Based on the actual needs of large drilling spacing, and frequent long-distance relocation of drilling rigs in coal mine underground construction, as well as the need for remote control function, a research idea of compact layout and modular design of each unit of rubber wheel directional drilling rig was adopted to solve key technical development problems, such as independent walking rubber wheel chassis, multi power output units, hydraulic system, and electrical control system. After whole machine was processed and assembled, load testing was simulated on the drilling performance test bench of the National Safety Production Inspection Center. The experiment shows that all functional parameters of the drilling rig meet the design requirements. The ZDY3500JDK rubber tyre directional drilling rig developed for coal mine meets demand for long-distance autonomous relocation underground, greatly improving the production and transportation efficiency of mine, and providing reliable equipment support for drilling construction operations in large and medium-sized mines with trackless rubber tyre transportation.