2526 results about "Engineering machiner" patented technology

The invention discloses a hybrid power engineering machinery control method and system based on operation load identification, and belongs to the technical field of engineering machinery. Target torque of a driver and predicted torque of a hydraulic pump at the target moment are calculated; calculating a torque difference value; based on a fuzzy control algorithm, considering the optimal fuel consumption torque interval of the engine and the optimal efficiency torque interval of the ISG motor, and determining the target torque of the engine and the target torque of the ISG motor according to the target torque of the driver, the difference value between the target torque of the driver and the predicted torque of the hydraulic pump and the SOC of the battery; and jointly controlling the pressure of the hydraulic pump by using the target torque of the engine and the target torque of the ISG motor. The method has the advantages that the operation load prediction model is built through Markov, the operation load at the future moment is predicted, the driver target torque and the difference value of the two torque are introduced, the torque distribution fuzzy controller of the engine and the ISG motor is built by considering the SOC state of the battery, and the target torque of the engine and the ISG motor is dynamically adjusted.

The invention discloses a double-variable power source hydraulic system of a movable arm of an electric loader and a control method, and belongs to the technical field of energy conservation of electric engineering machinery. The hydraulic system is structurally characterized in that a permanent magnet synchronous servo motor and an electro-hydraulic proportional variable device form a double-variable power source direct drive arm hydraulic cylinder; the one-way valve achieves oil cylinder and motor oil supplementing and flow reappearing functions according to the working condition of a hydraulic cylinder, the direct-acting overflow valve achieves overflow protection of a hydraulic system, and the two-position two-way electromagnetic directional valve achieves the pressure maintaining function of the hydraulic cylinder. According to the control method of the hydraulic system configuration, an upper computer outputs a target instruction to a double-variable parameter optimization controller, then the double-variable parameter optimization controller outputs an optimization rotating speed or displacement signal to a motor pump set, and a pump outlet pressure sensor feeds back a pressure signal to achieve a pressure closed loop. The energy recovery function can be effectively achieved in the aspect of configuration, the energy efficiency characteristic of a power source can be greatly improved in the aspect of a control method, and the endurance time of the electric loader is effectively prolonged.

The invention relates to the technical field of engineering machinery control, and discloses a carry-scraper electrical control system and method based on intelligent control, and the system comprises a sensor module, a man-machine interaction module, a control module, an execution module, and a communication module. The method comprises the following steps: collecting real-time operation data and an operator instruction, generating a predictive deterministic map by a control module, and outputting a final control instruction for energy consumption optimization according to the predictive deterministic map to drive the carry-scraper. And meanwhile, the system continuously monitors the state of the equipment to realize fault early warning, calculates an energy consumption optimization index, and finally graphically displays the operation data, the fault early warning and the energy consumption index through the man-machine interaction module. According to the invention, an intelligent algorithm is integrated, so that accurate control and early warning of faults can be realized, energy consumption is optimized, and safety and economy are improved; and through simplified man-machine interaction, the defects of poor adaptability, complex operation and high energy consumption of a traditional system are overcome.

The invention provides an operation control system and method for an engineering machinery vehicle, a medium and a product. The system comprises an RTK positioning system which comprises an RTK base station used for receiving a signal of a positioning system satellite, calculating differential data according to a measured position of the RTK base station obtained through calculation and a pre-stored actual position of the RTK base station, and transmitting the differential data to an RTK mobile station; the RTK mobile station is used for calculating the position of the RTK mobile station according to the received signal of the positioning system satellite, correcting the position of the RTK mobile station by using the differential data to obtain the corrected position of the RTK mobile station, taking the corrected position as the position of the engineering machinery vehicle, and sending the position of the engineering machinery vehicle to the remote platform; the engineering machinery vehicle is used for sending the state data of the engineering machinery vehicle to the remote platform; and the remote platform is used for automatically allocating operation tasks to the engineering machinery vehicles according to operation requirements and the position and state data of the engineering machinery vehicles.

The invention relates to the field of engineering machinery, in particular to milling, polishing and deburring integrated numerical control equipment, which is characterized in that a milling module and a polishing module are integrated on one equipment, so that after a workpiece main body is machined by the milling module, a clamping arm mechanism is driven by a synchronizing mechanism to be matched with a clamping jaw mechanism to clamp the workpiece main body; the adjusting plate can adjust the angle of the clamping jaw mechanism on the clamping arm mechanism when the clamping arm mechanism moves, and the clamping plate ejection mechanism is matched with the clamping plate, so that the clamping arm mechanism can be recovered to the initial state, and therefore, the numerical control equipment integrating milling and grinding is high in efficiency and high in practicability. According to the grinding device, a tubular workpiece body can be ground after being milled, the workpiece transferring module can automatically transfer the workpiece body, in this way, workers do not need to disassemble and install the workpiece body on grinding equipment after milling the workpiece body, the machining time is effectively saved, and the machining efficiency is improved.

The invention discloses a folding arm frame control method and system, an aerial work platform and a storage medium, and relates to the technical field of engineering machinery. The control method comprises the steps that the absolute angle of a folding arm and the telescopic length of a main arm are obtained; the current value of an oil cylinder oil return proportional valve is determined according to the absolute angle of the folding arm and the telescopic length of the main arm; and the action of an oil cylinder oil return proportional valve is controlled according to the current value, and variable control over the oil return amount of the boom oil cylinder is achieved. On the basis of not changing the electric / hydraulic hardware configuration of the existing working platform, the current value of the oil return proportional valve of the oil cylinder is determined through the detected real-time boom posture, then the hydraulic oil return quantity of the boom action oil cylinder is dynamically adjusted according to the current value, the stability of the boom in the action process is ensured, and the working efficiency is improved. And the luffing operation of the boom is safer.

The invention provides an intermittent spiral heading machine and a control method, and relates to the technical field of engineering machinery. According to the method, the tunneling parameters serve as feedback, PI calculation is conducted on the control parameters, the initial control parameters of the next period are obtained, influences of formation resistance, rotation torque and the vibration condition are considered, and the initial control parameters are made to adapt to the actual condition of the current tunneling face. Afterwards, the initial control parameters are optimized through the preset optimization model, and the preset optimization model is obtained by training on the basis of the tunneling parameters and the control parameters in the historical period, so that the actual regulation and control condition in the tunneling process in the historical period is fully considered; therefore, the target control parameters better conform to the actual situation of the current tunneling face, the regulation and control precision of the spiral tunneling machine is improved, high-precision control over the spiral tunneling machine is achieved, the problems of drill bit deviation and unstable torque are solved, and the tunneling efficiency of the spiral tunneling machine is improved.

The invention discloses a load simulation loading system based on an engineering mechanical power system and a control method thereof, and relates to the technical field of mechanical power system simulation. The load simulation loading system comprises an engineering machinery power system, a load loading system, a whole vehicle control unit and an upper computer platform. The engineering machinery power system comprises a first oil tank, a main pump, a pilot pump, a pilot control handle, a signal control valve and a multi-way valve. The load loading system comprises a three-position four-way reversing valve, a proportional overflow valve, a first proportional throttle valve, a second proportional throttle valve, an electromagnetic valve, a third proportional throttle valve and a variable pump, wherein the three-position four-way reversing valve, the proportional overflow valve and the first proportional throttle valve are connected to the multi-way valve, the second proportional throttle valve and the electromagnetic valve are connected to an outlet of the proportional overflow valve, and the third proportional throttle valve is connected between the second proportional throttle valve and the second oil tank. And the three-position four-way reversing valve is constructed to enable an inlet of the proportional overflow valve to be communicated with one of the oil port A and the oil port B of the multi-way valve in a switching manner, and an outlet of the proportional overflow valve to be communicated with the other one of the oil port A and the oil port B in a switching manner.

A control method for a compensation torque of a range extender (2) for an engineering machinery vehicle. The method comprises: determining a feedforward torque on the basis of driver demand power, and controlling a range extender (2) to operate with the feedforward torque; on the basis of the difference between the actual generating power of the range extender (2) and the driver demand power, calculating a power compensation torque; on the basis of actual operating conditions of an engineering machinery vehicle, determining whether to add other compensation torques; if the other compensation torques are to be added, setting a final compensation torque to be the sum of the power compensation torque and the other compensation torques; if the other compensation torques are not to be added, setting the final compensation torque to be the power compensation torque; and sending to the range extender (2) the final compensation torque, which then serves, together with the feedforward torque, as a generating torque of the range extender. Therefore, the generating power of the range extender (2) can change according to the driver demand power, and torque compensation is performed on the basis of the actual operating conditions, thereby ensuring the effective available power of a system.

A controller of a driving device sets a target physical quantity relating to an orientation of a work device, calculates a current physical quantity relating to the actual orientation of the work device, calculates a physical quantity error between the target physical quantity and the current physical quantity, calculates an assistance operation value for assisting operation of an operator, corrects an operator operation value to an operator correction value so as to attain a small value when the physical quantity error is small as compared with when the physical quantity error is large, corrects the assistance operation value to an assistance correction value so as to attain a large value when the physical quantity error is small as compared with when the physical quantity error is large, and controls the orientation of the work device using a total value obtained by adding the operator correction value and the assistance correction value.

The invention discloses a double-seat cooperative safety control method and system for engineering machinery, relates to the technical field of engineering machinery control, and provides the following scheme that the method comprises the steps that a first operation instruction stream of a main driving seat and a second operation instruction stream of a co-driving seat are collected in real time, and a working condition parameter set of the engineering machinery is synchronously obtained; the operation instruction stream comprises all degree-of-freedom motion parameters of the engineering machinery, inputting the first operation instruction stream into a pre-constructed long-short-term memory model, outputting a prediction operation instruction stream in a future time window, and based on a difference vector of the first operation instruction stream and a second operation instruction stream on each degree-of-freedom motion parameter. According to the method, through the index curve fitting model and Simpson integral calculation, the defect that the co-pilot intervention weight is difficult to quantify is overcome, the dynamic intervention weight based on the physical equidistant interval absolute integral value is realized, and the accuracy of the control signal of the engineering machinery is improved.

The utility model relates to the field of engineering machinery, and discloses a feeding mechanism for a screw extruder, which comprises a bottom box and a shell, and a height adjusting mechanism is arranged at the top of the bottom box; the height adjusting mechanism comprises a stepping motor, a fixing frame and a hinge frame, the bottom wall of the stepping motor is fixedly connected into the bottom box, the output end of the stepping motor is fixedly connected with a flange rotator, the right end of the flange rotator is rotationally connected with a lead screw, and the right end of the fixing frame is rotationally connected into the fixing frame. According to the utility model, the height adjusting mechanism is arranged, so that the problems that the production efficiency is reduced and the cost is increased due to the limitation of the capability of the extruder to adapt to feed ports with different heights or different models can be solved, and the stepping motor is started through the control end, so that the feeding of the screw extruders with different heights can be effectively improved; and the working efficiency is improved.

The invention discloses a digital twinning-based drilling machine lifting system digitization method, device and equipment and a medium, and relates to the technical field of engineering machinery, and the digital twinning-based drilling machine lifting system digitization method comprises the steps of constructing a digital twinning model of a target drilling machine lifting system; virtual-real mapping of the digital twin model is carried out according to the equipment information data; determining simulation data of the digital twinborn model based on the real-time monitoring data, and simulating the digital twinborn model to quantify the model precision of the digital twinborn model so as to obtain an initial digital twinborn model; and performing joint simulation by using a preset technological process identification model and the initial digital twinborn model, and making corresponding automatic updating strategies for different technological processes so as to perform dynamic updating according to the automatic updating strategies, and performing evaluation verification on the initial digital twinborn model to obtain a target digital twinborn model. Therefore, digital twinborn modeling can be carried out on the drilling machine lifting system so as to realize optimization management on the drilling machine lifting system based on the digital twinborn model.

The invention relates to the field of engineering machinery, and discloses a control method and system for a high-altitude operation machine and the high-altitude operation machine. The control method comprises the steps that the chassis inclination angle and the platform load of the high-altitude operation machine are detected; according to the chassis inclination angle and the platform load, the inclination angle range where the chassis inclination angle is located and the load range where the platform load is located are determined, and the number of the inclination angle range and the load range is at least one; according to the determined dip angle range and the load range, determining a corresponding boom operation range; and controlling the boom action of the high-altitude operation machine according to the boom operation range. According to the control method and system for the high-altitude operation machine and the high-altitude operation machine, the arm support operation range can be adjusted according to the actual platform load and the chassis inclination angle, the surplus arm support operation range can be utilized, and the product flexibility and the operation efficiency are improved.

The invention relates to the technical field of engineering machinery manufacturing, in particular to an excavator part machining treatment device which comprises a fixing base, a support is fixedly connected to the fixing base, a driving mechanical arm capable of driving horizontal two-dimensional motion is installed at the top of the inner side of the support, and a sliding disc is fixedly connected to the lower end of the driving mechanical arm. The bottom face of the sliding disc is fixedly connected with a driving cylinder, and the lower end of the driving cylinder is fixedly connected with an inverted-U-shaped frame. According to the excavator part machining treatment device, three core procedures of drilling, inner wall grinding and end face grinding are integrated, through cooperative control of the driving mechanical arm, the driving air cylinder and the motor, full-process part machining can be completed without equipment replacement or repeated clamping, the part transferring and positioning time is effectively shortened, and the machining efficiency is improved. The problem that traditional step-by-step machining is low in efficiency is solved, and the machining efficiency is improved.

An engineering machinery equipment performance degradation prediction method based on multi-model stacking fusion is characterized in that design calculation, a simulation model and a data driving model are combined, physical test data under different carrying equipment and different working conditions are used as training materials, confidence weight distribution of sub-models is completed, and a fusion total model is obtained. And when real object live test data under certain conditions are lacked, the environmental conditions are used as input, a final prediction value is obtained through a model stacking weight distribution mechanism, and the prediction result of the performance degradation of the engineering mechanical equipment is optimized.

A counter weight positioning tool is used for positioning a counter weight part of engineering machinery and comprises a tool platform used for bearing the counter weight part. And the plurality of positioning assemblies are used for limiting the position of the counterweight piece. The positioning assembly comprises an upper positioning plate, a lower positioning plate and at least one positioning support arranged between the upper positioning plate and the lower positioning plate. The positioning support comprises a top plate, a bottom plate and a supporting plate connected between the top plate and the bottom plate. The upper positioning plate is detachably arranged on the top plate of the positioning support closest to the upper positioning plate, the lower positioning plate is detachably arranged on the bottom plate of the positioning support closest to the lower positioning plate, and the upper positioning plate and the lower positioning plate are both used for being matched with the outer contour of the balance weight part so as to limit the position of the balance weight part. Through the counter weight positioning tool, the counter weight assembly efficiency is improved, the universality of the counter weight is improved, interchange of the counter weight with the same outer contour is achieved, and the use cost of customers is reduced.

The invention belongs to the technical field of railway engineering mechanical equipment manufacturing, and provides a narrow body flash welding and heat treatment normalizing all-in-one machine and method.The all-in-one machine comprises a static end clamping mechanism, a movable end clamping mechanism, a pressure maintaining and overlap pushing mechanism, a normalizing assembly, a center shaft upsetting structure and a clamp balance oil cylinder; the static end clamping mechanism and the movable end clamping mechanism are distributed at the two ends of the all-in-one machine, the static end clamping mechanism and the movable end clamping mechanism are connected in a penetrating mode through a center shaft upsetting structure, and a pressure maintaining and overlap pushing mechanism and a clamp balance oil cylinder used for providing outward supporting force for a clamp are installed between the static end clamping mechanism and the movable end clamping mechanism. And a normalizing assembly combining rotary mold closing and turnover mold closing is mounted on the pressure-maintaining overlap pushing mechanism. According to the clamp balance oil cylinder, the stability of a welding machine and the straightness of a welded steel rail are improved. The bead pushing tool rest is guided by a central shaft, the rigidity of the bead pushing mechanism is increased, the normalizing assembly adopts a mode of combining rotary die assembly and turnover die assembly, and the requirement for operation in narrow space of a turnout can be met.

The utility model relates to the technical field of engineering machinery transmission parts, in particular to an engineering machinery drive axle transmission system convenient for heat dissipation and lubrication, which comprises a driving spiral bevel gear and a large spiral bevel gear which are meshed with each other, a main spiral bearing and an oil seal are arranged between the main transmission shell and the driving spiral bevel gear; an oil groove group for lubricating the main spiral bearing and the oil seal is formed in the main transmission shell; the oil groove set comprises a first lubricating oil groove and a second lubricating oil groove, the first lubricating oil groove is communicated to the main spiral bearing, the second lubricating oil groove is communicated between the oil seal and the main spiral bearing, and the first lubricating oil groove and the second lubricating oil groove are each of a spiral oil groove structure. According to the scheme of the utility model, the problem that the bearing and the oil seal are damaged due to insufficient lubrication and heat dissipation in a high-speed operation environment caused by poor lubrication of the bearing can be solved.

The invention relates to the technical field of engineering machinery, and discloses an engineering machinery active safety control method and device based on multi-parameter analysis, and the method comprises the steps: collecting the multi-modal data of an environment where the engineering machinery is located based on a multi-modal data collection device, and constructing a dynamic model of the engineering machinery and the environment according to the multi-modal data, analyzing the multi-modal data through a dynamic model to obtain an environment data analysis result and an equipment data analysis result, determining an operation risk level of the engineering machinery according to the environment data analysis result and the equipment data analysis result, and determining an optimal working path of the engineering machinery according to the multi-modal data. And generating a safety control strategy according to the operation risk level and the optimal working path. Therefore, by implementing the method, the evaluation accuracy of the operation risk can be improved, the probability of misoperation of operators is reduced, the operation accuracy and reliability of the engineering machinery are enhanced, and the operation efficiency, the operation stability and the operation safety of the engineering machinery are further improved.

The utility model relates to the technical field of engineering machinery, in particular to a shear forklift hydraulic control system and a shear forklift. Due to the fact that the walking reversing valve is communicated with the oil tank through the balance valve, hydraulic oil flowing out of the first motor and the second motor flows into the balance valve through the walking reversing valve, and due to the arrangement of the balance valve, it can be guaranteed that the pressure of the hydraulic oil flowing out of the walking reversing valve is adjusted when the shear forklift goes down a slope. Compared with the prior art, the balance valve arranged between the walking reversing valve and the oil tank enables the overall space size of the hydraulic system to be reduced, and an oil way is relatively simple.

The invention discloses vibroflotation equipment, and relates to the technical field of engineering machinery, and the vibroflotation equipment comprises a machine body assembly, a sleeve pulling device and a vibroflotation device. In the vibroflotation equipment, a machine body assembly is provided with a stand column, and the stand column is provided with a first guide rail; the sleeve pulling device is arranged on the first guide rail in a liftable manner and is used for pulling a sleeve; the vibroflotation device is arranged on the first guide rail in a liftable mode, is matched with the sleeve pulling device in a penetrating mode and is used for vibroflotation of the foundation, and the sleeve pulling device and the vibroflotation device work cooperatively. According to the vibroflotation equipment, the sleeve can be pulled out cooperatively during vibroflotation, the pile body quality is good, and the construction efficiency is high.

A controller of a wheeled hydraulic excavator executes control of a vibration suppression function to control the flow of a hydraulic fluid from a hydraulic cylinder that drives a work implement, thereby suppressing vibration of the hydraulic cylinder when the rotation speed of wheels reaches a predetermined speed or higher. Furthermore, the controller disables the control of the vibration suppression function when the vehicle body is jacked up by the work implement, even when a vibration suppression instructing device has given an instruction for enabling the control of the vibration suppression function.

The invention relates to the technical field of engineering machinery welding, in particular to an engineering machinery cab accessory laser welding tool which comprises a base, a positioning clamping unit is mounted on the left side of the upper end of the base, and a position correcting unit is mounted on the right side of the upper end of the base; the seat framework welding device is used for welding a seat framework, the left side of the main frame is positioned, and the positions are adjusted according to the distances between the welding positions of the cross beam, the reinforcing rib and the waist support and the left side of the main frame, so that the cross beam, the reinforcing rib and the waist support are in one-to-one correspondence with the corresponding welding positions on the main frame; therefore, the welding positions of the cross beam, the reinforcing rib and the waist support on the main frame are accurately positioned, the welding quality of the seat framework is ensured when the seat framework of different specifications is welded, meanwhile, the main frame, the cross beam, the reinforcing rib and the waist support can be rapidly clamped and released, and the welding efficiency is improved. And therefore, the welding efficiency of the seat framework is improved.

The invention relates to the technical field of engineering machinery control, in particular to a fuel efficiency optimization method and system based on multi-modal visual fusion, and the method comprises the steps: obtaining an environment image around engineering machinery, generating a disparity map, and carrying out the three-dimensional reconstruction; according to the reconstructed image and a pre-stored engineering machinery joint model, obtaining three-dimensional coordinates and spatial postures of the movable arm joint; classifying the current working conditions of the engineering machinery according to the three-dimensional coordinates and the spatial attitude of the movable arm joint, the state parameters of the engineering machinery and the reconstructed image, and determining the action states and slope repairing angles under different working condition types; and according to the working condition type, the action state and the slope repairing angle, based on a pre-constructed fuel mapping database, obtaining a corresponding load intensity coefficient, an engine rotating speed, a main pump pressure, a fuel supply correction coefficient and torque compensation, and adjusting the current state parameters of the engineering machinery to realize fuel optimization.

A manifold (33) of a closed-circuit control valve device (32) disposed rearward of a left revolving hydraulic motor (8) includes a valve attachment area (33E) provided at a central portion of the manifold (33) in the right-and-left direction and including a control valve (34) mounted therein and a pipe attachment area (33F) provided outward of the valve attachment area (33E) in the right-and-left direction and including a closed-circuit actuator side pipe (47) mounted therein. A manifold (42) of an open-circuit control valve device (41) disposed rearward of a right revolving hydraulic motor (9) includes a valve attachment area (42E) provided at a central portion of the manifold (42) in the right-and-left direction and mounted a control valve (43) and a pipe attachment area (42F) provided outward of the valve attachment area (42E) in the right-and-left direction and mounted an open-circuit actuator side pipe (48).

The invention provides a flow matching control system and an electric engineering machine, and relates to the technical field of flow matching control. The power source flow matching mode of the existing electric engineering machinery has the problem of insufficient efficiency improvement space. According to the system, the motor efficiency model and the hydraulic pump efficiency model are established, the rotating speed of the motor and the displacement of the hydraulic pump are dynamically adjusted according to the target flow of the system by combining an optimization algorithm and weighting processing, so that the power source keeps high-efficiency operation in real time, and the overall efficiency of the system is improved. The device is suitable for combination of various power sources and hydraulic systems, can be widely applied to the field of electric engineering machinery, and has the advantages of remarkable energy-saving effect and dynamic response.

The invention relates to the technical field of engineering mechanical equipment, and discloses automatic drilling and pole erecting integrated equipment which comprises a cab, a machine body is arranged on one side of the cab, a cross-shaped sliding table is arranged on the upper surface of the machine body, a bearing seat is slidably connected to the upper surface of the cross-shaped sliding table, and a cleaning device is arranged on the upper surface of the bearing seat. A grabbing rod device is arranged on one side of the cab, the machine body is arranged on one side of the grabbing rod device, a central rotation part is arranged at the bottom end of the machine body, a chassis is arranged at the bottom end of the central rotation part, supporting plates are fixedly arranged at the two ends of the chassis, and a plurality of driving wheels are arranged on one sides of the supporting plates. Through the cleaning device, dust, chippings and clay can be effectively cleaned, the problems that the weight of the drill rod is unbalanced and rotation resistance is increased due to clay accumulation are avoided, continuous and efficient drilling operation is guaranteed, and the problem that the clay of the drill rod is inconvenient to clean is solved.

The invention relates to the technical field of engineering machinery, and discloses an extended-range hybrid power control method and system and engineering machinery, the operation state of the engineering machinery comprises getting-off operation and getting-on operation, and the energy supply mode of the engineering machinery comprises a pure electric mode and an extended-range mode. And getting-off operation can be performed in a pure electric mode, getting-on operation can be performed in the pure electric mode, getting-off operation can be performed in a range extending mode, and getting-on operation can be performed in the range extending mode. According to the invention, the get-off operation and the get-on operation of the engineering machinery both have a pure electric mode and a range extending mode, the requirements of long-time get-off driving and get-on operation can be met, the problem of endurance anxiety of a user to the engineering machinery is solved, the environment adaptability is high, and the application range is wide.

The invention discloses a drill rod lowering control method, system and equipment of a rotary drilling rig and a medium, and belongs to the technical field of engineering machinery control. The drill rod lowering control method of the rotary drilling rig comprises the steps that if a drill rod lowering instruction is received, an electric main hoisting mechanism is controlled to lower a telescopic drill rod to a target drill hole; the current lowering depth of the telescopic drill rod is determined; the difference value between the hole depth of the target drill hole and the current lowering depth is set as the to-be-lowered depth; if the to-be-lowered depth is larger than the depth threshold value, the current lowering speed of the telescopic drill rod is set according to the current bearing weight, the power head height, the current lowering depth and the length of the sub drill rod; and if the to-be-lowered depth is smaller than or equal to the depth threshold value, a motor of the electric main hoisting mechanism is controlled to output reverse torque, and the motor of the electric main hoisting mechanism is controlled to stop rotating when a preset condition is met. The lowering speed of the telescopic drill rod can be reasonably controlled, and the service life of the rotary drilling rig is prolonged.