Control method and control system for preventing toppling of mast and rotary drilling rig

Abstract

The invention discloses a mast toppling prevention control method and system and a rotary drilling rig. The control method comprises the steps that the inclination angle of a mast on a main machine and the position of a power head on the mast are obtained; according to the inclination angle between the mast and the main machine and the position of the power head on the mast, the actual gravity center position of the mast assembly is calculated; the actual center-of-gravity position of the mast assembly is compared with a preset center-of-gravity position, and when the actual center-of-gravity position of the mast assembly is located in a safe position area of the preset center-of-gravity position, the rotary drilling rig works normally; and when the actual center-of-gravity position of the mast assembly is located in the overrun position area of the preset center-of-gravity position, the rotary drilling rig stops working and controls the actual center-of-gravity position of the mast assembly to restore to the safe position area. Overturning accidents caused by overload, wind power and the like are effectively prevented, and the safety of operators and the surrounding environment is guaranteed. And the repair cost caused by equipment damage and economic losses such as various compensation caused by accidents are avoided.

Description

Technical Field

[0001] The invention relates to the technical field of engineering machinery, and in particular to a mast anti-dumping control method and control system, and a rotary drilling rig. Background Art

[0002] A rotary drilling rig is a construction machine suitable for drilling holes in building foundation projects. It is mainly suitable for the construction of sandy soil, clay soil, silty soil and other soil layers. It is widely used in various foundation construction projects such as bored piles, continuous walls and foundation reinforcement. It generally adopts a hydraulic crawler telescopic chassis, a self-lifting and foldable drill mast, a telescopic drill rod, automatic vertical detection and adjustment, digital display of hole depth, etc. The whole machine is generally operated with hydraulic pilot control and load sensing, and is easy and comfortable to operate.

[0003] The mast of the rotary drilling rig is relatively long, and the power head of the rotary drilling rig can move on the mast. At present, the lifting height of the power head of the rotary drilling rig and the mast tilting angle of the mast are only controlled by the operator's experience. There is a possibility that the rotary drilling rig will tip over due to the power head lifting position being too high, the mast tilting angle being too large, and the center of gravity of the mast exceeding the limit. The tipping of the rotary drilling rig may cause damage to the equipment itself, and there is a safety risk of injuring the operator, other people around, and surrounding facilities. It will also require the equipment to be stopped for repairs due to equipment problems, which will directly affect the work progress and efficiency, and ultimately cause huge economic losses. Summary of the invention

[0004] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the present invention is to provide a mast anti-dumping control method and control system, and a rotary drilling rig, so as to solve the problem that the rotary drilling rig in the prior art cannot be prevented from dumping.

[0005] The purpose of the present invention is achieved through the following technical solutions: The present invention provides a mast anti-dumping control method, comprising: Obtaining the inclination angle of the mast on the main engine and the position of the power head on the mast; Calculating the actual center of gravity position of the mast assembly according to the inclination angle between the mast and the main engine and the position of the power head on the mast; The actual center of gravity position of the mast assembly is compared with the preset center of gravity position. When the actual center of gravity position of the mast assembly is within the safe position area of ​​the preset center of gravity position, the rotary drilling rig operates normally. When the actual center of gravity position of the mast assembly is within the over-limit position area of ​​the preset center of gravity position, the rotary drilling rig stops operating and controls the actual center of gravity position of the mast assembly to return to the safe position area.

[0006] Furthermore, the safety position area has a warning position area, and the warning position area is close to the over-limit position area; When the actual center of gravity position of the mast assembly is located within the warning position area, an early warning signal is issued.

[0007] Furthermore, the control method includes: Obtaining the position of the drill rod on the mast; The actual center of gravity position of the mast assembly is calculated according to the inclination angle between the mast and the main engine, the position of the power head on the mast, and the position of the drill rod on the mast.

[0008] The present application also provides a mast anti-dumping control system, which is used for the mast anti-dumping control method as described above, wherein the control system comprises a controller, a mast inclination sensor, a power head position sensor, a main engine, a mast cylinder assembly and a first hoisting system, wherein the controller is electrically connected to the mast inclination sensor, the power head position sensor and the main engine respectively, and the mast cylinder assembly and the first hoisting system are both connected to the main engine; The mast inclination sensor is used to detect the inclination angle of the mast on the main engine, and the power head position sensor is used to detect the position of the power head on the mast. The main engine controls the inclination angle of the mast on the main engine through the mast cylinder assembly and controls the position of the power head on the mast through the first winch system.

[0009] Furthermore, the power head position sensor is a first hoisting encoder in the first hoisting system, and the first hoisting encoder is used to obtain the contraction length of the first rope of the first hoisting system, and calculate the position of the power head on the mast according to the contraction length of the first rope.

[0010] Furthermore, the control system includes a second winch system and a drill rod position sensor, both of which are electrically connected to the controller, and the drill rod position sensor is used to detect the position of the drill rod on the mast. The main engine controls the position of the drill rod on the mast through the second winch system.

[0011] Furthermore, the control system includes a display, which is electrically connected to the controller and is used to display the actual center of gravity position of the mast assembly.

[0012] The present application also provides a rotary drilling rig, comprising a luffing mechanism, a mast assembly and the mast anti-dumping control system as described above, wherein the mast assembly comprises a mast and a power head, and the power head is slidably mounted on the mast; The luffing mechanism is respectively connected to the main engine, the mast cylinder assembly and the mast, one end of the mast cylinder assembly away from the luffing mechanism is connected to the mast, and the first hoisting system is used to drive the power head to move on the mast.

[0013] Furthermore, the controller is arranged in the main engine, the mast inclination sensor is installed at the connection between the luffing mechanism and the mast, the first winch system is installed on the mast, and the power head position sensor is the first winch encoder in the first winch system, and the first winch encoder is used to obtain the contraction length of the first rope of the first winch system, and calculate the position of the power head on the mast according to the contraction length of the first rope.

[0014] Further, the mast assembly includes a drill rod, which is slidably mounted on the mast and cooperates with the power head, and the power head is used to drive the drill rod to rotate; the control system includes a second hoisting system and a drill rod position sensor, the second hoisting system is installed in the main engine, and the drill rod position sensor is a second hoisting encoder in the second hoisting system, and the second hoisting encoder is used to obtain the contraction length of the second rope of the second hoisting system, and calculate the position of the drill rod on the mast according to the contraction length of the second rope; The control system includes a display, which is installed on the control console of the main engine. The display is electrically connected to the controller and is used to display the actual center of gravity position of the mast assembly.

[0015] The beneficial effects of the present invention are as follows: by detecting the inclination angle of the mast on the main engine and the position of the power head on the mast, and calculating the actual center of gravity position of the mast assembly, the actual center of gravity position of the mast assembly is compared with the preset center of gravity position; when the actual center of gravity position of the mast assembly is within the over-limit position area of ​​the preset center of gravity position, the rotary drilling rig stops operating and controls the actual center of gravity position of the mast assembly to return to the safe position area. Thus, overturning accidents caused by overload, wind force and other reasons can be effectively prevented, the safety of operators and the surrounding environment can be ensured, and the repair or replacement costs caused by equipment damage, as well as economic losses such as various compensations caused by accidents can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the rotary drilling rig in the first embodiment of the present invention.

[0017] Figure 2 It is a structural diagram of a control system in Embodiment 1 of the present invention.

[0018] Figure 3 It is a flow chart of the control method in the first embodiment of the present invention.

[0019] Figure 4 It is a structural diagram of a control system in Embodiment 2 of the present invention.

[0020] Figure 5 It is a flow chart of the control method in the third embodiment of the present invention.

[0021] In the figure: a controller 11, a mast inclination sensor 12, a power head position sensor 13, a display 14, a drill rod position sensor 15, a main engine 21, a second hoisting system 22, a second rope 221, a mast cylinder assembly 23, a first hoisting system 24, a first rope 241, a luffing mechanism 25, a mast assembly 30, a mast 31, an anchor frame 311, a power head 32, a drill rod 33, and a drilling tool 331. DETAILED DESCRIPTION

[0022] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the mast anti-dumping control method and control system and the rotary drilling rig proposed by the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments: [Example 1] Figure 1 It is a structural schematic diagram of the rotary drilling rig in the first embodiment of the present invention. Figure 2 It is a structural diagram of a control system in Embodiment 1 of the present invention.

[0023] like Figure 1 and Figure 2 As shown, a mast anti-dumping control system provided by the first embodiment of the present invention includes a controller 11, a mast inclination sensor 12, a power head position sensor 13, a main engine 21, a mast cylinder assembly 23 and a first hoisting system 24. The controller 11 is electrically connected to the mast inclination sensor 12, the power head position sensor 13 and the main engine 21 respectively, and the mast cylinder assembly 23 and the first hoisting system 24 are both connected to the main engine 21. Among them, the mast inclination sensor 12 is used to detect the inclination angle of the mast 31 on the main engine 21, and the power head position sensor 13 is used to detect the position of the power head 32 on the mast 31. The controller 11 is used to process the signals detected by the mast inclination sensor 12 and the power head position sensor 13, and control the main engine 21 to control the inclination angle of the mast 31 on the main engine 21 through the mast cylinder assembly 23 and to control the position of the power head 32 on the mast 31 through the first hoisting system 24.

[0024] In this embodiment, the power head position sensor 13 is a first hoisting encoder in the first hoisting system 24, and the first hoisting encoder is used to obtain the contraction length of the first rope 241 of the first hoisting system 24, and calculate the position of the power head 32 on the mast 31 according to the contraction length of the first rope 241, thereby detecting the position of the power head 32 on the mast 31. Of course, in other embodiments, the power head position sensor 13 may also use other sensors, such as an infrared position sensor, an ultrasonic position sensor, or a resistive position sensor.

[0025] Furthermore, the control system includes a display 14, which is electrically connected to the controller 11 and is used to display the actual center of gravity position of the mast assembly 30. The display 14 can display a warning signal (for example, a flashing red icon) to remind the user that the current state is out of limit. Of course, in other embodiments, the control system may also include a speaker to broadcast the actual center of gravity position of the mast assembly 30 and issue a warning signal through the speaker.

[0026] like Figure 1 As shown, the present application also provides a rotary drilling rig, including a luffing mechanism 25, a mast assembly 30, and the mast anti-dumping control system as described above. The mast assembly 30 includes a mast 31 and a power head 32, and the power head 32 is slidably mounted on the mast 31; The luffing mechanism 25 is respectively connected to the main engine 21, the mast cylinder assembly 23 and the mast 31. The end of the mast cylinder assembly 23 away from the luffing mechanism 25 is connected to the mast 31. The mast cylinder assembly 23 is used to control the inclination angle of the mast 31 on the main engine 21. The first winch system 24 is used to drive the power head 32 to move on the mast 31.

[0027] Further, the controller 11 is arranged in the host 21, and the controller 11 may be a central processor of the host 21. The mast inclination sensor 12 is installed at the connection between the luffing mechanism 25 and the mast 31, so as to better detect the inclination angle of the mast 31 on the host 21. The first hoisting system 24 is installed on the mast 31, and the first rope 241 of the first hoisting system 24 is connected to the power head 32, and is used to control the position of the power head 32 on the mast 31. Among them, the power head position sensor 13 is the first hoisting encoder in the first hoisting system 24, and the first hoisting encoder is used to obtain the contraction length of the first rope 241 of the first hoisting system 24, and calculate the position of the power head 32 on the mast 31 according to the contraction length of the first rope 241, so as to detect the position of the power head 32 on the mast 31. Of course, in other embodiments, the power head position sensor 13 may also adopt other sensors, such as infrared position sensor, ultrasonic position sensor or resistive position sensor.

[0028] Further, the mast assembly 30 includes a drill rod 33, which is slidably mounted on the mast 31 and cooperates with the power head 32, and the power head 32 is used to drive the drill rod 33 to rotate. A drilling tool 331 is provided at one end of the drill rod 33, and the drilling tool 331 rotates synchronously with the drill rod 33, so as to perform excavation. Optionally, the control system includes a second hoisting system 22, which is installed in the main engine 21, and a hanging anchor frame 311 is provided at one end of the mast 31. The second rope 221 of the second hoisting system 22 passes through the hanging anchor frame 311 and is connected to the drill rod 33, so as to control the position of the drill rod 33 on the mast 31. Before the excavation work is performed, the drill rod 33 is usually raised to the top. Only when the excavation work is performed, the mast 31 is perpendicular to the ground. At this time, the second hoisting system 22 drives the drill rod 33 to move up and down. Therefore, after calculating the actual center of gravity position of the mast assembly 30, it is not necessary to detect the position of the drill rod 33 on the mast 31.

[0029] Furthermore, the display 14 is installed on the control console of the host 21 to prompt the user of the current status of the mast assembly 30 .

[0030] Figure 3 FIG. 1 is a flow chart of the control method in Embodiment 1 of the present invention. Figure 3 As shown, the present application also provides a mast anti-dumping control method for the rotary drilling rig and control system as described above. The control method includes: Step S11: Obtain the tilt angle of the mast 31 on the mainframe 21 and the position of the power head 32 on the mast 31. Specifically, the tilt angle of the mast 31 on the mainframe 21 is detected by the mast tilt sensor 12, and the position of the power head 32 on the mast 31 is detected by the power head position sensor 13.

[0031] Step S12: Calculate the actual center of gravity of the mast assembly 30 according to the inclination angle between the mast 31 and the mainframe 21 and the position of the power head 32 on the mast 31. The power head position sensor 13 can be used to know the position of the power head 32 on the mast 31, and then calculate the center of gravity of the power head 32; the mast inclination sensor 12 can be used to know the inclination angle of the mast 31 on the mainframe 21, and then calculate the center of gravity of the mast 31; because the drill rod 33 usually rises to the top of the mast 31, the mast 31 and the drill rod 33 can be regarded as a whole, and the actual center of gravity of the entire mast assembly 30 can be further obtained.

[0032] Step S13: Compare the actual center of gravity position of the mast assembly 30 with the preset center of gravity position, and the preset center of gravity position has a safe position area and an over-limit position area. When the actual center of gravity position of the mast assembly 30 is within the safe position area of ​​the preset center of gravity position, the rotary drilling rig is in a safe state and can operate normally. When the actual center of gravity position of the mast assembly 30 is within the over-limit position area of ​​the preset center of gravity position, the rotary drilling rig is in a dangerous state and may topple at any time. Therefore, the rotary drilling rig stops operating and controls the actual center of gravity position of the mast assembly 30 to return to the safe position area. Specifically, the main engine 21 controls the inclination angle of the mast 31 on the main engine 21 through the mast cylinder assembly 23 and controls the position of the power head 32 on the mast 31 through the first winch system 24, so that the actual center of gravity position of the mast assembly 30 is restored to the safe position area.

[0033] Furthermore, the safety position area has a warning position area, and the warning position area is close to the over-limit position area, that is, the warning position area is set in the part of the safety position area close to the over-limit position area. When the actual center of gravity position of the mast assembly 30 is located in the warning position area, a warning signal is issued, that is, when the actual center of gravity position of the mast assembly 30 is about to enter the over-limit position area, a warning signal is first issued to the user to prompt the user. Specifically, the display 14 can display a warning signal (for example, a flashing red icon) to prompt the user that the over-limit state is about to be entered; of course, the actual center of gravity position of the mast assembly 30 can also be broadcasted through a speaker and a warning signal is issued.

[0034] [Example 2] Figure 4 Schematic diagram of the structure of the control system in the second embodiment of the present invention. Figure 4 As shown, the mast anti-dumping control system and rotary drilling rig provided in the second embodiment of the present invention are the same as those in the first embodiment ( Figure 1 and Figure 2 The control system for preventing the mast from tipping over in the present invention is basically the same as that for the rotary drilling rig, except that: In this embodiment, the control system includes a second hoisting system 22 and a drill rod position sensor 15, and the second hoisting system 22 is installed in the main machine 21. The second hoisting system 22 and the drill rod position sensor 15 are both electrically connected to the controller 11, and the drill rod position sensor 15 is used to detect the position of the drill rod 33 on the mast 31. The main machine 21 controls the position of the drill rod 33 on the mast 31 through the second hoisting system 22. The drill rod position sensor 15 is set to detect the position of the drill rod 33 on the mast 31, and the actual center of gravity position of the mast assembly 30 is calculated according to the inclination angle between the mast 31 and the main machine 21, the position of the power head 32 on the mast 31, and the position of the drill rod 33 on the mast 31, so that the anti-dumping effect is better and the safety is increased to prevent the rotary drilling rig from tipping over due to the special situation that the drill rod 33 does not rise to the top.

[0035] Furthermore, the drill rod position sensor 15 is a second hoisting encoder in the second hoisting system 22, and the second hoisting encoder is used to obtain the retracted length of the second rope 221 of the second hoisting system 22, and calculate the position of the drill rod 33 on the mast 31 according to the retracted length of the second rope 221, thereby detecting the position of the drill rod 33 on the mast 31. Of course, in other embodiments, the drill rod position sensor 15 may also use other sensors, such as an infrared position sensor, an ultrasonic position sensor, or a resistive position sensor.

[0036] Figure 5 Schematic diagram of the control method in the second embodiment of the present invention. Figure 5 As shown, the present application also provides a mast anti-dumping control method for the rotary drilling rig and control system as described above. The control method includes: Step S21: Obtain the inclination angle of the mast 31 on the mainframe 21, the position of the power head 32 on the mast 31, and the position of the drill rod 33 on the mast 31. Specifically, the inclination angle of the mast 31 on the mainframe 21 is detected by the mast inclination sensor 12, the position of the power head 32 on the mast 31 is detected by the power head position sensor 13, and the position of the drill rod 33 on the mast 31 is detected by the drill rod position sensor 15.

[0037] Step S22: Calculate the actual center of gravity of the mast assembly 30 according to the inclination angle between the mast 31 and the mainframe 21, the position of the power head 32 on the mast 31, and the position of the drill rod 33 on the mast 31. The power head position sensor 13 can be used to know the position of the power head 32 on the mast 31, and then calculate the center of gravity of the power head 32; the drill rod position sensor 15 can be used to know the position of the drill rod 33 on the mast 31, and then calculate the center of gravity of the drill rod 33; the mast inclination sensor 12 can be used to know the inclination angle of the mast 31 on the mainframe 21, and then calculate the center of gravity of the mast 31, and further obtain the actual center of gravity of the entire mast assembly 30.

[0038] Step S23: Compare the actual center of gravity position of the mast assembly 30 with the preset center of gravity position, and the preset center of gravity position has a safe position area and an over-limit position area. When the actual center of gravity position of the mast assembly 30 is located in the safe position area of ​​the preset center of gravity position, the rotary drilling rig is in a safe state and can operate normally. When the actual center of gravity position of the mast assembly 30 is located in the over-limit position area of ​​the preset center of gravity position, the rotary drilling rig is in a dangerous state and may fall at any time. Therefore, the rotary drilling rig stops operating and controls the actual center of gravity position of the mast assembly 30 to return to the safe position area. Specifically, the main engine 21 controls the inclination angle of the mast 31 on the main engine 21 through the mast cylinder assembly 23, controls the position of the power head 32 on the mast 31 through the first winch system 24, and controls the position of the drill rod 33 on the mast 31 through the second winch system 22, so that the actual center of gravity position of the mast assembly 30 is restored to the safe position area.

[0039] Furthermore, the safety position area has a warning position area, and the warning position area is close to the over-limit position area, that is, the warning position area is set in the part of the safety position area close to the over-limit position area. When the actual center of gravity position of the mast assembly 30 is located in the warning position area, a warning signal is issued, that is, when the actual center of gravity position of the mast assembly 30 is about to enter the over-limit position area, a warning signal is first issued to the user to prompt the user. Specifically, the display 14 can display a warning signal (for example, a flashing red icon) to prompt the user that the over-limit state is about to be entered; of course, the actual center of gravity position of the mast assembly 30 can also be broadcasted through a speaker and a warning signal is issued.

[0040] It should be understood by those skilled in the art that the rest of the structure and working principle of this embodiment are the same as those of the first embodiment and will not be described in detail here.

[0041] The advantages of the present invention are: 1. Improve safety: By real-time monitoring and controlling the working status of the equipment (mast assembly 30), it is possible to effectively prevent overturning accidents caused by overload, wind force, etc., and ensure the safety of operators and the surrounding environment.

[0042] 2. Improve efficiency: When the system detects a possible dangerous situation, it can automatically sound an alarm and adjust the center of gravity of the mast assembly 30, avoiding the need to stop work for repairs due to equipment damage, making the construction process smoother and thus improving work efficiency.

[0043] 3. Reduce losses: By preventing the equipment (mast assembly 30) from overturning, the cost of repairing or replacing the equipment due to damage, as well as economic losses such as various compensations caused by accidents can be avoided.

[0044] 4. Wide scope of application: The control method and control system in this application can be used in a variety of engineering machinery and even in other fields.

[0045] In this document, the directional words such as up, down, left, right, front, and back are defined by the positions of the structures in the drawings and the positions of the structures relative to each other, just for the sake of clarity and convenience in expressing the technical solution. It should be understood that the use of the directional words should not limit the scope of protection claimed in this application. It should also be understood that the terms "first" and "second" used in this document are only used to distinguish names and are not used to limit quantity and order.

[0046] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modifications to the technical contents disclosed above without departing from the scope of the technical solution of the present invention, which are equivalent embodiments of equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A mast anti-tilting control method, characterized in that: include: Obtaining the inclination angle of the mast (31) on the main engine (21) and the position of the power head (32) on the mast (31); Calculating the actual center of gravity position of the mast assembly (30) according to the inclination angle between the mast (31) and the main engine (21) and the position of the power head (32) on the mast (31); The actual center of gravity position of the mast assembly (30) is compared with the preset center of gravity position, and when the actual center of gravity position of the mast assembly (30) is within the safe position area of ​​the preset center of gravity position, the rotary drilling rig operates normally; When the actual center of gravity position of the mast assembly (30) is located within the over-limit position area of ​​the preset center of gravity position, the rotary drilling rig stops operating and controls the actual center of gravity position of the mast assembly (30) to return to the safe position area.

2. The mast anti-tilting control method according to claim 1, characterized in that: The safety position area has a warning position area, and the warning position area is close to the over-limit position area; When the actual center of gravity position of the mast assembly (30) is located within the warning position area, an early warning signal is issued.

3. The mast anti-tilting control method according to claim 1, characterized in that: The control method comprises: Obtaining the position of the drill rod (33) on the mast (31); The actual center of gravity position of the mast assembly (30) is calculated based on the inclination angle between the mast (31) and the main machine (21), the position of the power head (32) on the mast (31), and the position of the drill rod (33) on the mast (31).

4. A mast anti-tilt control system, characterized in that: A control method for preventing a mast from tipping over as claimed in any one of claims 1 to 3, wherein the control system comprises a controller (11), a mast inclination sensor (12), a power head position sensor (13), a main engine (21), a mast cylinder assembly (23) and a first hoisting system (24), wherein the controller (11) is electrically connected to the mast inclination sensor (12), the power head position sensor (13) and the main engine (21), respectively, and the mast cylinder assembly (23) and the first hoisting system (24) are both connected to the main engine (21); The mast inclination sensor (12) is used to detect the inclination angle of the mast (31) on the main machine (21); the power head position sensor (13) is used to detect the position of the power head (32) on the mast (31); the main machine (21) controls the inclination angle of the mast (31) on the main machine (21) through the mast cylinder assembly (23) and controls the position of the power head (32) on the mast (31) through the first hoisting system (24).

5. The mast anti-tilt control system according to claim 4, characterized in that: The power head position sensor (13) is a first hoisting encoder in the first hoisting system (24), and the first hoisting encoder is used to obtain the contraction length of the first rope (241) of the first hoisting system (24), and calculate the position of the power head (32) on the mast (31) according to the contraction length of the first rope (241).

6. The mast anti-tilt control system according to claim 4, characterized in that: The control system comprises a second hoisting system (22) and a drill rod position sensor (15); the second hoisting system (22) and the drill rod position sensor (15) are both electrically connected to the controller (11); the drill rod position sensor (15) is used to detect the position of the drill rod (33) on the mast (31); and the host (21) controls the position of the drill rod (33) on the mast (31) through the second hoisting system (22).

7. The mast anti-tilt control system according to claim 4, characterized in that: The control system comprises a display (14), wherein the display (14) is electrically connected to the controller (11) and is used to display the actual center of gravity position of the mast assembly (30).

8. A rotary drilling rig, characterized in that: It comprises a luffing mechanism (25), a mast assembly (30) and a mast anti-dumping control system according to any one of claims 4 to 7, wherein the mast assembly (30) comprises a mast (31) and a power head (32), and the power head (32) is slidably mounted on the mast (31); The luffing mechanism (25) is respectively connected to the main engine (21), the mast cylinder assembly (23) and the mast (31); one end of the mast cylinder assembly (23) away from the luffing mechanism (25) is connected to the mast (31); and the first hoisting system (24) is used to drive the power head (32) to move on the mast (31).

9. The rotary drilling rig according to claim 8, characterized in that: The controller (11) is arranged in the main machine (21), the mast inclination sensor (12) is installed at the connection between the luffing mechanism (25) and the mast (31), the first hoisting system (24) is installed on the mast (31), and the power head position sensor (13) is a first hoisting encoder in the first hoisting system (24), and the first hoisting encoder is used to obtain the contraction length of the first rope (241) of the first hoisting system (24), and calculate the position of the power head (32) on the mast (31) according to the contraction length of the first rope (241).

10. The rotary drilling rig according to claim 8, characterized in that: The mast assembly (30) comprises a drill rod (33), the drill rod (33) is slidably mounted on the mast (31) and cooperates with the power head (32), the power head (32) is used to drive the drill rod (33) to rotate; the control system comprises a second hoisting system (22) and a drill rod position sensor (15), the second hoisting system (22) is installed in the main machine (21), the drill rod position sensor (15) is a second hoisting encoder in the second hoisting system (22), the second hoisting encoder is used to obtain the contraction length of the second rope (221) of the second hoisting system (22), and calculate the position of the drill rod (33) on the mast (31) according to the contraction length of the second rope (221); The control system comprises a display (14), wherein the display (14) is installed on a control console of the main engine (21), and the display (14) is electrically connected to the controller (11) and is used to display the actual center of gravity position of the mast assembly (30).

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