JPH0816430B2 - Automatic boring device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a boring device mainly used for drilling a dam grout hole and geological survey, etc. by incorporating a microcomputer into the device to drill an unknown underground. However, the present invention relates to an automatic boring device which detects various data, sets optimum conditions instantaneously by a program written in a ROM in advance, and digs a preset depth.

[Conventional technology]

Conventional boring devices are manually operated by an operator so that values such as the number of rotations of a drill rod, bit load, bit torque, feed rate, and circulating water pressure are optimal for geological conditions. If there is harmful gas, radiation, etc. at the point to be dug, install the boring device body at the dug site, place a remote control device in a good working environment, and connect a cable between them. It was controlled remotely by.

[Problems to be solved by the invention]

However, drilling a boring hole by an operator's manual operation has a large difference in reliability and efficiency depending on the skill and skill of the operator. Further, in the case of remote control, a long multi-core control cable is required, and speeding up the response procedure when encountering a site in a different stratum during excavation is still unsolved.

Further, when the rod change is manually performed, it takes a considerable time for this.

The present invention has been made in view of the above-mentioned circumstances, and for the purpose of improving the efficiency of drilling work, all the operations required for drilling are automated (automatic drilling and automatic lifting and lowering of the rod,
(Detachment, storage work is automated) and its efficiency and reliability are maintained at the level of highly skilled operators.
It is intended to provide an automatic boring device for excavating by dealing with an unknown phenomenon in the ground and an unexpected situation.

[Means for solving problems]

Therefore, the automatic boring device of the present invention includes (a) means for detecting the pressure of the oil pump, and upper and lower pressures of the feed cylinder, and (b) means for detecting the circulating water pressure and the circulating water amount, respectively. (C) means for detecting the rotational speed of the oil motor of the drill head, (d) means for detecting the position of the drill head moving forward and backward in the drilling direction via a chain connected to the feed cylinder, (e) ) Means for calculating bit load from the upper pressure and lower pressure of the advancing cylinder, (f) Means for calculating bit torque from the oil pump pressure, (g) Advancing speed from advancing position and time of advancing cylinder (H) means for detecting the rotation angle of the rod magazine, (i) means for detecting the presence of a drill rod on the rod magazine, (j) bit type, bit diameter and drilling A means for presetting the maximum water pressure and minimum water amount of the length and drilling pump with the keyboard, and (k) calculating the desired drilling conditions from the preset values, and determining the drill rod speed, bit load, bit torque, and feed. A means for judging the drilling conditions such as the advancing position, the feed speed, the water amount and the water pressure of the drilling pump, and sending a control signal, (l) A control signal for exchanging the drill rod from the rotation angle of the rod magazine and the presence of the rod. Means for sending out, (m) a control valve for converting the control signal into a pressure oil signal, (n) an oil motor driven by the hydraulic signal, an oil pump and a hydraulic cylinder.

[Action]

Since all operations required for drilling are automated, it is possible to instantly set and dig the optimum conditions corresponding to changes in the conditions of the formation.

〔Example〕

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a schematic explanatory view of the present invention, in which a drill unit 1,
It comprises a drilling pump 2, a control unit 3, a power unit 4 and a drilling recorder 8, and the drilling recorder 8 comprises a data logger 9 and a data processing computer 10. The drilling pump 2 and the drill head 5 of the drill unit 1 are connected by a water hose 6, and the power unit 4 is connected by a hydraulic hose 7 to the hydraulic equipment of the drill unit 1. Drill unit 1
The switch box 11 and the switch box of the power unit 4 and the switch box 11 and the switch box 2a of the drilling pump 2 and the control unit 3 are connected by cables, respectively, and the control unit 3 and the data logger 9 are connected to each other. Cables are connected between them.

10 is a magnetic disk on which data is recorded by the data logger 9.
This is a data processing computer that sets 9a, processes data, and prints out. 11 is a switch box of the drill unit 1, installed in the drill unit 1,
It contains a CPU unit consisting of a computer boat, a control interface, and a measurement interface shown in Fig. 13. The control unit 3 also houses the CPU unit shown in FIG.

The drill unit 1 has the structure shown in FIG. 2, FIG. 2 (a) is a front view, and FIG. 2 (b) is a side view.

In the figure, 13 is a drill head frame, which supports the drill head 5 so as to move vertically along a guide rod 14 and slides the drill head 5 to the right (toward the rod magazine 12) by means of a shift cylinder 13a. In order to move the drill head frame 13 up and down together with the drill head 5, a pair of sprockets 15a, 15b are provided above and below the feed cylinder 15, and a pair of sprockets 16a are provided on the upper frame 16 and the lower frame 17, respectively. , 17
A chain 18 is hung through a, and both ends of the chain are fixed to the upper frame 16 and the upper end of the drill head frame 13 and the lower frame 17 and the lower end of the drill head frame 13, respectively (see FIG. 18 (b)).

By driving the advancing cylinder 15, the advancing cylinder 15 moves up and down, and therefore the drill head 5 moves down and up.

A rotary encoder (not shown) is attached to the shaft of a sprocket 16a provided on the upper frame 16 of the drill head 5.
E1) is attached, and the signal generated as shown in Fig. 18 (b) is input to the high-speed UP / DOWN counter board of the CPU unit, and the feed position S is set on the drill unit CPU unit (Fig. 13). , The advance speed SV is calculated from the relationship between the advance position and time. Further, as shown in FIG. 8 (a), the feed cylinder 15 has strain gauge type pressure transducers at both ends.
PS1 and PS2 are attached, and the generated signal is a pressure gauge amplifier
It is input to the A / D conversion board of the drill unit CPU unit via A1 and A2, and the bit load BL is calculated from the supply pressures P1 and P2 in the drill unit CPU unit.
A rod magazine 12 is rotatably supported on the right side of the lower frame 17 when viewed from the front. The lower flaille
17, a drill head 5 supported on 17, a rod magazine 12,
As shown in FIG. 2 (b), the feed cylinder 15 and the like are tilted as a chain line by the raise cylinder 19 as they are, and as shown in FIG. 2 (a), by the swing cylinder 20 as a unit. It tilts 45 ° to the left and right like the chain line. Therefore, the inclined hole can be drilled. Reference numeral 21 is a valve unit provided with a control valve for control.

A variable oil motor 5a for rotating a spindle is attached to the drill head 5, and a rotary concoder (RE2 in FIGS. 15 and 16) is attached to the upper end of the shaft of the oil motor 5a.
Is attached, the frequency f is Fv converted as shown in FIG. 17 (b), then A / D converted and input to the CPU unit,
The CPU unit calculates N when the drill rod rotates. The oil motor 5a controls the rotation speed by the angle of the swash plate. The angle of the swash plate is as shown in FIG. 17 (a).
The control signal (υ _m ) D / A converted by the CPU unit is V → I converted (I ₁ ) by the proportional amplifier and input to the electromagnetic proportional solenoid Sm (Figs. 15 and 16) of the oil motor 5a. , Move the swash plate to control the rotation speed. The variable oil pump 4a shown in FIG. 17 (a) is attached to the power unit 4 of FIG. 1, and is D / A converted (υp) by the D / A conversion board of the CPU unit.
Oil is converted from V to I (I ₂ ) by a proportional amplifier
Input to 4a electromagnetic proportional solenoid Sp (Fig. 16) and move the swash plate to control the rotation speed. The pressure sensor (PS3) shown in FIG. 17 (a) is a strain gauge type pressure transducer for detecting the torque of the bit and is shown in FIGS. 15 and 16. The analog signal detected by the pressure sensor (PS3) passes through the pressure gauge amplifier and becomes C
It is input to the A / D conversion board of the PU unit, and the CPU unit calculates the bit torque T from the pressure P3. When controlling the bit rotation speed (oil motor 5a rotation speed), first, the angle of the swash plate of the oil motor 5a is maximized to maximize the torque, the oil pump 4a increases or decreases the rotation, and the oil pump 4a cannot be adjusted. In this case, the bit rotation speed is adjusted by the angle of the swash plate of the oil motor 5a.

In FIG. 2, 22 is a rod holder and 23 is a rod breaker, which are shown in FIGS. 3 and 4, respectively. The rod holder 22 shown in FIG. 3 is constructed such that the outer periphery of the drill rod 24 is tightened by the chuck piece 22a, and the rod breaker 23 shown in FIG.
Tighten or loosen the threaded joint of the drill rod 24 located between 22 and the rod breaker 23. In FIG. 3, reference numeral 22b is a hydraulic cylinder, and the piston rod 22c is fixed to the lower frame 17 by nut tightening. When the hydraulic cylinder 22b is moved up and down by hydraulic pressure, the chuck piece 22a tightens the drill rod 24 through the tapered surface 22d. Or open. Further, in FIG. 4, 23a is a piece, 23b is a clamping cylinder, and 23c is a breaking cylinder. The clamping cylinder 23b is operated to grip the drill rod 24, and the breaking cylinder 23c is extended or contracted. The drill rod 24 is rotated leftward or rightward, and the threaded joint of the drill rod 24 located between the rod holder 22 and the rod breaker 23 is attached or detached as described above.

5, 6, and 7 constitute the rod magazine 12 with the rod change drive unit 25, the rod changer turntable 26, and the rod changer upper grip 27 shown in FIG. 2, respectively.

During drilling, the rod magazine 12 stores a spare drill rod in the rod changer turntable 26, and an angle corresponding to one spare drill rod stored therein. The rod changer turntable 26 is provided with a rod chuck 26a that rotates the oil motor 25a and holds the lower end of the spare rod so that the drill head 5 moved from the drilling position connects the spare rod. Further, the rod magazine 12 performs an operation opposite to that during digging at the time of collecting the drill rod after completion of digging. The rod changer turntable 26 stores one used rod with the threaded joint separated after pulling up the rod at the digging position.

The operation is described in FIGS. 8 and 9 described later.

FIG. 5 shows a rod changer drive unit 25, 25a is a hydraulic motor, RE3 is a rotary encoder attached to the motor shaft, which is connected to the CPU unit, and moves a drill rod to control the rotation of the rod changer turntable 26. . The hydraulic motor 25a and the rod changer turntable 26 are connected via a gear as shown.

Further, a photoelectric switch LS2 (Figs. 15 and 16) for rod detection is provided to confirm the presence of the drill rod.

FIG. 6 shows the rod changer turntable 26,
The drill head 5 moved to the position on the rod magazine 12 is equipped with a rod chuck 26a for attaching and detaching the drill rod 24 on the rod changer turntable 26,
The hydraulic cylinder 26b is operated, and the chuck rod 26c grips and releases the drill rod 24.

FIG. 7 shows the rod changer upper grip 27,
The rod changer upper grip 27 is located above the rod changer turntable 26, and elastically biases the inner ends of the pair of hold arms 27d, 27d with the pin 27a as a fulcrum outward with a spring 27b. Roller-shaped cam followers 27c, 27c are pivotally supported at the outer ends, and the structure is such that the drill rod 24 can be detached in the outward arrow B direction by overcoming the resistance of the spring. In order to manually remove the drill rod 24, the drill rod 24 is lifted and pulled outward so that the cam followers 27c, 27c elastically supported are opened and the drill rod 24 can be removed.

Next, the process of connecting the drill rod by the rod magazine 12 and storing the drill rod will be described.

FIG. 8 shows a drill rod connecting step. When digging, the rod breaker 23 and the rod holder 22 are opened, and when one digging is completed, the rod breaker 23 and the rod holder 22 are closed and the rod breaker 23 makes a screw connection. Loosen and drive the drill head 5 to remove the screw joint. Move the drill head 5 back (up), slide the drill head 5 together with the drill head frame 13 (Fig. 2) toward the rod magazine 12, and activate the rod chuck 26a (Fig. 6) of the rod changer turntable 26. The spare drill rod 24 is attached to the drill head 5 by grasping the spare drill rod 24 at the lower end, connecting the screw joint at the upper end of the spare drill rod 24, retracting the drill head 25, and then sliding the drill head 5 to the drilling position. Connect the screw joint at the lower end of the drill rod 24 to the ground drill rod and start drilling again.

FIG. 9 is a rod storing process diagram after completion. After completion of digging, the rod breaker 23 and the rod holder 22 are opened, the drill rod 24 is pulled up, the lower end of the drill rod 24 is separated, the drill head 5 is slid, and the rod magazine. After storing the drill rod 24 in 12, the stored drill rod 24 is separated, the drill head 5 is slid to the digging position, the drill head 5 is moved forward (down), and the bracing joint is connected to the ground drill rod. . After that, the same operation is repeated to store the drill rod 24 in the rod magazine 12. Manually remove the stored drill rods during operation before the rod magazine 12 is filled with the removed drill rods 24.

FIG. 13 is a CPU unit system diagram attached to the switch box 11 of the drill unit 1, and FIG. 14 is a controller CPU unit system diagram attached to the control unit 8. The serial board 28 shown in FIG. 13 and the serial board 29 shown in FIG. 14 are connected by a cable 30 as shown in FIG.

As shown in the drill unit cable connection diagram of FIG. 15, the limit switch LS1 (which operates at the origin position when the drill head 5 is raised to the upper end) and the photoelectric switch LS2R / LS2T (switches to the switch box 11 of the drill unit 1) Confirm the existence of rods stored in rod magazine 12) and RE3
(Rod changer turntable rotation) is connected to the 16-point input board 32 of the CPU unit shown in FIG. 13, and the rotary encoder RE1 (feed position and feed speed) is high speed UP / DOWN of the CPU unit shown in FIG. Connected to the counter board 31, pressure sensor PS1 (feed cylinder forward pressure P1), pressure sensor PS2 (feed cylinder front depressurization P2), pressure sensor PS3
(Bit torque T), pressure sensor PS4 (acceleration pressure) and pressure sensor PS5 (drilling pump water pressure) are first
3 Connected to the A / D conversion board 33 of the CPU unit shown in the figure,
Further, a rotary encoder RE2 (spindle (drill rod) speed N) is connected to the high speed UP / DOWN counter board 34 shown in FIG.

The signals input by the limit switch, photoelectric switch, rotary encoder and pressure sensor are calculated in the CPU unit shown in FIG.
The motor rotation control (water volume control) is performed by the inverter, and the electromagnetic proportional relief valve Sb (for bit load control) and the relief valve Sr are passed through the electromagnetic proportional valve amplifier 35 shown in FIG.
(For torque control), output to solenoid Sm (for controlling spindle speed N) of oil motor 5a, electromagnetic proportional flow control valve Ss (for controlling feed speed SV) and flow control valve Sf (for floating) for control I do. Similarly, the signal calculated in the CPU shown in FIG. 13 passes through the SSR and the relay 36, and then the solenoid valve and the actuator 3
7, namely solenoid valve SO (unload), S1 (holder), S2 (breaker (clamp)), S3 (breaker (break)), S4 (slide drill head frame 13), S5 (rod changer) Rotation of turntable 26), S6 (clamp by rod chuck 26a), S7 (spare), S8 (floating drill head 5), S9 (feed), S10 (fast-forward), and S11 (saw). It is output to the oil motor 5a) for control.

The above control is performed by inputting a predetermined numerical value in the case of automatic operation or the type of operation in the case of manual operation to the keyboard 38 (the structure is shown in FIG. 10) of the control unit 3 shown in FIG. . If you are driving, enter the operation documents. The drilling monitoring items and abnormal alarm items during operation are displayed on the dot matrix LCD module (liquid crystal display unit) 40 via the LCD control board 39 of the control unit 3 as shown in FIG.

As shown in FIG. 10, the keyboard 38 is provided with an automatic driving key 38a and a manual driving key 38b.

For automatic drilling, first enter the bit type, bit diameter, drilling length, maximum water pressure, and minimum water volume with the key 38a.
The number of bits is defined as 1 to 9 in the order of metal bit, diamond core ring, and non-core bit, and the subsequent button and then the set button are pressed. If the bit diameter (mm) is the corresponding number, for example 38 mm, press buttons 3 and 8 and then the set button. The digging length is the desired length (cm)
Button and then the set button. For maximum water pressure, press the desired number of buttons (kg / cm ² ) and then the set button. For minimum water pressure, press the desired number of water (/ min) buttons and then the set button. If you press the automatic digging button, automatic digging will start.

Then, the automatic control during the drilling by the above-mentioned automatic drilling is performed by setting the bit type (for example, 5) and the bit diameter (for example, 38), the number of rotations of the drill rod N (rpm), the bit load BL (kg), and the feeding speed. SV (kg / cm ³ ) is automatically selected, and the drill rod speed N, bid load BL, and drilling pump water volume are automatically controlled to maintain standard values.

In the case of manual excavation, the manual excavation button is first pressed, and then a predetermined button of the manual operation key 38b is pressed to perform the manual operation.

Flow charts for automatic drilling are shown in FIGS. 11 and 12. Since FIG. 11 describes the contents of the system monitoring of the step of FIG. 12 as the monitoring of the excavation state and the contents of the abnormality display in the operation stop abnormality display of the step, the description thereof will be omitted.

In FIG. 12, when the button for starting automatic drilling is pressed, it is confirmed in step whether the drill rod is connected and the start position is stored. Perform AD1 (advance until the bit reaches the boring hole) in step. That is, the drill head 5 advances at a rotation speed N = 60 rpm and a bid load BL = 70 kg or less. In the step, it is judged whether or not the bottom is reached, the process returns to the step in the case of NO and the drill head 5 continues to move forward at a rotation speed of 60 rpn and a bit load of 70 kg.
If YES, go to step and set the amount of water in the drilling pump 2 to the set amount of water, output the bit torque T to the maximum torque, and set the drill rod speed N to 40% of the standard speed.
Then, set the feeding speed VS to the maximum value of 90 cm / min and start digging in steps. The system is monitored during the drilling step (monitoring the drilling condition in Fig. 11), and the process proceeds to the step, where "rotation impossible, torque limit or more, motor overload, oil temperature 80 ° C or more, excavation speed abnormality, If it is equal to or higher than the water pressure limit of the drilling pump or the same water amount is abnormal ", proceed to step and display an error on the dot matrix LCD module 40 of the control unit 3 to stop the operation.
If it is judged to be normal in the above step, proceed to the step, if there is a change in rock quality, proceed to the step, proceed to step if "hard → soft", proceed to the step as water volume up, torque up and bit load decrease, In the case of “soft → hard”, the process proceeds to the step, and the water amount and the rotation speed are brought close to the standard values, and the process proceeds to the step. If there is no rock quality change in the above step,
Directly go to the step to adjust the rotation speed (approach the rotation speed to the standard value within the range where overload does not occur) and then go to the step. Here, the torque is adjusted (if the system is likely to be overloaded under the current drilling conditions, the rotation speed of the drill rod is reduced and the maximum value of the bit torque is increased), and the process proceeds. Adjust the bit load BL here (when the system is normal, increase the bit load BL according to the difference between the standard value and the current value, and when the system capacity approaches the limit and the excavation speed SV is twice the standard value. If it exceeds, lower it) and proceed to the step. Here, adjust the amount of water (control within the range of ± 20% of the set amount of water) and proceed to the step. Adjust the advance speed SV here (limit the maximum speed depending on the condition of the rock and prepare for sudden changes in the rock),
Proceed to step and predict jamming (load torque 50kg-m
Above, if the bit load BL is 20% or less of the standard value or the output horsepower is 15PS or more) is NO, proceed directly to the step.
If YES, perform jamming support in the step (temporarily stop the feeding, move the bit a little from the bottom of the hole and restart the excavation with a low bit load BL if it is within the system capacity) and proceed to the step to determine whether it can be restarted If NO, proceed to step and display an error and stop operation, but if YES, proceed to step to determine the bit life (regarding normal conditions but excavation speed VS = O), and if bit life, go to step If the error is displayed and the operation is stopped but the bit has not reached the end of life, go to step. Judge the rod vibration here, and if there is no vibration, proceed to the step, but if there is vibration (variation of 2Hz or more), lower the drill rod speed N by 15% and the bit load BL by 20% to reach the limit or limit in step. If it is within the limit, the process proceeds to step and the operation is stopped by displaying an error, or if it is within the limit, the process proceeds to step. Here, it is judged whether or not the operation length is completed, and if it is completed, the operation proceeds to the step to stop the excavation and the completion is displayed, but if the operation length is not completed, the operation proceeds to the step and it is determined whether or not the stroke is completed. In the case, the rod magazine 12 is driven to join the drill rods, and the process returns to the step to resume the excavation. When it is judged that the stroke is not completed in the step, the system monitoring of the step is returned to continue the excavation.

The data processing computer 10 in FIG. 1 is a combination of a microcomputer and a printer, and records data from the control unit 3 on a floppy disk of the data logger 9, and the floppy disk 9a is used by the microcomputer of the data processing computer 10. It is set, and excavation records and daily reports are created.

〔The invention's effect〕

According to the automatic boring device of the present invention described in detail above, it is possible to dig in an optimum state for geological conditions,
Since everything from digging to rod replacement is performed automatically, even an inexperienced operator can operate several boring devices by himself, improving digging efficiency and saving human rights costs. Further, it becomes possible by installing the excavation control unit in a place where the working environment is bad, by separating the control unit.

[Brief description of drawings]

FIG. 1 is a layout view showing an embodiment of the present invention, FIGS. 2 (a) and 2 (b) are front and side views of a drill unit of the same embodiment, and FIGS. 3 (a) and 3 (b). ) Is a plan view and a longitudinal sectional view, respectively, partially crossing the rod holder of the same embodiment, FIG. 4 is a plan view of the rod breaker of the same embodiment, and FIG.
FIG. 6 is a vertical sectional view of a rod changer drive unit of the same embodiment, and FIGS. 6 (a) and 6 (b) are a plan view and a sectional view taken along line AA of the rod changer turntable of the same embodiment, respectively.
FIG. 8 is a plan view of a rod changer upper grip of the same embodiment, FIGS. 8 and 9 are drill rod connection process diagrams and drill rod storage process diagrams of the same embodiment, and FIG. 10 is a keyboard diagram and FIG. 11 respectively. And FIG. 12 is an automatic operation flowchart of the same embodiment, and FIG. 13 is for the drill unit of the same embodiment.
Electronic circuit diagram of the CPU unit, FIG. 14 is an electronic circuit diagram of the CPU unit for the controller of the same embodiment, FIG. 15 is a cable connection diagram of the sensor / limit switch and actuator of the same embodiment, and a drill unit, FIG. 16 Is a hydraulic system diagram of the embodiment, FIG. 17 (a) is an explanatory diagram of bit torque measurement and oil motor and oil pump speed control of the embodiment, and FIG. 17 (b) is a diagram of the oil motor of the embodiment. Explanatory drawing of rotation speed measurement and rotation speed control of oil motor, FIG. 18 (a)
Is an explanatory view for measuring the upper pressure and the lower pressure of the feed cylinder (feed cylinder) of the same embodiment, and FIG. 18 (b) is the position and feed speed of the feed cylinder (feed cylinder) of the embodiment. FIG. 1 ... drill unit, 2 ... drilling pump, 3 ... control unit, 4 ... power unit, 4a ... oil pump, 5 ... drill head, 5a ... oil motor, 8 ... drilling recorder, 9 ... Data logger, 9a ... Floppy disk, 10 ... Data processing computer, 12 ... Rod magazine, 15 ... Feed cylinder, 15a, 15b ... Sprocket, 16a ... Sprocket, 17a ... Sprocket, 18,18a , 18b …… Chain, 21 …… Valve unit, 24 …… Drill rod, 36 …… SSR, Relay, 37 …… Solenoid valve, Actuator, 38 …… Keyboard, 40 …… Dot matrix LCD module.

 ─────────────────────────────────────────────────── --- Continuation of the front page (72) Inventor Satoru Okamida 849 Matsudome, Uenohara-cho, Kitatsuru-gun, Yamanashi Prefecture (72) Inventor Yukio Okawa 5-17-3 Shimoda-cho, Kohoku-ku, Yokohama-shi, Kanagawa (72) Inventor Aoyama Chang City, 4-23-5 Nagasawa, Tama-ku, Kawasaki City, Kanagawa Prefecture (56) Reference JP-A-50-37602 (JP, A) JP-A-54-82803 (JP, A) JP-A-55-119885 (JP, A) JP-A-59-4793 (JP, A)

Claims (1)

[Claims] 1. A means for detecting the pressure of an oil pump, and an upper pressure and a lower pressure of a feed cylinder, respectively, (b) a means for detecting a circulating water pressure and a circulating water amount, and (c) a drill. Means for detecting the number of revolutions of the oil motor of the head, (d) means for detecting the position of the drill head that advances and retracts in the direction of digging through a chain connected to the feed cylinder, (e) of the feed cylinder Means for calculating bit load from upper pressure and lower pressure; (f) means for calculating bit torque from oil pump pressure; (g) means for calculating feed speed from the feed position of the feed cylinder and time; (H) means for detecting the rotation angle of the rod magazine, (i) means for detecting the presence of a drill rod on the rod magazine, (j) bit type, bit diameter, drilling length, and maximum water of the drilling pump. And a means for presetting the minimum amount of water with a keyboard, and (k) calculating a desirable drilling condition from the preset value, drill rod rotation speed, bit load, bit torque, feed position, feed speed, Means for determining a drilling condition such as water amount and water pressure of the drilling pump and transmitting a control signal, (l) Means for transmitting a control signal for exchanging a drill rod based on the rotation angle of the rod magazine and the presence of the rod, (m) An automatic boring device comprising: a control valve for converting the control signal into a hydraulic signal; (n) an oil motor driven by the hydraulic signal, an oil pump, and a hydraulic cylinder.