The world is paying attention to finding new energy resources. To achieve this concerning, drilling technologies are being researched and developed for efficient exploration. Since new energy resources are widely distributed in the shallow depth, existing drilling equipment is not suitable for use in the shallow area due to the huge size and the need for additional equipment. Therefore, the development of small embedded drilling system is required for efficient exploration in the soft and low depth. Locomotion and locking mechanisms are needed to manufacture an integrated embedded drilling system using the bio-inspired drilling and debris removal modules. The shape of the excavated hole using the developed drilling module is circular. Therefore, the link structures, sliding blocks, and springs are applied to the three-point support wheel mechanism that is generally used for the movement of pipe inspection robots.