among them, the central control part, including sensors, motors, single-chip microcomputers, etc., is responsible for controlling the movement of the entire mechanical control hand. The upper part of the central control part is equipped with (1A) hollow groove, which is mainly responsible for gathering the external working part. A revolving steel trough is installed between the hollow trough and the central control part, so that they can rotate with each other, so that the direction of the external working part of the mechanical control hand is changed, so as to achieve the effect of turning. The external working part is composed of sensors, motors, single-chip microcomputers, rotating shafts, etc. It is mainly responsible for anchoring the device to prevent it from slipping backwards. It is also responsible for controlling the device when it turns, providing a lateral boost at the back to make the device Steer in the direction commanded. At the same time, the central control part is responsible for executing the commands commanded on the ground, such as recovery, power failure, and steering.

The connecting rod is a traditional force transmission component and sleeve component, which is responsible for connecting the mechanical control arm and the drilling equipment below, connecting the vibrator and the compressor, etc. It has a series of characteristics such as strong sealing, good connection, and corrosion resistance. The middle part of the connecting rod is a rigid sleeve, and the two ends are made of elastic rubber rings to buffer vibration and enhance sealing. Inside the rubber ring is a pressure sensor (a) that transmits the signal up to the control computer. At the same time, the connecting rod is covered with a soil layer or a cement layer to prevent scratches on the connecting rod during the drilling process, which will affect the service life.

The stretch film is made of a new type of plastic material, which has the characteristics of strong stretchability, good sealing performance and corrosion resistance. The telescopic membrane is the main component of the entire soil dumping and compacting process, and it is also an innovative feature of the multi-stroke drill designed based on the principle of bionics. The stretch film is mainly composed of two parts, the upper and lower parts are composed of steel strands, which are used to connect closely with the connecting rod to prevent it from falling off during the stretching process. The middle part is composed of two parts: "rib" and "membrane". "Reinforcement" is mainly composed of glass fiber reinforcement (GFRP), carbon fiber reinforcement (CFRP) and aramid fiber reinforcement (AFRP). The "membrane" is mainly composed of high-density polyethylene (HDPE) and polyvinyl chloride (PVC) and other materials with good stretchability. The entire shrink film is divided into four air chambers. When the direction needs to be changed, a certain air chamber will not expand, and the soil in this direction will not be squeezed and deformed, so that the drill bit will deviate and complete the rotation.

The compressor is responsible for controlling the volume of gas inside the stretchable membrane. The compressor in the device adopts a flexible driven piezoelectric piston gas compressor. Mainly consists of (4A) square piezoelectric vibrator, (4B) vibrator bracket, (4C) piston, (4D) piston sleeve, (4E) pump body, (4F) outlet valve, (4G) intake valve, (4H) The middle bracket is composed. Hollow design is adopted around the metal substrate, and its four corners are fixed on the vibrator bracket to reduce the vibration constraint of the vibrator and concentrate the deformation during the vibration process in the hollow area. The piezoelectric ceramic is pasted on the geometric center of the metal substrate, and the four corners of the piezoelectric vibrator Using fixed constraints, the upper and lower surfaces of the piezoelectric ceramics are used as electrodes and an alternating driving voltage is applied. The square piezoelectric vibrator produces periodic reciprocating motion under the action of a sine wave voltage, and its driving frequency is adjusted to be equal to the natural frequency of the compressor system. , so that the compressor moves under the action of resonance. When the alternating electric field acts on the piezoelectric ceramic, the piezoelectric vibrator amplifies its own deformation and outputs displacement and force outward. The gas reciprocating pump chamber constructed by the dynamic sealing effect of the piston and the piston sleeve reduces the dry friction damping between the piston and the piston sleeve and improves the gas driving performance of the compressor. When the piston moves upwards, the gas pressure in the pump chamber decreases and the inlet valve is opened, the outlet valve is closed, and the gas flows into the pump chamber through the inlet; when the piston moves down, the gas pressure in the pump chamber increases and the inlet valve is closed. The gas valve is closed and the gas outlet valve is opened. At this time, the gas is discharged from the pump chamber through the outlet, so that the continuous driving of the gas is realized. The compressor shown in the figure has 4 outlet valves and 4 inlet valves, which are used to control the four air chambers of the stretchable film.

The vibrator is a device responsible for loosening the soil around the drill bit and creating conditions for the next step of soil extrusion. The control circuit of the vibrator is mainly composed of five parts: (DC) DC power supply, (S(n/o)1) control switch, (5A) speed sensor, (5B) vibration generating element and (R1) fixed value resistor composition. When the drill bit is digging downward normally, the switch remains disconnected all the time. The speed sensor has a control function. Once it senses that the speed has dropped to 0, it will automatically close the control switch and disconnect it after a period of time. The vibration generating element has the characteristics of small size, high power, high vibration frequency and large amplitude, and can loosen the soil in a short time. The structure of the shell of the vibrator is similar to that of the connecting rod, but it has more elastic rubber than the connecting rod to prevent damage to other equipment caused by excessive vibration.

The vertical control part is responsible for controlling the drill bit to keep drilling vertically during the drilling process, including: a mounting plate (a drilling hole is opened in the center), the side of the mounting plate close to the drilling hole is fixedly connected with a spring airbag, and the inside of the spring airbag A push rod is fixedly connected, the end of the push rod is fixedly connected with a push plate, the periphery of the push plate is slidably connected with an oil chamber, and a water pipe is provided on the side of the oil chamber, and the water pipe is far away from the side of the oil chamber A chute is fixedly connected, and the inside of the chute is slidably connected with a slider. The end face of the slider is fixedly connected with a rack. The end of the rack far away from the slider is fixedly connected with a return spring. The side of the transmission gear is meshed with a transmission gear, and the side of the transmission gear away from the rack is meshed with a slide bar. The end of the slide bar is fixedly connected with a pressure plate, and the inside of the slide bar is fixedly connected with a positioning rod. Metal contacts are fixedly connected to the end, and a buzzer is fixedly connected to the side of the mounting plate. When the equipment completes drilling in one direction and is ready to change direction, the vertical control part stops working, at the same time the airbag is deflated, and the buzzer is powered off.

The drill bit is a traditional PDC bit or a roller cone bit, which is suitable for soft-hard formations and has the characteristics of small torque and fast transmission. Not suitable for drilling in rock, nor for sampling subsurface soil layers.

A model experimental device for drilling based on the principle of bionics, which consists of 7 parts from top to bottom: mechanical control hand, connecting rod, stretchable membrane, compressor, vibrator, vertical control part, and drill bit. The drill bit part is similar to conventional drilling equipment, and the above-mentioned problems will also be encountered during the drilling process. The vertical control part is responsible for intelligently controlling the direction of the drill bit to keep it vertical during the excavation process. The vibrator is responsible for loosening the compacted soil and creating conditions for the opening of the shrink film. When the shrink film is retracted, it will be tightly attached to the air tank. At the same time, the air pressure in the gas storage tank is very high. With the opening of the gas storage tank, the gas in it will quickly fill the entire shrink film, making the shrink film expand and become larger. Inside the shrink film, the volume can be controlled by the circulation of gas between the gas storage tank and the shrink film, so that the loosened soil can be squeezed out, and the connecting rod is responsible for connecting the equipment. Among them, the mechanical control hand is the most important part, which is mainly responsible for preventing the equipment from retreating as a whole when the shrink film shrinks and relaxes, which leads to ineffective tunneling. At the same time, the mechanical control hand can also control the drilling direction of the drill bit by controlling the depth of insertion in the soil. In the actual excavation process, the excavation method of the equipment can be specifically divided into the following strokes, so as to ensure the continuity of excavation and reduce the effect of disturbing the surrounding environment.

The seven strokes are:

A. During the process of drilling downward, the drill bit (7) first maintains a speed of 1m/s to advance downward, and when the excavation reaches a depth of 20m, stop and continue drilling downward. During the entire excavation process, the vertical control part (6) is always in working condition to keep the device vertically downward for drilling.

B. At this time, the speed sensor (5A) in the vibrator (5) senses the change of the drill bit speed, closes the switch S(n/o)1, and the vibration component (5B) starts to work, and the vibration lasts for 10 seconds. After 10 seconds, the switch S(n/o)1 is opened and the vibration stops.

C. The rubber connection part between the vibrator (5) and the compressor (4) is equipped with a pressure sensor (a). When the pressure sensor senses a gradual decrease in pressure, the compressor (4) and the mechanical control hand (1) ) at the same time start working. The compressor (4) puts part of the gas into the stretch film (3), so that the volume of the stretch film (3) expands to 2m³ within 3 seconds. At the same time, the mechanical control hand (1) starts to work, and the external working part (1B) protrudes from the hollow groove (1A) and is inserted into the soil to prevent the device from slipping backwards. After the stretch film (3) maintains a volume of 2m³ for 1 second, the compressor (4) refills the gas in the stretch film (3), so that the stretch film (3) returns to its original volume, and the gas shrinkage takes about 3 seconds.

D. After the volume of the stretchable membrane is restored, the external working part of the mechanical control hand (1) shrinks back into the hollow groove within 2s, and the drill bit starts working again.

If the device needs to change its direction, it needs the joint action of the four parts of the stretchable film (3), the compressor (4), the vertical control part (6) and the mechanical control hand (1). If during the excavation process, there is a situation that needs to deviate in a certain direction, the vertical control part (6) will stop working, and at the same time the compressor (4) will stop exhausting the air chamber in a certain direction, so that the air chamber The volume of the chamber remains constant so that the soil in this direction is not squeezed out. At the same time, after the internal control part of the mechanical control hand (1) receives the rotation command, it will control the extension length of the external working part (1B), and at the same time make the external working part (1B) generate a lateral thrust to control the overall movement of the drill bit. offset.

Although the present invention has been described in detail with general descriptions and specific embodiments above, it is obvious to those skilled in the art that some modifications or improvements can be made on the basis of the present invention. Therefore, the modifications or improvements made on the basis of not departing from the spirit of the present invention all belong to the protection scope of the present invention.

Claims (6)

1. A multi-stroke drilling device based on the principle of bionics, characterized in that: it includes a mechanical control hand connected in sequence, a connecting rod, a telescopic film, a compressor, a vibrator, a vertical control part, a drill bit, and the mechanical control hand includes a center The control part and the external working part, the central control part is responsible for controlling the movement of the entire mechanical control arm, the built-in control system is used to receive instructions from the command part on the ground, and the external working part is responsible for anchoring the device and controlling it when the device turns. Provide a lateral boost to make the device turn in the direction of the instruction. The connecting rod is responsible for connecting the mechanical control hand and the drilling equipment below, connecting the vibrator and the compressor. The upper and lower parts of the stretchable membrane are composed of steel strands. It is used to be closely connected with the connecting rod. The middle part is composed of ribs and membrane. The ribs are composed of glass fiber ribs, carbon fiber ribs and aramid fiber ribs. The membrane is made of high-density polyethylene, polyvinyl chloride and a good Made of stretchable materials, the entire shrink film is divided into four air chambers. When the direction needs to be changed, a certain air chamber will not expand, and the soil in this direction will not be squeezed and deformed, so that the drill bit will not be deformed. After the deflection completes the rotation, the compressor is responsible for controlling the volume of the gas in the telescopic membrane, the vibrator is responsible for loosening the soil around the drill bit, and the vertical control part is responsible for controlling the drill bit to maintain vertical drilling during the drilling process. The drill bit is a PDC bit or tooth wheel bit. 2. A bionics-based multi-stroke drilling device according to claim 1, characterized in that: the central control part includes a sensor, a motor and a single-chip microcomputer, and the upper part of the central control part is equipped with a hollow groove, which is responsible for Gather the external working part, and a revolving steel channel is installed between the hollow groove and the central control part to make them rotate with each other, so that the direction of the external working part of the mechanical control hand is changed to achieve the effect of turning, and the external working part It is partly composed of sensors, motors, single-chip microcomputers, and rotating shafts. 3. A bionics-based multi-stroke drilling device according to claim 2, characterized in that: the connecting rod is a force transmission component and a sleeve component, the middle part of the connecting rod is a rigid sleeve, Both ends are made of elastic rubber rings. Pressure sensors are installed inside the rubber rings, which are responsible for transmitting signals upward to the control computer. The connecting rods are covered with soil or cement layers. 4. A bionics-based multi-stroke drilling device according to claim 3, characterized in that: the compressor is a flexible-driven piezoelectric piston gas compressor, including a square piezoelectric vibrator and a vibrator bracket , piston, piston sleeve, pump body, air outlet valve, air inlet valve and intermediate support, hollow design is adopted around the metal substrate, and its four corners are fixed on the vibrator bracket to reduce the vibration constraint of the vibrator and concentrate the deformation during the vibration process In the hollow area, the piezoelectric ceramic is pasted on the geometric center of the metal substrate. The four corners of the piezoelectric vibrator are fixed and constrained, and the upper and lower surfaces of the piezoelectric ceramic are used as electrodes and an alternating driving voltage is applied. The square piezoelectric vibrator is under the action of a sine wave voltage Generate periodic reciprocating motion, adjust its driving frequency to make it equal to the natural frequency of the compressor system, so that the compressor moves under the action of resonance; when the alternating electric field acts on the piezoelectric ceramic, the piezoelectric vibrator will amplify its own deformation The displacement and force are output outward; the gas reciprocating pump chamber constructed by the dynamic sealing effect of the piston and the piston sleeve reduces the dry friction damping between the piston and the piston sleeve; when the piston moves upward, the gas pressure in the pump chamber decreases And drive the inlet valve to open and the outlet valve to close, at this time the gas flows into the pump chamber through the inlet; when the piston moves down, the gas pressure in the pump chamber increases and the inlet valve is closed and the outlet valve is opened, at this time the gas is discharged through the outlet The pump chamber, thus realizing the continuous driving of gas. 5. A bionics-based multi-stroke drilling device according to claim 4, characterized in that: the control circuit of the vibrator includes a DC power supply, a control switch, a speed sensor, a vibration generating element and a fixed value resistor , when the drill bit is normally digging downwards, the switch is always disconnected. The speed sensor has a control function. Once it senses that the speed drops to 0, it will automatically close the control switch. After a period of time, it will be disconnected. The shell of the vibrator and the connection Compared with the rod, it has more elastic rubber. 6. A bionics-based multi-stroke drilling device according to claim 5, characterized in that: the vertical control part includes a mounting plate, and the side of the mounting plate close to the drilling hole is fixedly connected with a spring air bag, The inside of the spring airbag is fixedly connected with a push rod, the end of the push rod is fixedly connected with a push plate, the periphery of the push plate is slidably connected with an oil chamber, and a water pipe is provided on the side of the oil chamber, and the water pipe The side away from the oil chamber is fixedly connected with a chute, the inside of the chute is slidably connected with a slider, the end face of the slider is fixedly connected with a rack, and the end of the rack far away from the slider is fixedly connected with a return spring , the side of the rack is meshed with a transmission gear, the side of the transmission gear away from the rack is meshed with a slide bar, the end of the slide bar is fixedly connected with a pressure plate, and the inside of the slide bar is fixedly connected with a positioning rod , the end of the positioning rod is fixedly connected with a metal contact, and the side of the mounting plate is fixedly connected with a buzzer. When the equipment completes drilling in one direction and is ready to change the direction, the vertical control part stops working, and the airbag Deflate, the buzzer will be powered off.

Images